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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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An expert supervisor for a robotic work cell

An expert supervisor for a robotic work cell

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Intelligent Robots and computer Vision VI 1987

作者： Moed, M.C. Kelley, R.B. Robotics and Automation Laboratories Electrical Computer and Systems Engineering Dept. Rensselaer Polytechnic Institute TroyNY12180-3590 United States

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user-specified 3D part assembly tasks into various target robotic work cells, and execute these tasks efficiently using manipulators and sensors available in the work cell. One level of this hierarchy, the Supervisor, is responsible for assigning subtasks of a system-generated Task Plan to a set of task specific Specialists and on-line coordination of the activity of these Specialists to accomplish the user-specified assembly. The design of the Supervisor can be broken down into five major functional blocks: resource management;concurrency detection;task scheduling;error recovery;and interprocess communication. The Supervisor implementation has been completed on a VAX 11/750 under a Unix environment. PC card Pick-Insert experiments were performed to test this implementation. To test the robustness of the architecture, the Supervisor was then transported to a new work cell under a VMS environment. The experiments performed under Supervisor control in both implementations are discussed after a brief explanation of the functional blocks of the Supervisor and the other levels in the hierarchy. © 1988 SPIE. All rights reserved.

关键词： Supervisory personnel

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Diagnosis of sheet metal stamping processes based on thermal energy distribution

Diagnosis of sheet metal stamping processes based on thermal...

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2005 IEEE Conference on automation Science and engineering, IEEE-CASE 2005

作者： Ng, Yiu-Ming Harry Yu, Maolin Huang, Y. Du, R. E-manufacturing Laboratory Dept. of Automation and Computer-Aided Engineering Chinese University of Hong Kong Shatín NT Hong Kong

ISBN: (纸本)0780394267

computer-Aid Design (CAD) and Finite Element Analysis (FEA) have been widely used in sheet metal stamping nowadays, especially in automotive and aerospace industries. However, die tryout and fault diagnosis still heavily rely on the experiences of the machinists on the shop floor. In this paper, a novel approach is proposed using the thermal energy distribution of the part. The new approach is based on the fact that during the stamping process, the part absorbs energy to deform. Since most of the (plastic) deformation energy would convert to heat energy, it is therefore possible to detect possible defects by means of analyzing its thermal energy distribution. In practice, the thermal energy distribution can be acquired using an infrared camera. Furthermore, it is possible to compute the thermal energy distribution through a simple FEA. A practical example of cup drawing is discussed in details together with the experiment validation. © 2005 IEEE.

关键词： Stamping

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Towards 3D reconstruction of endoscope images using shape from Shading 13

Towards 3D reconstruction of endoscope images using shape fr...

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13th Brazilian Symposium on computer Graphics and Image Processing, SIBGRAPI 2000

作者： Forster, Carlos Henrique Quartucci Tozzi, Clésio L. Dept. of Computer Engineering and Industrial Automation - DCA School of Electrical and Computer Engineering - FEEC State University of Campinas - UNICAMP C.P. 6101 Campinas SP13083-970 Brazil

ISBN: (纸本)0769508782

The 3D Reconstruction problem from a single endoscope image of a smooth object is studied in the context of the Shape from Shading methods and considering a single light source at the camera projection center. Based on a curve expansion Shape from Shading algorithm, a spherical projection model for the endoscope camera and a dichromatic model for the surface reflectance, an approach to solve practical problems, namely the endoscope image distortion and the removal of the image specular reflection component, is presented. Results obtained from application of this approach to synthetic and real images are presented. © 2000 IEEE.

关键词： Endoscopy

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Experimental testing of a prototype wireless tele-alerting system for monitoring sleeping infants (smart cot MAIA) 14

Experimental testing of a prototype wireless tele-alerting s...

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7th ACM International Conference on Pervasive Technologies Related to Assistive Environments, PETRA 2014

作者： Spiridonou, Evangelia Matralis, Grigoris Kartsidis, Panagiotis Raducan, Lilia Yfantis, Miltiadis Astaras, Alexander Automation Engineering Dept. Alexander Educational Technological Inst. of Thessaloniki Greece Medical Physics Laboratory Dept. of Medicine Aristotle University of Thessaloniki Greece Computer Science Dept. American College of Thessaloniki Greece

ISBN: (纸本)9781450327466

Real time in situ medical monitoring has become increasingly common in the past few decades, driven by the development of a wide variety of affordable sensors and power autonomous, energy efficient microcontroller platforms. Portable and unobtrusive multi-sensor data acquisition is considered routine, including real-time data processing and alerting based on measurements within or around the human body. Project MAIA has developed an intelligent baby cot system capable of monitoring sleeping infants and remotely notifying their carers under pre-programmed circumstances. It aims to add a layer of protection for infants during the first 6 months of their life, primarily targeting medical emergencies such as choking, suffocation and the elusive Sudden Infant Death Syndrome (SIDS). The MAIA system also aims to contribute to current paediatric medical knowledge by providing rare in situ research data. Copyright 2014 ACM.

