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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Jorge Júlvez Mihaela H. Matcovschi Octavian Pastravanu Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University “Gh. Asachi” of Iasi Romania

The paradigm of Petri nets offers a rich modeling power that has been successfully exploited in many different application domains as manufacturing, logistic, traffic, computer and biological domains. In order to develop and analyze Petri models in an efficient and systematic way, appropriate software tools are required. Among the existing software platforms for scientific software development, MATLAB places at the user's disposal a large set of toolboxes with an inutitive graphical interface. This paper describes some of the existing Petri net toolboxes that have been developed on MATLAB, and that cover the needs for the modeling and analysis of discrete, continuous and hybrid systems.

关键词： Computational modeling Semantics Servers Petri nets MATLAB Analytical models

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Planning Mobile Robots with Boolean-based Specifications

Planning Mobile Robots with Boolean-based Specifications

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IEEE Annual Conference on Decision and control

作者： Cristian Mahulea Marius Kloetzer Aragon Institute of Engineering Research (I3A) University of Zaragoza Maria de Luna 1 50018 Zaragoza Spain Dept. of Automatic Control and Applied Informatics Technical University "Gheorghe Asachi" of Iasi Romania

ISBN: (纸本)9781467360890

This research proposes an automated method for planning a team of mobile robots such that a Boolean-based mission is accomplished. The specification consists of logical requirements over some regions of interest for the agents' trajectories and for their final states. A Petri net (PN) with outputs models the movement capabilities of the team and the active regions of interest. The imposed specification is translated to a set of linear restrictions for some binary variables, the robot movement capabilities are formulated as linear constraints on PN markings, and the evaluations of the binary variables are linked with PN markings via linear inequalities. This allows us to solve a Mixed Integer Linear Programming problem whose solution yields robotic trajectories satisfying the task.

关键词： Mobile robots Specifications Automated methods Pigmentation Mixed integer linear programming trajectory

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The enterprise of future as a cyber-physical system

The enterprise of future as a cyber-physical system

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7th IFAC Conference on Manufacturing Modelling, Management, and control, MIM 2013

作者： Dumitrache, Ioan Caramihai, Simona Iuliana University Politehnica of Bucharest Automatic Control and System Engineering Dept. 060042 Bucharest Romania University Politehnica of Bucharest Control Engineering and Applied Informatics Dept. 060042 Bucharest Romania

ISBN: (纸本)9783902823359

The paper presents a conceptual model of the manufacturing enterprise of the future, which is centered on knowledge. It is introduced the concept of organizational wisdom, as an intelligence level that allows manufacturing enterprise to take sustainable decisions. Cyber-Physical Systems concept is the most promising approach to implement the knowledge/wisdom model of the enterprise. © IFAC.

关键词： Knowledge based systems

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Petri net approach for deadlock prevention in robot planning

Petri net approach for deadlock prevention in robot planning

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2013 IEEE 18th International Conference on Emerging Technologies and Factory Automation, ETFA 2013

作者： Kloetzer, Marius Mahulea, Cristian Colom, Jose-Manuel Dept. of Automatic Control and Applied Informatics Technical University Gh. Asachi of Iasi Romania Dept. of Computer Science and Systems Engineering Univ. of Zaragoza Spain

ISBN: (纸本)9781479908622

This paper provides a strategy for supervising the motion of some mobile robots that evolve in the same environment. Some regions of the environment are assumed to have a limited capacity in terms of the number of robots that can simultaneously occupy them, and a set of possible trajectories is available for each robot. The solution comprises the construction of a specific Petri net model for the available trajectories, and the use of resource-allocation techniques based on restricted-capacity regions and on deadlock-free execution. © 2013 IEEE.

关键词： Petri nets

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Optimal control of perturbed discrete linear systems

Optimal control of perturbed discrete linear systems

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Corneliu Botan Florin Ostafi Dept. of Automatic Control and Applied Informatics Technical University of Iasi Iasi Romania

The optimal control with quadratic criteria for discrete linear time invariant systems is considered. The study takes into account the influence of the time variant perturbations. A convenient algorithm is proposed an... 详细信息

关键词： Vectors Optimal control Optimization Switches Equations Estimation Approximation methods

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26th Annual Computational Neuroscience Meeting (CNS*2017) of the Organization for Computational Neuroscience Antwerp, Belgium, July 15-20, 2017

