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作者： Dimirovski, Georgi M. Zhao, Jun Vukobratovic, Miomir K. Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Turkey SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 China Mihailo Pupin Institute Laboratory of Robotics and Automation Volgina 15 Karaburma 11000 Serbia

ISBN: (纸本)9783902661173

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors. Copyright © 2006 IFAC.

关键词： Earthquakes

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Decision Support Systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

关键词： Earthquake sliding mode control structural systems vibration control

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards Automation Software tools control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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Information systems configuration analysis using event-driven computer simulation

Information systems configuration analysis using event-drive...

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作者： Walkowiak, Tomasz Michalska, Katarzyna Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Janiszewskiego 11-1.7 50-372 Wroclaw Poland

ISBN: (纸本)9789898111906

The paper presents a method of analyzing dependability aspects of service oriented information systems. The system analysis is based on functionaldependability model suitable for system simulation. The model is described by XML Domain Modelling Language (XDML). The model is automatically transform into an input model for computer simulation. For event-driven simulation modified SSFNet simulator is used. Based on simulation results some dependability metrics are calculated: availability and response time of a business service. The paper presents service oriented information system model, method of its analysis with support of created tool that was tested on a exemplary system.

关键词： Information systems

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Learning movement primitives

Springer Tracts in Advanced Robotics

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Springer Tracts in Advanced robotics 2005年 15卷 561-572页

作者： Schaal, Stefan Peters, Jan Nakanishi, Jun Ijspeert, Auke Computational Learning and Motor Control Laboratory Computer Science and Neuroscience University of Southern California Los Angeles CA 90089-2520 United States Dept of Humanoid Robotics and Computational Neuroscience ATR Computational Neuroscience Laboratory 2-2-2 Hikaridai Seika-cho Soraku-gun 619-0288 Kyoto Japan School of Computer and Communication Sciences EPFL Swiss Federal Institute of Technology Lausanne CH 1015 Lausanne Switzerland

This paper discusses a comprehensive framework for modular motor control based on a recently developed theory of dynamic movement primitives (DMP). DMPs are a formulation of movement primitives with autonomous nonlinear differential equations, whose time evolution creates smooth kinematic control policies. Model-based control theory is used to convert the outputs of these policies into motor commands. By means of coupling terms, on-line modifications can be incorporated into the time evolution of the differential equations, thus providing a rather flexible and reactive framework for motor planning and execution. The linear parameterization of DMPs lends itself naturally to supervised learning from demonstration. Moreover, the temporal, scale, and translation invariance of the differential equations with respect to these parameters provides a useful means for movement recognition. A novel reinforcement learning technique based on natural stochastic policy gradients allows a general approach of improving DMPs by trial and error learning with respect to almost arbitrary optimization criteria. We demonstrate the different ingredients of the DMP approach in various examples, involving skill learning from demonstration on the humanoid robot DB, and learning biped walking from demonstration in simulation, including self-improvement of the movement patterns towards energy efficiency through resonance tuning. © Springer-Verlag Berlin Heidelberg 2005.

关键词： Differential equations

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Low-Level Finger Coordination for Compliant Anthropomorphic Robot Grippers

Low-Level Finger Coordination for Compliant Anthropomorphic ...

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IEEE Conference on Decision and control

作者： A. Lehmann R. Mikut D. Osswald Institute of Applied Computer Science Forschungszentrum Karlsruhe GmbH (FZK) Germany Institute for Process Control and Robotics University of Karlsruhe Germany

The execution of a grasp process with an anthropomorphic multi-finger robot gripper has to base on an appropriate movement planning and an accurate low-level control strategy. Stability problems may arise, if there is a deviation, e.g. through position, orientation and/or size perturbation of the object, between planned and real executable movement patterns. One opportunity to react to such perturbations is the use of visual information. But if the there is no visual system available or even the object is concealed, e.g. through the robot gripper, the robot arm or another object, then the use of a visual system is insufficient. For this reason a low-level finger coordination depending on the actual state of the grasp (grasp phase) is presented. With this concept it is possible to coordinate the grasp on the level of the low-level controller and therefore to improve the grasp performance.