关键词： Data acquisition

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Hybrid geodesics as optimal solutions to the collision-free motion planning problem 4

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4th International Workshop on Hybrid Systems: Computation and Control, HSCC 2001

作者： Hu, Jianghai Prandini, Maria Johansson, Karl Henrik Sastry, Shankar Dept. of Electrical Engineering and Computer Sciences University of California at Berkeley BerkeleyCA94720 United States Dept. of Electrical Engineering for Automation University of Brescia Brescia Italy Dept. of Signals Systems and Sensors Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)3540418660

In this paper we address the problem of designing energy minimizing collision-free maneuvers for multiple agents moving on a plane. We show that the problem is equivalent to that of finding the shortest geodesic in a certain manifold with nonsmooth boundary. This allows us to prove that the optimal maneuvers are C1 by introducing the concept of u-convex manifolds. Moreover, due to the nature of the optimal maneuvers, the problem can be formulated as an optimal control problem for a certain hybrid system whose discrete states consist of diffierent "contact graphs". We determine the analytic expression for the optimal maneuvers in the two agents case. For the three agents case, we derive the dynamics of the optimal maneuvers within each discrete state. This together with the fact that an optimal maneuver is a C1 con- catenation of segments associated with diffierent discrete states gives a characterization of the optimal solutions in the three agents case. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Hybrid systems

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HiCRISP: An LLM-based Hierarchical Closed-Loop Robotic Intelligent Self-Correction Planner

HiCRISP: An LLM-based Hierarchical Closed-Loop Robotic Intel...

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2024 China automation Congress, CAC 2024

作者： Ming, Chenlin Lin, Jiacheng Fong, Pangkit Wang, Han Duan, Xiaoming He, Jianping The Dept. of Automation Shanghai Jiao Tong University Shanghai China The Dept. of Computer Science University of Illinois Urbana-Champaign IL United States The Dept. of Engineering Science University of Oxford Oxford United Kingdom

ISBN: (纸本)9798350368604

The integration of Large Language Models (LLMs) into robotics has revolutionized human-robot interactions and autonomous task planning. However, these systems are often unable to self-correct during the task execution, which hinders their adaptability in dynamic real-world environments. To address this issue, we present an LLM-based Hierarchical Closed-loop Robotic Intelligent Self-correction Planner (HiCRISP), an innovative framework that enables robots to correct errors within individual steps during the task execution. HiCRISP actively monitors and adapts the task execution process, addressing both high-level planning and low-level action errors. Extensive benchmark experiments, encompassing virtual and real-world scenarios, showcase HiCRISP’s exceptional performance, positioning it as a promising solution for robotic task planning with LLMs. © 2024 IEEE.

关键词： Robot programming

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Latent fingerprint enhancement via robust orientation field estimation

Latent fingerprint enhancement via robust orientation field ...

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2011 International Joint Conference on Biometrics, IJCB 2011

作者： Yoon, Soweon Feng, Jianjiang Jain, Anil K. Dept. of Computer Science and Engineering Michigan State University United States Dept. of Automation Tsinghua University Beijing China Dept. of Brain and Cognitive Engineering Korea University Anam-dong Seongbuk-gu Seoul 136-713 Korea Republic of

ISBN: (纸本)9781457713583

Latent fingerprints, or simply latents, have been considered as cardinal evidence for identifying and convicting criminals. The amount of information available for identification from latents is often limited due to their poor quality, unclear ridge structure and occlusion with complex background or even other latent prints. We propose a latent fingerprint enhancement algorithm, which expects manually marked region of interest (ROI) and singular points. The core of the proposed algorithm is a robust orientation field estimation algorithm for latents. Short-time Fourier transform is used to obtain multiple orientation elements in each image block. This is followed by a hypothesize-and-test paradigm based on randomized RANSAC, which generates a set of hypothesized orientation fields. Experimental results on NIST SD27 latent fingerprint database show that the matching performance of a commercial matcher is significantly improved by utilizing the enhanced latent fingerprints produced by the proposed algorithm. © 2011 IEEE.

关键词： Image segmentation

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A novel soft-switching two-stage step-up DC/DC converter

A novel soft-switching two-stage step-up DC/DC converter

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7th Internatonal Conference on Power Electronics, ICPE'07

作者： Du, Shaowu Chen, Zhong Chang, Liuchen School of Electrical Engineering and Automation Hefei University of Technology Hefei 230009 Anhui Province China Dept. of Electrical and Computer Engineering University of New Brunswick Canada

ISBN: (纸本)9781424418725

In an electric vehicle power system, a step-up converter is required to increase the voltage from 24 V to 270 V. To achieve such a high voltage boost ratio, there are several challenges that must be overcome: tackling the leakage inductance of the isolation transformer;reducing the voltage stress on the power switches;and guaranteeing fast dynamic response and high efficiency. Thus, innovative approaches are needed. A novel two-stage step-up DC/DC converter has been developed. This device has the advantages of high power density, easy control, high efficiency, high transformer utilization, and fast dynamic response. The two-stage step-up DC/DC converter is composed of a boost converter cascaded with a push-pull converter. The boost diode and filter capacitor, as found in conventional boost converters, are eliminated. All switches achieve soft-switching by using a simple auxiliary circuit. Therefore, this novel converter is well-suited for applications where the input voltage level is significantly lower than the output voltage, for example, in the areas of electric vehicle power supplies, communication systems, aeronautic power, and power systems. Analysis, prototype development, and experimental tests have been conducted, and the results are presented in this paper. The results confirm the performance and features of the novel converter. © 2008 IEEE.

关键词： Boost converter

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Bird's Eye View on Systems and Control - General View and Case Studies

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IFAC-PapersOnLine 2016年第6期49卷 274-279页

作者： Vámos, T. Bars, R. Sik, D. Institute of Computer Science and Control Hungarian Academy of Sciences MTA-SZTAKI Budapest Hungary Dept. of Automation and Applied Informatics Budapest University of Technology and Economics MTA-BME Control Engineering Research Group Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a website on the internet. © 2016

关键词： Control theory Algorithms Case studies Control disciplines Control education Control structure Systems and control

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