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IFAC Proceedings Volumes 1996年第1期29卷 4772-4777页

作者： František Čapkovič Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 842 37 Bratislava Slovak Republic

An alternative approach to the discrete-event dynamic systems (DEDS) control is presented. Petri nets are used to express analytically the DEDS model and to represent knowledge about the control task specifications. Both the DEDS model and the knowledge base are simultaneously used in the procedure of the control system synthesis. The elementary control possibilities are generated (by means of the DEDS model) in any step of the procedure and tested with respect to the existence conditions. When there are several possibilities satisfying the conditions the most suitable control possibility is chosen by means of the knowledge base. The proposed approach is illustrated on a simple flexible manufacturing system.

关键词： control system synthesis discrete-event dynamic systems flexible manufacturing systems knowledge representation knowledge-based control Petri nets

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D.E.D.S. Modelling and Knowledge-Based control 1

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IFAC Proceedings Volumes 1997年第21期30卷 297-302页

作者： František Čapkovič Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 842 37 Bratislava Slovak Republic

An alternative approach to modelling the discrete-event dynamic systems (DEDS) and to knowledge-based control of them is presented in this paper. Petri nets and oriented graphs are simultaneously used in order to express in analytical terms the new combined model of DEDS and to represent analytically knowledge about the control task specifications (like criteria, constraints, etc.) by means of such a new combine approach. Both the DEDS model and the knowledge base are simultaneously used in the procedure of the control system synthesis.

关键词： control system synthesis discrete-event dynamic systems knowledge representation knowledge-based control modelling oriented graphs Petri nets

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Automatic Solving the Problem of control Synthesis for Manufacturing Systems

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IFAC Proceedings Volumes 2000年第17期33卷 759-764页

作者： František ČapkoviČ Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 842 37 Bratislava Slovak Republic

A new view on manufacturing systems (MS) modelling and control synthesis is presented. MS are understood to be a kind of discrete event dynamic systems (DEDS). Petri nets (PN), frequently used for DEDS modelling, are replaced by corresponding oriented graphs (OG). The OG nodes are represented by the PN places and the OG edges involve the PN transitions. The adjacency matrix of such a graph is utilized in the DEDS control synthesis procedure. It makes possible to generate both the straight-lined systenl development (from an initial state to a prescribed terminal one) and the backtracking one (from the terminal state to the initial one). The combination both of kinds of the model development is used to find the sequence of the DEDS control vectors. Rule-based knowledge about the control task specification can be utilized in order to choose unique (the most suitable) solution.

关键词： Discrete-event systems control synthesis knowledge-based control oriented graphs Petri nets

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Intelligent control synthesis of manufacturing systems? 14th

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14th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems, IEA/AIE 2001

作者： Čapkovič, František Čapkovič, Peter Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 Bratislava842 37 Slovakia Department of Informatics Slovak University of Technology Ilkovičova 3 Bratislava812 19 Slovakia

ISBN: (纸本)3540422196

An alternative approach to the synthesis of the intelligent control of manufacturing systems understood to be the discrete-event dynamic systems (DEDS) is presented in this paper. The Petri nets (PN) are used to express analytically both the model of DEDS to be controlled and to represent knowledge about the control task specifications expressing goal criteria of control, constraints and further external conditions. Both the DEDS model and the knowledge base (KB) are simultaneously used in the procedure of the control system synthesis. The elementary control possibilities are generated (by means of the model) in any step of the procedure and tested with respect to existence conditions. When there are several control possibilities satisfying the conditions the most suitable one is chosen by means of the KB. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Petri nets

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Towards Constructing and Using Selforganizing Visual Environment Representations for Mobile Robots

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IFAC Proceedings Volumes 1998年第3期31卷 387-392页

作者： Georg von Wichert Henning Tolle Control Systems Theory & Robotics Laboratory Institute of Control Engineering Darmstadt University of Technology Landgraf-Georg-Str. 4 D-64283 Darmstadt Germany

Due to the upcoming applications in the field of service robotics mobile robots are currently receiving increasing attention in industry and the scientific community. Applications in the area of service robotics demand a high degree of system autonomy, which robots without learning capabilities will not be able to meet. Learning is required in the context of action models and appropriate perception procedures. Both are extremely difficult to acquire especially with high bandwidth sensors (e.g. video cameras) which are needed in the envisioned unstructured worlds. Selflocalization is a basic requirement for mobile robots. This paper therefore proposes a new methodology for image based selflocalization using a selforganized visual representation of the environment. It allows for the seamless integration of active and passive localization.

