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International Conference on computer Integrated Manufacturing

作者： N. Viswanadham T.L. Johnson Y. Narahari Department of Computer Science and Automation Indian Institute of Science Bangalore India GE Corporate Research & Development Control Systems Laboratory Schenectady NY USA

Petri net and Markov chain models are developed for manufacturing systems with blocking and deadlock. The authors compute the probability that the system in an absorbing (deadlocked) state, the mean time to deadlock, and the throughput before deadlock, etc., which can be used to compare the performance of various prevention and avoidance strategies. A systematic method for designing locks and interlocks for deadlock avoidance using the reachability graph of the Petri net model is presented.< >

关键词： Performance analysis Manufacturing systems System recovery Throughput Machining Control systems

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Motion planning in a dynamic domain

Motion planning in a dynamic domain

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IEEE International Conference on Robotics and automation (ICRA)

作者： K. Fujimura H. Samet Center for Engineering Systems Advanced Research Oak Ridge National Laboratory Oak Ridge TN USA Center for Automation Research and Computer Science Department and Institute for Advanced Computer Studies University of Maryland College Park MD USA

Motion planning is studied in a time-varying environment. Each obstacle is a convex polygon that moves in a fixed direction at a constant speed. The robot is a convex polygon that is subject to a speed bound. A method of determining whether or not there is a translational collision-free motion for a polygonal robot from an initial position to a final position and of planning such a motion, if it exists, is presented. The method makes use of the concept of configuration spaces and accessibility. An algorithm is given for motion planning in such an environment, and its time complexity is analyzed.< >

关键词： Robots Motion planning Orbital robotics Robotics and automation Algorithm design and analysis Space stations systems engineering and theory Laboratories Motion analysis Shape

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Handwritten character recognition with the Athena model

Handwritten character recognition with the Athena model

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IEEE Southeastcon

作者： A. Abrahamsson C. Koutsougeras C.A. Papachristou Linkoping Institute of Technology Linkoping Sweden Computer Science Department Tulane University New Orleans LA USA Computer Engineering and Science Department Center of Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA

The results of using the Athena neural network model in automatic recognition of handwritten English letters are presented. This model has several layers. The training patterns need to be presented once to each layer of neurons, in parallel. The model forms a binary tree of neurons, and the training is done from the root towards the leaves, processing each level in parallel. The learning time is shortened significantly compared to the network of D.E. Rumelhart et al. (1986). The net structure is dynamically decided during the learning process. The goal is to enhance the adaptive learning capability to recognize more and more patterns. In the approach presented, an incremental learning scheme based on the Athena neural net is introduced. The objective is to learn misclassified patterns adaptively by dynamically correcting the neural net topological structure and the individual neuron's weights and threshold. Incremental learning is performed without losing information about previously learned patterns. The experiments conducted on the recognition of handwritten English letters utilizing Athena and the incremental learning scheme show a significant recognition success rate.< >

关键词： Character recognition Neurons Neural networks Handwriting recognition Gain measurement computer science automation Intelligent systems Pattern recognition Performance loss

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Reliable client-server communication in distributed programs

Reliable client-server communication in distributed programs

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Conference on Local computer Networks (LCN)

作者： K. Ravindran S.T. Chanson K.K. Ramakrishnan Department Of Computer Science & Automation Indian Institute of Science Bangalore India Department of Computing & Information Sciences Kansas State University Manhattan KS USA Department of Computer Science University of British Columbia Vancouver BC Canada Distributed Systems Architecture & Performance Digital Equipment Corporation Littleton MA USA

The authors' premise is that applications have the ability to tolerate certain types of failures under certain situations. This may, in turn, relax the top-level constraint on failure recovery algorithms in the interprocess communication (IPC) layer and allow exploitation of the inherent tolerance of applications to failures in a systematic way to simplify failure recovery. Using this application-driven approach, the authors present a model of a distributed program based on the well-known client-server relationship among the processes of the program. The model reflects certain generic properties of the application layer that can be exploited by the IPC layer during failure recovery. New techniques as to how the properties can be used for recovery are outlined. The authors use remote procedure call and shared variable as communication abstractions for the client and the server processes in the program to communicate with one another. The simplicity and generality of the failure recovery renders the application-driven approach particularly useful in contemporary distributed systems which are large and heterogeneous and hence have complex failure modes.< >

