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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Tomasz Walkowiak Jacek Mazurkiewicz Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The economic analysis of dispatcher driven transport system which takes into account functional and reliability parameters is quite serious problem in real world. Our previous works showed that the calculation of cost function requires to set up a large number of economic parameters. It is rather hard to state the exact value of many of them. Especially hard is now to predict a price of gasoline. Therefore, we propose to use a fuzzy representation of gasoline costs as well as fuzzy representation of some reliability parameters. The Monte Carlo approach is used for system functional simulation. No restriction on the system structure and on a kind of distribution is the main advantage of the method. The paper presents some exemplar system modeling. The presented economic analysis of dispatcher driven transport system is practically essential for defining an organization of vehicle maintenance and transport system logistics

关键词： Fuzzy systems Vehicles Economic forecasting Discrete event simulation Analytical models Computational modeling Petroleum Costs Maintenance Fuzzy control

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computer modeling and simulation of discrete transport system with dispatcher for reliability and economic analysis

Computer modeling and simulation of discrete transport syste...

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Jacek Mazurkiewicz Tomasz Walkowiak Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

A method of reliability and economic analysis related to discrete transport systems with dispatcher is presented. The proposed analysis is based on modeling and simulating of the system behavior. The position of dispatcher is to mimic a function of real transport logistic. The Monte Carlo simulation is used for proper reliability and economic parameters calculation. No restriction on the system structure and on a kind of distribution is the main advantage of the method. The paper presents some exemplar system modeling. The author stress the problem of influence of the reliability parameters for final system economic measures (i.e. costs). The presented problem is practically essential for defining an organization of vehicle maintenance and transport system logistics

关键词： Computational modeling Analytical models computer simulation Vehicles Logistics Costs Maintenance Telecommunication network reliability control engineering computing Reliability engineering

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Fault Tolerant Topological Design for computer Networks

Fault Tolerant Topological Design for Computer Networks

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International Conference on Dependability of computer Systems (DepCos-RELCOMEX)

作者： Ewa Szlachcic Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

The fault-tolerant topological design for a computer network leads one to characterize the way in which the nodes are linked to each other with the known connectivity parameter and to the capacity of links, which represent the means of transmission parameters between the vertices. The design problem is to find a suitable fault tolerant network topology at a minimum communication cost under the constraint of an average packet time delay. An approach based on evolutionary algorithm (EA) is developed for the network topological design problem. The special construction of a chromosome according to fault tolerant network configuration was designed and the modification of fitness function is proposed. Simulations are studied to support the effectiveness of the proposed algorithm

关键词： Fault tolerance computer networks computer network reliability Network topology Costs Evolutionary computation Constraint optimization Availability control engineering computing Design engineering

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CHEAP PATHS FOR NONHOLONOMIC MOTION PLANNING

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IFAC Proceedings Volumes 2006年第15期39卷 574-579页

作者： Ignacy Duleba Pawel Ludwików Institute of Computer Engineering Control and Robotics Janiszewskiego 11/17 50-372 Wroclaw Wrocław University of Technology Poland

In this paper an algorithm of computing a locally optimal nonholonomic path is presented. The algorithm exploits local dynamic programming method applied iteratively. Tests of the algorithm were carried out on the mod... 详细信息

关键词： nonholonomic motion planning algorithm dynamic programming optimization

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A Fast Parallel Dynasearch Algorithm for Some Scheduling Problems

A Fast Parallel Dynasearch Algorithm for Some Scheduling Pro...

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International Conference on Parallel Computing in Electrical Engineering (PARLEC)

作者： W. Bozejko M. Wodecki Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland Institute of Computer Science University of Wroclaw Wroclaw Poland

In this paper we propose a parallel dynasearch algorithm to solve the single machine total weighted tardiness problem. Nowadays dynasearch method is the most powerful heuristic method for the single machine total weighted scheduling problem. The neighborhood is generated by executing series of swap moves. Using dynamic programming such a neighborhood, which has exponential size, is explored in polynomial time. We propose parallel dynasearch algorithm for the parallel mainframe computers which significantly improves results of the sequential dynasearch algorithm

关键词： Scheduling algorithm Processor scheduling Single machine scheduling Polynomials Concurrent computing Dynamic programming Costs control engineering computing Power engineering and energy Robot control

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ADAPTIVE TRAJECTORY TRACKING FOR DOUBLY NONHOLONOMIC MOBILE MANIPULATOR — 3-PENDULUM ON MOBILE PLATFORM OF (2,0) CLASS

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IFAC Proceedings Volumes 2006年第15期39卷 450-455页

作者： Alicja Mazur Marcin Kulawik Institute of Computer Engineering Control and Robotics Wroclaw University of Technology ul. Janiszewskiego 11/17 50-372 Wroclaw Poland

In the paper a solution to adaptive trajectory tracking problem for doubly nonholonomic mobile manipulators has been presented. The proposed control algorithms take into considerations the kinematics as well as the dynamics of the whole nonholonomic system. Kinematic controller consists of two parts: Jiang & Nijmeijer controller for a nonholonomic manipulator and Samson controller for a mobile platform. Dynamic controllers preserve asymptotic trajectory tracking for the case of full knowledge of dynamic parameters and even with parametric uncertainty in dynamics. Theoretical considerations have been illustrated with simulations.

