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7th IFAC Workshop on Intelligent Manufacturing Systems, IMS 2003

作者： Christova, Nikolinka G. Stylios, Chrysostomos D. Groumpos, Peter P. Lab. for Automation and Robotics Dept. of Electrical and Computer Engineering University of Patras Rion Patras26500 Greece Computer Science Dept. University of Ioannina P.O. Box 1186 Ioannina45510 Greece

This work emphasizes on the implementation of soft computing techniques for the production planning of complex manufacturing plants. A hierarchical control structure has been assumed to control and to optimize the chemical process of a complex plant with successful results and at the highest hierarchical level the production planning should meet the fluctuating demands in optimal way. This level integrates the operational and business management requirements where the soft computing technique of Fuzzy Cognitive Maps is proposed to model these tasks. The strategic planning for the hierarchical integrated system realizes the optimal total management at the corporate level. The obtained simulation results prove the applicability of the proposed methodology and the advantages of using soft computing modeling techniques for the sophisticated high level of hierarchical systems. © 2003 IFAC.

关键词： Industrial plants

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Production Planning for Complex Plants using Fuzzy Cognitive Maps

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IFAC Proceedings Volumes 2003年第3期36卷 81-86页

作者： Nikolinka G. Christova Peter P. Groumpos Chrysostomos D. Stylios Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Pat ras 26500 Rion Patras GREECE Computer Science Dept. University of loannina P.O. Box 1186 45510 Ioannina GREECE

关键词： Complex Industrial Plant Production Planning Intelligent Integrated Control System Hierarchical Structure Fuzzy Cognitive Maps

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Human-robot control strategies for the NASA/DARPA Robonaut

Human-robot control strategies for the NASA/DARPA Robonaut

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2003 IEEE Aerospace Conference

作者： Diffler, M.A. Huber, F.L. Culbert, C.J. Ambrose, R.O. Bluethmann, W.J. Automation and Robotics Dept. Lockheed Martin Houston TX 77058 United States Metrica Johnson Space Center Houston TX 77058 United States Robotic Systems Technology Branch NASA Johnson Space Center Houston TX 77058 United States Hernandez Engineering Inc. Johnson Space Center Houston TX 77058 United States

ISBN: (纸本)078037651X

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system. Robonaut. is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires. grasping handrails to move along space station mockups, and mating connectors. Recent developments in autonomous control and perception for Robonaut have enabled dexterous, real-time manmachine interaction. Specifically. a versatile, vision-based algorithm for matching range silhouettes monitors human activity and estimates tool pose. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. © 2003 IEEE.

关键词： NASA

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On-line improvement for the decentralized predictive control of the heat dynamics of a greenhouse 15th

On-line improvement for the decentralized predictive control...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Kyriannakis, E.J. Arvanitis, K.G. Sigrimis, N. National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou Athens15773 Greece Agricultural University of Athens Department of Agricultural Engineering Athens11855 Greece

ISBN: (纸本)9783902661746

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature. Copyright © 2002 IFAC.

关键词： Discrete time control systems

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ON–LINE IMPROVEMENT FOR THE DECENTRALIZED PREDICTIVE CONTROL OF THE HEAT DYNAMICS OF A GREENHOUSE

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IFAC Proceedings Volumes 2002年第1期35卷 37-42页

作者： E.J. Kyriannakis K.G. Arvanitis N. Sigrimis National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE

关键词： Decentralized control predictive control greenhouse heat dynamics

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Decentralized Predictive Control ofthe Heat Dynamics of a Greenhouse

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IFAC Proceedings Volumes 2001年第11期34卷 152-157页

作者： S.G. Tzafestast E.J. Kyriannal K.G. Arvanitis N. Sigrimis National Technical University of Athens. Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE. Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE.

This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space model is used at the greenhouse to predict the corresponding indoor temperature over a long-range time period. The sun radiation and outdoor temperature are treated as external disturbances tliat affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control Predictive control Greenhouse heat dynamics control

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A Lorentz-group based adaptive control for electro-mechanical systems

A Lorentz-group based adaptive control for electro-mechanica...

