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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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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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High-rise buildings under earthquake excitation: Stabilization using SMC

High-rise buildings under earthquake excitation: Stabilizati...

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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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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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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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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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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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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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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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