关键词： Nonholonomic constraints adaptive control trajectory tracking

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Design of an autonomous control for parallel-connected uninterruptible power supplies

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IEEJ Transactions on Industry Applications 2006年第4期126卷 444-452+11页

作者： Sato, Eduardo Kazuhide Kawamura, Atsuo Division of Advanced Physics Electrical and Computer Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama 240-8501 Japan IEICE Japan IEEE Japan Department of Electrical and Computer Engineering Yokohama National University Yokohama Japan Robotics Society of Japan Japan Institute of Electronics Information and Communication Engineers Japan Society of Instrument and Control Engineering Japan Yokohama National University Japan

This paper proposes an autonomous control for parallel-connected uninterruptible power supply (UPS) systems based on electrical power system interrelations. The controllable variables are the output voltage phase angle and magnitude. Relation between active current and output voltage phase angle is derived from a synchronous machine model. Electrical power systems suggest that voltage regulation and reactive current can be proportionally related to yield another control equation. The resulted control scheme is very simple and only requires an output current measurement to provide a voltage reference signal locally in synchronism with other UPSs without communication signal exchange. A small-signal model represents the entire system and constitutes proof of its stability. Feasibility is confirmed by an experimental setup with three UPSs connected in parallel with different output power ratings. In the experiments, voltage limiters (1%) are employed and three cases are verified. Under all conditions, the results show excellent performance in terms of stability, and active and reactive load sharing.

关键词： Uninterruptible power systems

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Knowledge Engineering Approach to Concurrently Competng Cyclic Processes control

Knowledge Engineering Approach to Concurrently Competng Cycl...

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International IEEE Conference on Intelligent Systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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TOWARDS THE THERAPEUTIC SPHERICAL ROBOT: DESIGN, PROGRAMMING AND control

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IFAC Proceedings Volumes 2006年第15期39卷 761-766页

作者： Krzysztof Arent Marek Kabała Marek Wnuk The Institute of Computer Engineering Control and Robotics Wrocław University of Technology ul. Z. Janiszewskiego 11/17 50-372 Wroclaw Poland. tel: (48) 71 3202726 (48) 71 3202741 fax: (48) 71 3212677

The paper contributes to an emerging field in social robotics, namely application of robots in autism therapy. It has been proposed a dedicated spherical robot, Sharic, which will assist a therapist in treatment of autistic children. The robot — an interactive toy — is open to direct, physical interaction with a child. The behaviour of the robot can be programmed by a therapist appropriately for child needs in a wide range. Fuzzy logic based programming technique in conjunction with suitably designed therapist-robot interface guarantee that use of the robot does not require a robotican assistance.

关键词： robotics robot programming robot control social requirements fuzzy logic sensor systems actuators hardware interfaces

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Modeling and control of Interaction Forces in Dynamically-Coupled Robotic Systems

Modeling and Control of Interaction Forces in Dynamically-Co...

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Goo Bong Chung Byung-ju Yi Whee-kuk Kim The Robotics Institute Carnegie Mellon University Pittsburgh USA School of Electrical Engineering and Computer Science Hanyang University Ansan Republic of Korea Department of Control and Instrumentation Engineering Korea University Chochiwon Republic of Korea

In this paper, we propose a new closed-form dynamic model of interaction forces between two interacting robotic modules and a methodology to control the interaction forces by using inherent kinematic redundancy of robotic systems. To show the usefulness of controlling interaction forces, two exemplary cases are introduced. The first example investigates the interaction force between a mobile platform and a serial robot mounted on the platform. The interaction force between the two modules is controlled so that the motion of the mobile platform can be controlled in a desired way. The second example deals with interaction between a serial robot and a human operator. An interaction force is controlled so that the human operator does not feel uncomfortable when the operator performs a designed trajectory motion in cooperation with the robot

关键词： Force control Mobile robots Manipulator dynamics Kinematics Motion control Orbital robotics Intelligent robots Parallel robots Human robot interaction Force measurement

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