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Procedure of system-formation as process of the purpose achievement in manufacturing systems

IFAC Proceedings Volumes 2000年第20期33卷 499-504页

作者： Peter Groumpos Salavat Kusimov Barry Ilyasov Larisa Ismagilova Roza Valeeva Ilmira Gerasimova University of Patras Department of Electrical and Computer Engineering Laboratory for Automation & Robotics GR-265 OORion Greece Fax: +50 61 997 309 Ufa State Aviation Technical University 12 K.Marx Street Ufa 450000 Russia Fax: (347-2) 22-29-18

There are considered the creation problems of organizational and manufacturing systems as formalized system-formation process according to the construction conception of resource-goal triads. Triad is formed and is used as the base element of description formalization of the purpose achievement procedure by means of system-formation process and connects three components necessary for creation of any system (reasons of system origin, existence purpose, possibility of creation). The proposed procedure of system-formation is a basis for development of theoretical bases for modeling and research of controlled manufacturing systems.

关键词： system concepts system methodology system design manufacturing systems

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The mapping of texture on VR polygonal models 2

The mapping of texture on VR polygonal models

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2nd International Conference on 3-D Digital Imaging and Modeling, 3DIM 1999

作者： Laurendeau, Denis Bertrand, Nathalie Houde, Régis Computer Vision and Systems Laboratory Department of Electrical Engineering and Computer Engineering Laval University QuebecQCG1K 7P4 Canada Robotics Division Hydro Quebec Research Institute VarennesQCJ3X 1S1 Canada

ISBN: (纸本)0769500625

The paper addresses the problem of choosing automatically, and without user intervention, the best possible 2D image that should be used to map as a texture on polygons of a geometric model of complex scenes made of several objects. The geometric models and the texture data are obtained separately: the models are built from range data while the texture information is obtained from 2D color images of the scene. The system does not make any assumption on the way the texture data has been acquired. Texture selection results are presented for an indoor scene. © 1999 IEEE.

关键词： Image texture

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Team scheduling by genetic search 2

Team scheduling by genetic search

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2nd International Conference on Intelligent Processing and Manufacturing of Materials, IPMM 1999

作者： Zhang, Tiehua Graver, William A. Smith, Michael H. Intelligent Robotics and Manufacturing System Laboratory Simon Fraser University BurnabyBCV5A1S6 Canada University of California at Berkeley Department of Electrical Engineering and Computer Science BerkeleyCA United States

ISBN: (纸本)0780354893

We consider a photographic studio that must schedule multiple teams of photographers to a large number of elementary and secondary schools. The photographers' schedules are to be optimized so that time constraints are satisfied and each team is able to at least visit two schools daily. A multiple Travelling Salesman model is used where the total distance traveled and time consumed can be evaluated in a single cost function to achieve overall optimality. A genetic algorithm has been applied to solve the problem. The results show that this approach rapidly provides an effective means for solving the problem. © 1999 IEEE.

关键词： Cost functions

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The mapping of texture on VR polygonal models

The mapping of texture on VR polygonal models

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International Conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： D. Laurendeau N. Bertrand R. Houde Department of Electrical Engineering and Computer Engineering Computer Vision and Systems Laboratory Laval University QUE Canada Robotics Division Hydro-Quebec Research Institute (IREQ) Varennes QUE Canada

关键词： Virtual reality Layout Solid modeling computer vision Color computer graphics Rendering (computer graphics) Cameras Laboratories Data engineering

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Adaptive force tracking impedance control of robot for cutting nonhomogeneous workpiece

Adaptive force tracking impedance control of robot for cutti...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Seul Jung T.C. Hsia Robotics & Computational Intelligence Laboratory(ROCIL) Department of Mechatronics Engineering Chungnam National University Taejon South Korea Robotics Research Laboratory Department of Electrical and Computer Engineering University of California Davis CA USA

This paper presents the feasibility study of an adaptive impedance force control application to deburring/milling process. The proposed control regulates desired force on nonhomogeneous workpiece in regardless of unknown location and stiffness of the workpiece. The adaptive technique of minimizing the force error between the desired and the actual force is used to compensate for uncertainties in unknown workpiece. Effect of selecting the impedance damping gain with different workpiece stiffness on force tracking is analytically determined. Analyzing the stability of the proposed adaptive force control yields the bound of the adaptive gain for stability. Simulation studies of deburring/milling process show the excellent force tracking and confirm stability bound for stable force tracking.

关键词： Force control Programmable control Adaptive control Impedance Robot control Deburring Milling Stability analysis Process control Uncertainty

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Taxonomy of research on human interactions with intelligent systems

Taxonomy of research on human interactions with intelligent ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： A. Agah K. Tanie Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA Department of Robotics Mechanical Engineering Laboratory Tsukuba Japan

The objective of the paper is to provide a taxonomy of current research on human interactions with intelligent systems. This embodies human-computer interactions, human-machine interactions, and human-robot interactions. The research undertakings are classified based on five criteria of: research approach, application, system autonomy, interaction distance, and interaction media. Additionally, more than 150 cited references are listed in summary tables with respect to each classification category. This provides an easy guide to search for related works with certain characteristics. The intelligent systems discussed in the paper cover a wide range, including: telerobots, virtual reality, user interfaces, bio-feedback, mobile robots, intelligent interfaces, sport machines, medical technology, human-machine interfaces, entertainment, intelligent systems, computer input/output devices, human-computer interfaces, and multimedia.

关键词： Taxonomy Humans Intelligent systems Intelligent robots Machine intelligence Man machine systems Virtual reality User interfaces Mobile robots Paper technology

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The challenge of using soft computing methodologies in supervisory control systems

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IFAC Proceedings Volumes 1999年第2期32卷 285-290页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 Greece Tel +30 61 997293 Fax. +30 61 997309

In Complex Large Scale Systems there is an oncoming need for more autonomous and intelligent systems, new methodologies from discipline research areas have been proposed. A general formulation for the Overall Control Problem of Complex Systems is presented. Then, the use of a hybrid methodology, which combines fuzzy logic and neural networks, Fuzzy Cognitive Map (FCM), for the modeling Supervisory Complex Systems, using is investigated. The description and the construction of Fuzzy Cognitive Map is examined and a model for the supervisor is proposed.

关键词： Supervisory Control Cognitive Systems Modeling Complex Systems

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New generation of multirobot systems

New generation of multirobot systems

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IEEE International Conference on Systems, Man and Cybernetics

作者： M.M. Trivedi K.C. Ng N. Lassiter R. Capella Computer Vision and Robotics Research Laboratory Electrical and Computer Engineering Department University of California San Diego La Jolla CA USA

This paper presents a summary of a comprehensive research project involving development of a completely autonomous multirobot system for railway track maintenance applications. The specifications of this "real-world" application required us to consider a multirobot system conceptualization, rather than a single robot system.

关键词： Multirobot systems Rail transportation Robot sensing systems robotics and automation Sensor arrays Fasteners computer vision Application software Sensor systems Intelligent robots

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Sonar resolution-based environment mapping 15

Sonar resolution-based environment mapping

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15th IEEE International Conference on robotics and Automation, ICRA 1998

作者： Cahut, Leyla Vlavanis, Kimon P. Delic, Hakan Robotics and Automation Laboratory Center for and Advanced Computer Studies University of Southwestern Louisiana LafayetteLA70504 United States Signal and Image Processing Laboratory Department of Electrical Engineering BogaziCi University Bebek 80815 Istanbul Turkey

ISBN: (纸本)078034300X

Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package. © 1998 IEEE.

关键词： Software testing

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Robotic assistants for aircraft inspectors

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IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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