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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Kim, ChangHwan Bowling, Alan Automation and Robotics Laboratory Dept. of Aerospace Engineering University of Notre Dame Notre Dame IN 46556 United States

This article explores the effect that end-effector velocities have on a nonredundant robotic manipulator's ability to accelerate its end-effector as well as to apply forces/moments to the environment at the end-effector. The velocity effects considered here are the Coriolis and Centrifugal forces, and the reduction of actuator torque with rotor velocity, as described by the speed-torque curve. Analysis of these effects is accomplished using optimization techniques, where the problem formulation consists of a cost function and constraints which are all purely quadratic forms, yielding a nonconvex problem. An analytical solution, based on the dialytic elimination technique, is developed which guarantees that the globally optimal solution can be found. The PUMA 560 manipulator is used as an example to illustrate this methodology.

关键词： robotics

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Production planning for complex plants using fuzzy cognitive maps 7

Production planning for complex plants using fuzzy cognitive...

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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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Current of the linear motor-based condition monitoring in milling

Current of the linear motor-based condition monitoring in mi...

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IEEE International Conference on robotics, Intelligent Systems and Signal Processing

作者： X. Li R. Du B. Denkena J. Imiela Dept. of Automation & Computer-Aided Engineering The Chinese University of Hong Kong Shatin N. T. Hong Kong Chin. Institute Production Engineering and Machine Tools University Hanover Hanover Germany

ISBN: (纸本)078037925X

In recent years, a number of machine tools have been built using linear motors. These machine tools have great potential for precision and high speed machining. Nevertheless, a number of problems remain unsolved, such as monitoring and control. This paper presents a new tool breakage monitoring method for this type of machine tool by using the current of the linear motor. From a mathematical point of view, the new method uses a nonlinear energy operator to capture the abrupt changes of the motor current signal, which is directly related to the tool breakage. Experimental validation is included.

关键词： Condition monitoring Milling Machine tools Force sensors Force measurement Machining Costs Robots Signal processing Production engineering

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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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