关键词： Local area networks automation computer networks distributed computing Microcomputers LAN interconnection Application software Network interfaces File systems Veins

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Two Adaptive Control Structures of Robot Manipulators

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IFAC Proceedings Volumes 1989年第10期22卷 371-377页

作者： B.J. Oh M. Jamshidi H. Seraji Automation Technologies Department Korea Electronics and Telecomm Research Institute Daedog Danji. P.O. Box 8. Daejeon. Korea CAD Laboratory for Systems/Robotics. Department of Electrical and Computer Engineering University of New Mexico. Albuquerque. New Mexico 87131. USA Jet Propulsion Laboratory. California Institute of Technology. 4800 Oak Grove Drive. Pasadena. California 91109. USA

This paper proposes two simple schemes for adaptive control of robot manipulator, to achieve trajectory tracking. The state feedback controller consists of feedforward from the reference position trajectory, feedback from the actual trajectory, and an auxiliary input. The feedforward/feedback controller is different from the state feedback controller in that it consists of feedforward from the reference position, velocity, and acceleration trajectory based on “inverse” dynamics of robot manipulator. The feedforward and feedback gains and the auxiliary input are adapted using adaptive control theory based on Lyapunov's direct method, and using only the local information of the corresponding joint. The proposed control schemes are computationally fast and do not require a priori knowledge of the parameter of the manipulator or the payload. Simulation results are presented in support of the proposed schemes.

关键词： Adaptive Control Decentralized Adaptive Control Robot Manipulator Feedforward Feedback

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Adaptation of plans via annotation verification 88

Adaptation of plans via annotation verification

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1st International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert systems, IEA/AIE 1988

作者： Kambhampati, Subbarao Hendler, James A. University of Maryland Institute for Advanced Computer Studies College Park United States Center for Automation Research Computer Science Department Systems Research Center United States

ISBN: (纸本)0897912713

The ability to adapt old plans to new situations is essential for a planning system. A perceived problem with the adaptation methods in traditional memory-based planning approaches has been the need for a strong domain model in addition to a library of past plans. In this paper, we argue that the process of adaptation does not need any domain knowledge outside of that which a generative planner has available. We present an approach to plan reuse in which information relevant to the adaptation process is left in the form of annotations on generated plans. Adaptation of a past plan to a new problem situation is focused by a process of annotation verification, which locates applicability failures and suggests appropriate refitting strategies. The generative planner is then called upon to carry out these refits. We give examples from automated process planning (in computer-aided manufacturing) to show how annotation verification helps in adaptation. These examples also help in showing how adaptive planning can be an efficient and viable alternative to the generative and semi-automated variant planning techniques currently used in process planning. © ACM 1988.

关键词： computer aided manufacturing

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Robust Observer Design with Application to Fault Detection

Robust Observer Design with Application to Fault Detection

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American Control Conference (ACC)

作者： N. Viswanadham K. Dean Minto Department of Computer Science and Automation Indian Institute of Science Bangalore India Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA

A new scheme for robust estimation of the partial state of linear time-invariant multivariable systems is presented, and it is shown how this may be used for the detection of sensor faults in such systems. We consider an observer to be robust if it generates a faithful estimate of the plant state in the face of modelling uncertainty or plant perturbations. Using the Stable Factorization approach we formulate the problem of optimal robust observer design by minimizing an appropriate norm on the estimation error. A logical candidate is the 2-norm, corresponding to an H ∞ optimization problem, for which solutions are readily available. In the special case of a stable plant, the optimal fault diagnosis scheme reduces to an internal model control architecture.