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of robotics in the the Next Millennium (Cat. No.01CH37180)

作者： J.K. Tar I.J. Rudas K. Jezernik J.F. Bito S.J. Torvinen Institute of Mathematical and Computational Sciences Budapest Polytechnic Budapest Hungary Centre of Robotics and Automation Budapest Polytechnic Hungary Faculty of Electrical Engineering and Computer Science Institute of Robotics University of Maribor Maribor Slovenia Dept. of Mechanical Eng. Institute of Production Engineering Tampere University of Technology Tampere Finland

An efficient approach for the adaptive control of approximately and partially known mechanical systems, like traditional soft computing, uses "uniform structures" for modeling, but these structures are obtained from certain Lie groups as the symplectic group or the generalized Lorentz group. This approach considerably reduces the number of free parameters in the model. Until now its efficiency was investigated for mechanical uncertainties and external dynamic interactions. In this paper the behavior of the electric drives are also included in the investigations. A 1-DOF mechanical system, a pendulum driven by a DC motor in a computed torque control, is investigated via simulation. The necessary torque is calculated from a formal primitive mechanical model and an adaptivity rule. For adaptivity real number scaling and the generalized Lorentz group elements are used. It is concluded that a single adaptive loop can compensate for the mechanical and the electrical uncertainties simultaneously.

关键词： Adaptive control Mechanical systems Uncertainty Convergence robotics and automation DC motors Robots Computer science Production engineering Neural networks

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Modeling and multilevel control of complex multistage processes with recycles and intermediate storages

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IFAC Proceedings Volumes 2000年第20期33卷 227-232页

作者： Peter P. Groumpos Mincho В. Hadjiski Kosta P. Boshnakov Nikolinka G. Christova Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Patras 26500 Rion Patras GREECE Department of Automation in Industry University of Chemical Technology and Metallurgy 1756 Sofia BULGARIA

A multilevel hierarchical control system for a single end product multistage plant is under consideration. It is shown that a variety of models and/or hybrid modeling are reasonable for inferred key variable forming, monitoring and control. Because of the complexity, uncompleted information, large uncertainties and mixture of batch, semi-batch and continuous processes different control strategies are appropriate for each hierarchical level. Two level reactive scheduler is proposed. Integration of operational and business management is carried out at the top hierarchical level using Fuzzy Cognitive Maps (FCM) approach. Some results of practical application of the system are reported.

关键词： modeling hierarchical control production planning scheduling

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Tele-Operative System for Bioproduction - Remote Local Image Processing for Object Identification

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IFAC Proceedings Volumes 2000年第29期33卷 191-194页

作者： Si Chan Kim Heon Hwang Jung Eek Son Dong Yup Choi Robotics & Vision Lab. Dept. of Bio-Mechatronic Engineering Faculty of Life Science & Technology Sungkyunkwan University Kyungki-do Suwon-si Changan-gu 440-746 KOREA Dept. of Horticulture College of Agri culture & Life Science Seoul National University Kyungki-do Suwon-si Kwonsun-gu 441-744 KOREA Automation Dept. Daelim college Kyungki-do Anyang-si Dongan-gu 431-715 KOREA

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R. F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

关键词： Local Image Processing Tele-operation Feature Extraction Bio-production Real Time Control Watermelon

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Tool integrated electromagnetic pulse induction technology to locate buried utilities

Tool integrated electromagnetic pulse induction technology t...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： B. Handlon S.J. Lorenc L. Bernold G. Lee Dept. of Civil Eng. North Carolina State Univ. Raleigh NC USA Construction Automation and Robotics Laboratory Department of Civil Engineering North Carolina State University Raleigh NC USA North Carolina State University Raleigh NC US Department of Mechanical and Aerospace Engineering North Carolina State University Raleigh NC USA

Excavation of underground utility pipelines is a common task for residential and commercial development. One of the most important tasks in underground excavation is the location and orientation of buried utility lines. In this paper, several pulse induced electromagnetic sensor coils are discussed which have been designed, fabricated and tested for underground utility pipe recognition. The work has been performed through the Buried Utilities Detection System (BUDS) Consortium at North Carolina State University. Characteristics of the sensor coils, including resolution and range, are provided and field test results are discussed.

关键词： EMP radiation effects Acoustic sensors Pipelines Sensor phenomena and characterization Coils Costs Mechanical sensors Microwave sensors Soil robotics and automation

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