关键词： Fingers Anthropomorphism Robot kinematics Grippers Visual system Strategic planning Motion planning Humans computer science Object detection

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A novel approach to proactive human-robot cooperation

A novel approach to proactive human-robot cooperation

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： O.C. Schrempf U.D. Hanebeck A.J. Schmid H. Worn Intelligent Sensor-Actuator-Systems Laboratory Institute of Computer Science and Engineering Universität Karlsruhe Karlsruhe Germany Institute for Process Control and Robotics Universität Karlsruhe Karlsruhe Germany

This paper introduces the concept of proactive execution of robot tasks in the context of human-robot cooperation with uncertain knowledge of the human's intentions. We present a system architecture that defines the necessary modules of the robot and their interactions with each other. The two key modules are the intention recognition that determines the human user's intentions and the planner that executes the appropriate tasks based on those intentions. We show how planning conflicts due to the uncertainty of the intention information are resolved by proactive execution of the corresponding task that optimally reduces the system's uncertainly. Finally, we present an algorithm for selecting this task and suggest a benchmark scenario.

关键词： Robot sensing systems Intelligent robots Uncertainty Application software Humanoid robots Human robot interaction Bayesian methods Intelligent sensors Laboratories computer science

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Learning distributed grasp in presence of redundant agents

Learning distributed grasp in presence of redundant agents

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： A.H. Elahibakhsh M. Nili Ahmadabadi F. Janabi-Sharifi B. Nadjar Araabi AI & Robotics Laboratory Center of Excellence for Control and Intelligent Processing Department of Electrical and Computer Eng. Institute for Studies on Theoretical Physics and Mathematics University of Tehran Tehran Iran Robotics and Manufacturing Automation Lab Department of Mechanical and Industrial Engineering Ryerson University Toronto ONT Canada

Learning distributed object grasp by a group of robots with redundant members is the main focus of this paper. In Elahibakhsh, A. H., et al. (2004), we tackled the problem of learning form closure grasp for planar convex objects by multiple non-communicating robots without any information about the shape of objects. In this paper, the problem in presence of redundant agents is investigated. Agents' states and actions are designed such that the group learns grasping different objects using Q-learning method. As the environment is not intelligent enough to assess each agent's effect on the team performance, a credit assignment algorithm based on knowledge evaluation is designed. The proposed method considers the environment credit for the team, number of redundant agents, and the expertness level of each agent in its credit assignment. Applicability of the designed approach is verified through a set of simulations. It is shown that the team learns grasping different objects. Therefore, it is expected that the proposed method can be extended for distributed grasp of deformable objects

关键词： Intelligent robots Learning Robot sensing systems Shape Cognitive robotics robotics and automation Intelligent agent Algorithm design and analysis Grasping Redundancy

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Experimental validation of multi-vehicle coordination strategies

Experimental validation of multi-vehicle coordination strate...

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2005 American control Conference, ACC

作者： Marshall, J.A. Fung, T. Broucke, M.E. D'Eleuterio, G.M.T. Francis, B.A. Systems Control Group Department of Electrical and Computer Engineering University of Toronto 10 King's College Rd Toronto Ont. M5S 3G4 Canada Space Robotics Group University of Toronto Institute for Aerospace Studies 4925 Dufferin St Toronto Ont. M3H 5T6 Canada

Consequent to previously published theoretical work by Marshall, Broucke, and Francis, this paper summarizes the apparatus and results of multi-vehicle coordination experiments conducted at the University of Toronto institute for Aerospace Studies. These experiments successfully demonstrated the practicality of cyclic pursuit as a distributed control strategy for multiple wheeled-vehicle systems. Moreover, the pursuit-based coordination algorithm was found to be surprisingly robust in the presence of unmodelled dynamics and delays due to sensing and information processing. © 2005 AACC.

关键词： Intelligent vehicle highway systems

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