关键词： Robustness Fault detection Observers State estimation MIMO Sensor systems Face detection Uncertainty Estimation error Fault diagnosis

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Fault detection and diagnosis of automated manufacturing systems

Fault detection and diagnosis of automated manufacturing sys...

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IEEE Conference on Decision and Control

作者： N. Viswanadham T.L. Johnson Department of Computer Science & Automation Indian Institute of Science Bangalore India Systems Architectures Control Technology Bra General Electric Research and Development Center Schenectady NY USA

The authors develop a controller methodology for fault detection and diagnosis using Petri nets and fault trees in automated manufacturing systems. The controller has two levels. At the first level there are dedicated diagnostic systems for each of the subsystems, such as machine centers, robots, conveyers, etc. At the second level there is an intelligent controller monitoring the part flow and coordinating the local diagnostic systems and controllers. The authors assume that local controller and diagnostic systems exist for subsystem-level fault detection and diagnosis, and they present a Petri-net-based intelligent controller for system-level fault detection and diagnosis. The authors also describe fault-free-based diagnostics.< >

关键词： Fault detection Fault diagnosis Manufacturing systems Control systems Automatic control Intelligent robots Machine intelligence Petri nets Fault trees Robot kinematics

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MPCS - THE MANUFACTURING PROCESS-CONTROL SYSTEM

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AT&T TECHNICAL JOURNAL 1986年第4期65卷 35-45页

作者： DUNIETZ, IS HSU, JLC MCEACHERN, MT STOCKING, JH SWARTZ, MA TROMBLY, RM The authors Irwin S. Dunietz John L.C. Hsu Michael T. McEachern James H. Stocking Mark A. Swartz andRodney M. Tromblyare responsible for design and development of the Manufacturing Process Control System. Mr. Dunietz joined AT&T in 1980. He is a member of the technical staff in the Manufacturing Information Automation department at AT&T Engineering Research Center Princeton New Jersey. He received an A.B. in mathematics from Cornell University and an M.S.E. in computer science from Princeton University. Mr. Hsu who joined AT&T in 1970 is a department head in the Manufacturing Information Automation department at the Engineering Research Center. He received an M.S. in electrical engineering from the University of Missouri. Mr. McEachern joined AT&T in 1962 and is a supervisor in the 5ESS™ Line Unit Manufacturing department at AT&T Technologies in Oklahoma City Oklahoma. He is responsible for the manufacturing process control center in Oklahoma City which provides computerized support for all circuit pack manufacturing. Mr. Stocking who joined AT&T in 1975 is a supervisor in the Manufacturing Information Automation department at the Engineering Research Center. He received a B.S. in chemical engineering from Rensselaer Polytechnic Institute and a Ph.D. in chemical engineering from the University of California Berkeley. Mr. Swartz joined AT&T in 1980 and is a member of the technical staff in the Manufacturing Information Automation department at the Engineering Research Center. He received an A.B. in computer science from Cornell University and an M.S. in computer science from Rutgers—The State University. Mr. Trombly who joined AT&T in 19 78 is an assistant manager at the AT&T Merrimack Valley Works in Massachusetts. Previously he was a supervisor at the Engineering Research Center. He holds a B.S. in computers and systems engineering and an M.S.E.E. from Rensselaer Polytechnic Institute.

The central challenge of all manufacturing is making products to the right standards and delivering them at the right time. AT&T is upgrading its corporate and factory resource planning systems to improve control of day-to-day manufacturing. The Manufacturing Process Control System (MPCS), developed at the AT&T Engineering research Center (ERC), provides this support. MPCS connects the shop floor with production scheduling, accounting, product data archive, and engineering support systems.

关键词： PRODUCTION CONTROL

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Advances in Computing and Data Sciences 1

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丛书名： Communications in computer and Information Science

1000年

作者： Mayank Singh Vipin Tyagi P. K. Gupta Jan Flusser Tuncer Ören Amar Ramdane Cherif Ravi Tomar

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