检索结果-内蒙古大学图书馆

11th International Workshop on Discrete Event Systems, WODES 2012

作者： Kloetzer, Marius Mahulea, Cristian Dept. of Automatic Control and Applied Informatics Technical University Gh. Asachi Iasi Romania University of Zaragoza Spain

ISBN: (纸本)9783902823281

This paper addresses the path planning problem of a mobile robot based on linear temporal logic formulae over a set of regions of interest in the environment. The regions have fixed and known locations but have some dynamic observations that can appear and disappear based on exponential probability density functions. The robot movement capabilities are modeled by a finite-state transition system. By drawing inspiration from temporal logic control for static environments, we find a run that has the greatest chance of satisfying the temporal logic specification. Then, we devise a supervising strategy for the robot motion along this run, which updates the execution based on the currently observed regions. The approach is supported by two simulations.

关键词： Formal languages

来源：评论

学校读者我要写书评

暂无评论

Human-Robot Natural Interaction and Collision Avoidance in Flexible Manufacturing Cells

引用

IFAC Proceedings Volumes 2012年第6期45卷 835-840页

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

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.

关键词： Assembly robots Industrial robots Robotic manipulators Sensors Range finders Range data Real time

来源：评论

学校读者我要写书评

暂无评论

Online Rapid Vision Integration for a Robotized China Plates Manufacturing Line

引用

IFAC Proceedings Volumes 2012年第6期45卷 1832-1837页

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

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.

关键词： Factory automation Robot vision Object recognition Flexible manufacturing systems Shared robot workspace

来源：评论

学校读者我要写书评

暂无评论

Online Petri Net Based Algorithm for Planning and controlling Mobile Robots

Online Petri Net Based Algorithm for Planning and Controllin...

引用

Institute of Electrical and Electronics Engineers International Conference on Emerging Technologies & Factory Automation

作者： Cristian Mahulea Marius Kloetzer University of Zaragoza Dept. of Automatic Control and Applied Informatics Technical University

ISBN: (纸本)9781467347358

The paper presents a procedure for planning and controlling a team of identical mobile robots such that a set of target regions are reached. We consider a partitioned environment cluttered with a set of obstacles that randomly change their positions. Our approach abstracts both the control capabilities of robots and the information on obstacle locations into probabilistic discrete Petri net models, and it uses an online algorithm for planning and adjusting the sequences of regions the robots should traverse. At each iteration of the online algorithm we solve a linear programming problem that optimizes the robot paths by weighting the probabilities of following a sequence of partition regions and the steady-state probabilities of encountering obstacles along the resulted sequences. The approach is implemented as a fully automated Matlab package.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Distributed Manufacturing control with Extended CNP Interaction of Intelligent Products

引用

IFAC Proceedings Volumes 2012年第6期45卷 734-739页

作者： Theodor Borangiu Silviu Raileanu Damien Trentesaux Thierry Berger Iulia Iacob Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania (Tel: +40 21 4029314 TEMPO-CNRS University of Valenciennes and Hainaut-Cambrésis France

This paper describes the heterarchical control aspect of a semi-heterarchical control architecture. The theory of the proposed solution is based on the product-driven automation and on the holonic manufacturing concepts. Regarding the practical implementation aspects the proposed solution is based on the new advances in IT and electronics which made possible attaching Intelligent Embedded Devices to almost all of the elements of a Flexible Manufacturing System. In this framework the structure of the control model is presented and using elements defined here the FIPA Contract Net Protocol is extended in order to accommodate some physical and synchronization issues.

关键词： Contract Net Protocol distributed control holonic manufacturing intelligent product product-driven automation embedded devices

来源：评论

学校读者我要写书评

暂无评论

LTL Planning in Dynamic Environments

引用

IFAC Proceedings Volumes 2012年第29期45卷 294-300页

作者： Marius Kloetzer Cristian Mahulea Dept. of Automatic Control and Applied Informatics Technical University “Gh. Asachi” of Iasi Romania Aragón Institute of Engineering Research (I3A) University of Zaragoza Spain

关键词： Temporal logic mobile robots transition systems probabilistic models formal languages

来源：评论

学校读者我要写书评

暂无评论

Open Robot control for Services in Construction

引用

IFAC Proceedings Volumes 2012年第6期45卷 865-870页

作者： Theodor Borangiu Marco Ceccarelli Florin Anton Silvia Anton Giuseppe Carbone Octavian Stocklosa Dept. of Automatic Control and Applied Informatics University Politehnica of Bucharest Romania (Tel: +40 21 4029314 LARM University of Cassino Cassino (Fr) Italy East Electric Bucharest Romania

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.

