This paper describes a solution for the general problem of handling a multiple-bent profile of sheet metal in the constrained environment of a bending machine. The handling device is a robot feeding the machine and ha...
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This paper describes a solution for the general problem of handling a multiple-bent profile of sheet metal in the constrained environment of a bending machine. The handling device is a robot feeding the machine and handling the sheet metal in between the bending operations. A new planning approach for a multiple-bent profile handling which is based on the configuration space and a potential function is presented. Special heuristics for the multiple-bent profile are applied and accelerate the motion planning process by recognition of the critical part of the profile and its orientation and position relative to the bending machine. This approach assists the sheet metal part planner to plan in advance the handling operations and to confirm if the robot can perform the handling or not. Two examples of handling multiple-bent profiles inside a bending machine are described and demonstrate the overall approach by a simulation.
The paper refers to the description of an object-oriented approach to the formalisation of parallel DEDS modelling tools. The goal of the presented approach is to develop a modelling framework that enables the modular...
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The paper refers to the description of an object-oriented approach to the formalisation of parallel DEDS modelling tools. The goal of the presented approach is to develop a modelling framework that enables the modular and hierarchical construction of complex DEDS with the structured view of the underlying state space. The basic notions are defined, e.g., the state classes, the dynamic model of the objects and the operation of the parallel composition. The parallel composition of the objects’ models express the dynamic relations between objects of different classes in dependence on theirs states and occurred events. The method of the analysis of the model concerning to the reachability of the given configuration is also discussed. This point will be the further step of the research activity. At the end, a simple example and its program realisation in the C++ language is given.
The paper concerns with the application of object-oriented modelling to the development of real-time control software for FMS. Object- oriented model integrates the features of object-oriented database, features of re...
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The paper concerns with the application of object-oriented modelling to the development of real-time control software for FMS. Object- oriented model integrates the features of object-oriented database, features of real-time system and features of artificial intelligence aspects. The goal is to develop intelligent decision making logic for automatic creation of the control actions in both the standard and the nonstandard (error) situations. The knowledge is represented by the rules and the constraints. Three type of rules are described in the paper: process rules (create the dynamic model of the devices), production plan rules (define the production sequence of the technological operations), and expert knowledge rules (create reasoning model for solving the fault situations). The cooperation among these rules is also discussed in the paper.
The definition of T-invariants of Petri nets is changed in order to describe real cyclic processes that are not cyclic in the sense of the standard definition of T-invariants of Petri nets. The presented definition is...
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The definition of T-invariants of Petri nets is changed in order to describe real cyclic processes that are not cyclic in the sense of the standard definition of T-invariants of Petri nets. The presented definition is more global than the standard definition that can be included in it as the special case. The formal treatment of properties of generalized T-invariants is given by linear algebraic methods.
Presents a Petri nets-based approach to both modelling the discrete event dynamic systems (DEDS) to be controlled and the representation of knowledge about details or specifications concerning the control task. In ord...
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Presents a Petri nets-based approach to both modelling the discrete event dynamic systems (DEDS) to be controlled and the representation of knowledge about details or specifications concerning the control task. In order to synthesize intelligent control systems for the DEDS a procedure utilizing the Petri nets-based model of both the DEDS and the knowledge representation (both of them expressed in analytical terms) is proposed.< >
Here are described the problems of analytical calculation some parameters of AAAS with SRF using ergodic theory, and mathematical conections allowing handle long-run behavior. The conditions allowing to use the long-r...
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Here are described the problems of analytical calculation some parameters of AAAS with SRF using ergodic theory, and mathematical conections allowing handle long-run behavior. The conditions allowing to use the long-run behavior to this calculation according to the article ***, GSMP Formalism for DES, (1989) are considered as requiriments on structural properties of the system.
The paper deals with new developments of interpolating memories as the basic element of learning control and with their possible application. It discusses learning control, interpolating memories, characteristic manif...
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The paper deals with new developments of interpolating memories as the basic element of learning control and with their possible application. It discusses learning control, interpolating memories, characteristic manifolds for automotive control, and possible future developments.< >
An application for image sensing and image analysis in medicine (ophthalmology) is described. A new approach to corneal endothelium microscopy image grabbing and analysis by means of the CCD camera; frame grabber and ...
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An application for image sensing and image analysis in medicine (ophthalmology) is described. A new approach to corneal endothelium microscopy image grabbing and analysis by means of the CCD camera; frame grabber and PC improves operability and quality of this examination. Some specialized algorithms for image filtering and cellular walls detection are also described and examples of their application are shown.
A model of one-degree-of freedom robot contacting the environment is developed. To alleviate the problem of noncolocation the structural properties of the arm are also modeled and the states of mechanical system betwe...
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A model of one-degree-of freedom robot contacting the environment is developed. To alleviate the problem of noncolocation the structural properties of the arm are also modeled and the states of mechanical system between oolocated and noncolocated sensor are reconstructed with the reduced-order observer and used with a robust control technique based on definition of spectral and modal properties of the mechanical system.
This paper describes an experimental autonomous mobile vehicle which can move through an initially known obstacle field to a nominated goal. The navigation system uses combination of laser rangefinder and odometry for...
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This paper describes an experimental autonomous mobile vehicle which can move through an initially known obstacle field to a nominated goal. The navigation system uses combination of laser rangefinder and odometry for environmental mapping and localization, a GVD technique path planning algorithm and a pilot algorithm for motion control. The architecture of control system of the vehicle was designed as multilevel hierarchical distributed system which is built up as a modular structure. The philosophy of the hardware and software solution of individual modules of the control system and a description of the current state of the research is presented.
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