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 59-59页

作者： [Anonymous] Indiana University Purdue University Indianapolis Indianapolis IN 46032 USA Stark Neurosciences Research Institute Indiana University School of Medicine Indianapolis IN 46032 USA Department of Mathematics East Carolina University Greenville NC 27858 USA Jülich Supercomputing Centre Forschungszentrum Jülich 52425 Jülich Germany Future Systems Swiss National Supercomputing Centre 8092 Zurich Switzerland User Engagement and Support Swiss National Supercomputing Centre 6900 Lugano Switzerland Institut de Neurosciences des Systèmes Aix Marseille Univ 13005 Marseille France Simulation Lab Neuroscience Forschungszentrum Jülich Jülich Germany Department of Experimental Psychology Ghent University 9000 Ghent Belgium Donders Center for Cognitive Neuroimaging Radboud University 6525HR Nijmegen The Netherlands Department of Electrical Computer and Energy Engineering University of Colorado Boulder CO 80309 USA Department of Neurosurgery Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Neurology Johns Hopkins School of Medicine Baltimore MD 21287 USA Department of Otolaryngology Johns Hopkins School of Medicine Baltimore MD 21287 USA INSERM U968 Paris France Sorbonne Universités UPMC University Paris 06 UMR_S 968 Institut de la Vision Paris France CNRS UMR_7210 Paris France Department of Computer Architecture and Technology University of Granada (CITIC) Granada Spain Sorbonne Universités UPMC Univ Paris 06 INSERM CNRS Institut de la Vision Paris France Department of Adaptive Machine Systems Osaka University Osaka Japan Department of Computer Science University of Cergy-Pontoise Cergy-Pontoise France Department of Physics and Astronomy College of Charleston Charleston SC 29424 USA School of Physics Faculty of Science University of Sydney Sydney NSW 2006 Australia Center of Excellence for Integrative Brain Function Australian Research Council Sydney Australia Max Planck Institute for Human Cognitive and Brain Sciences Saxony Lei

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The Enterprise of Future as a Cyber-Physical System

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IFAC Proceedings Volumes 2013年第9期46卷 1310-1315页

作者： Ioan Dumitrache Simona Iuliana Caramihai University POLITEHNICA of Bucharest Automatic Control and System Engineering Dept. 060042 Bucharest Romania (Tel: +40-21-4029167 University POLITEHNICA of Bucharest Control Engineering and Applied Informatics Dept. 060042 Bucharest Romania (Tel: +40-21-4029616

关键词： Architectures and models for intelligent manufacturing systems intelligent knowledge-based systems

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Human-robot natural interaction and collision avoidance in flexible manufacturing cells

Human-robot natural interaction and collision avoidance in f...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Anton, Florin D. Anton, Silvia Borangiu, Theodor Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9783902661982

The paper discusses a new method of using robots to interact with humans (natural interaction) to provide assistance services. Using depth sensors the robots are able to assist the human operator and to avoid collisions. Natural interaction is implemented using a depth sensor which monitors the activity outside and inside the robot system workspace. The sensor extracts depth data from the environment and then uses the processing power of a workstation in order to detect the humans and robot arms. This is done by detecting skeletons which represent the position and posture of the humans and manipulators. Using skeleton tracking, a software agent is able to monitor the movements of the human operators and robotic arms and to detect possible collisions and to stop the robot motion at the right time. Also the agent can interpret the posture (or full body gesture) of the human operator in order to send basic commands to the robot. © 2012 IFAC.

关键词： Industrial robots

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Online rapid vision integration for a robotized China plates manufacturing line

Online rapid vision integration for a robotized China plates...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Anton, Florin D. Anton, Silvia Borangiu, Theodor Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Bucharest Romania

ISBN: (纸本)9783902661982

In conventional robot systems the different robot parts (sensors, processing elements and actuators) are combined together in a compact, self contained system. The need for faster development and deployment, system reconfigurability and flexibility required the introduction of rapid deployment automation for robot systems in flexible manufacturing cells. Vision sensors are one of the most important sensors in robot systems. When constructing a new robot system, it is desirable that vision and image processing components are just as easily integrated as any other robot components. In some situations robot stations must be upgraded with vision systems in order to accomplish new tasks or to enhance the current work, here the Rapid Deployment Automation concept is the base to solve such problems in a shorter time having the smallest impact over the production flow in terms of production downtime. The paper describes an RDA solution of vision upgrade for robot stations in a china objects production plant. © 2012 IFAC.

关键词： Robot vision

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Open robot control for services in construction

Open robot control for services in construction

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Borangiu, Theodor Ceccarelli, Marco Anton, Florin Anton, Silvia Carbone, Giuseppe Stocklosa, Octavian Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania Italy East Electric Bucharest Romania

ISBN: (纸本)9783902661982

The paper describes open control architecture for a mobile platform with inclination control moving in construction sites and carrying a robotic arm for bricklaying services. The control system for this 12-axis construction robot is open both from the point of view of hardware structure and of basic software and application development, thus allowing rapid deployment automation solutions with service orientation for construction tasks. The navigation and locating of the mobile platform, the motion control of the robotic arm, as well as robot learning and human-robot interaction are embedded in a multiprocessor system developed around a NI Motion control solution for which a structured programming language was developed. The elements of the basic software system design (RTOS, multitasking and operating modes) are described. The parameters for application programs are automatically computed from CAD production data generated in a 3-stage Knowledge Base Technology System (KBTS) from civil engineering projects and data bases for construction materials and building site organization. © 2012 IFAC.

关键词： Robot programming

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