关键词： Robot control Motion control multiprocessor systems RTOS Construction services

来源：评论

学校读者我要写书评

暂无评论

Qualitative analysis results for arbitrarily switching positive systems

Qualitative analysis results for arbitrarily switching posit...

引用

作者： Pastravanu, Octavian Matcovschi, Mihaela-Hanako Voicu, Mihail Technical University Gh. Asachi of Iasi Dept. Automatic Control and Applied Informatics Romania

ISBN: (纸本)9783902661937

The paper improves the existing qualitative results on switched positive systems x(t) = Ajx(t) , j = 1,..., N , by using non-strict quasilinear inequalities of the form vT Aj rv T , r T AJ , v 0 ) and invoking the Perron-Frobenius eigenstructure for essentially nonnegative matrices. We prove that any solution to the quasilinear inequalities characterizes (by equivalence) a linear Lyapunov function, a contractive invariant set, and the initial growth/decrease rate with respect to a weighted 1-norm. We also identify the solution which, for a given switching system, ensures the linear Lyapunov function with the fastest decrease rate and the invariant set with the fastest contraction rate. © 2011 IFAC.

关键词： Lyapunov functions

来源：评论

学校读者我要写书评

暂无评论

Multiobjective genetic programming with adaptive clustering

Multiobjective genetic programming with adaptive clustering

引用

2011 IEEE 7th International Conference on Intelligent Computer Communication and Processing, ICCP 2011

作者： Ferariu, Lavinia Burlacu, Bogdan Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781457714788

This paper presents a new approach meant to provide an automatic design of feed forward neural models by means of multiobjective graph genetic programming. The suggested algorithm can deal with partially interconnected neural architectures and various types of global and local neurons within each hidden neural layer. It concomitantly ensures the reduction of variables and the selection of convenient model structures and parameters, by working on a set of graph-based encrypted individuals built via genetic programming with the guarantee of phenotypic and genotypic validity. In order to provide a realistic assessment of the neural models, the optimization is carried out subject to multiple objectives of different priorities. In relation to this idea, the authors propose a new Pareto-ranking strategy, which progressively guides the search towards the preferred zones of the exploration space. The fitness assignment procedure monitors the phenotypic diversity of the best individuals, as well as the convergence speed of the algorithm, and exploits the resulted heuristics for performing a preliminary clustering of individuals. The experimental trials targeting the identification of an industrial system show the capacity of the suggested approach to automatically build simple and precise models, whilst dealing with noisy data and scarce a priori information. © 2011 IEEE.

关键词： Neural networks

来源：评论

学校读者我要写书评

暂无评论

Multiobjective design of evolutionary hybrid neural networks

Multiobjective design of evolutionary hybrid neural networks

引用

2011 17th International Conference on Automation and Computing, ICAC 2011

作者： Ferariu, Lavinia Burlacu, Bogdan Dept. of Automatic Control and Applied Informatics Gheorghe Asachi Technical University of Iasi Iasi Romania

ISBN: (纸本)9781467300001

The paper presents a new approach to data-driven modeling. The models are flexibly configured in compliance with the neural network formalism, by accepting partially interconnected structures and various types of global and local neurons within each hidden neural layer. A simultaneous selection of convenient model structure and parameters is performed, making use of multiobjective graph genetic programming. For an efficient assessment of individuals, the authors suggest a new Pareto-ranking strategy, which permits a progressive combination between search and decision, tailored to handle objectives of different priorities. The experiments carried out for the identification of an industrial system show the capacity of the proposed approach to automatically build simple and precise models, whilst dealing with noisy data and poor aprioric information. © 2011 CACSUK.

关键词： Genetic programming

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：