关键词： Mobile robots Navigation Vision Scene analysis Selforganizing systems

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Beyond histograms: Why learned structure-preserving descriptors outperform HOG 22

Beyond histograms: Why learned structure-preserving descript...

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22nd European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning, ESANN 2014

作者： Guthier, Thomas Willert, Volker Eggert, Julian TU Darmstadt Control Theory and Robotics Lab. Landgraf-Georg-Str. 4 Darmstadt64283 Germany Honda Research Institute Europe Carl-Legien-Str. 30 Offenbach63073 Germany

ISBN: (纸本)9782874190957

Statistical image descriptors based on histograms (e.g. SIFT [1], HOG [2]) are widely used in image processing, because they are fast and simple methods with high classification performance. However, they discard the local spatial topology and thus lose discriminative information contained in the image. We discuss the relations between HOG and VNMF descriptors, i.e. structure free histograms versus learned structure-preserving patterns. VNMF is a shift-invariant, sparse, nonnegative unsupervised learning algorithm [8, 9, 5], that provides a distinct decomposition of the input into its parts. The VNMF descriptor outperforms the statistical HOG descriptor, because it preserves spatial topology leading to better classification results on real-world human action recognition benchmarks [11, 12].

关键词： Graphic methods

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Wavelet methods for texture defect detection

Wavelet methods for texture defect detection

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IEEE International Conference on Image Processing

作者： G. Lambert F. Bock Control System Theory & Robotics Sect Institute of Control Engineering Darmstadt University of Technology Darmstadt Germany Institute of Network-and Signa Theory Darmstadt University of Technology Darmstadt Germany

In this article we introduce our approach to exploit multiscale wavelet methods for texture defect detection. Several wavelet bases and decomposition algorithms are examined in regard of applicability, parameterization and computational costs. The article points out specific problems in localizing texture defects in multiscale wavelet representations. Besides the fast dyadic wavelet transform we demonstrate the application of the translation invariant a trous algorithm on texture samples. Feature extraction methods are proposed and examples of successful defect classification results are shown.

关键词： Wavelet analysis Wavelet transforms Wavelet packets Image texture analysis Signal resolution Signal analysis Continuous wavelet transforms Image reconstruction Signal processing Filters

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Dynamic modelling and PFL-based trajectory tracking control for underactuated cable-driven truss-like manipulator

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Journal of Central South University 2021年第10期28卷 3127-3146页

作者： DING Shu-chen PENG Li QIAO Shang-ling LIU Rong-qiang JOSEPHAT Bundi School of IoT Engineering Jiangnan UniversityWuxi 214122China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China Center for Control Theory and Guidance Technology Harbin Institute of TechnologyHarbin 150001China

In recent years,an innovative underactuated robot was developed,named as underactuated cable-driven trusslike manipulator(UCTM),to be suitable in aerospace ***,there has been strong consensus that the stabilization of planar underactuated manipulators without gravity is a great challenge since the system includes a second order nonholonomic constraint and most classical control methods are not suitable for this kind of ***,the complexity of the truss-like structure results in tremendous difficulty of computational complicacy and high nonlinearity during dynamic modelling in addition to controller *** is paramount to solve these difficulties for UCTM's future *** solve the above difficulties,this paper presents a dynamic modelling method for UCTM and a trajectory tracking control method based on partial feedback linearization(PFL)that fulfills the control goal of moving UCTM from its original position to a desired position by tracking a given trajectory of the joint *** achieve this,a model equivalent method is proposed to make UCTM equivalent with a three-link manipulator in the sense of dynamic *** the Lagrangian equation combined with complex vector method is proposed in the dynamic modelling process of UCTM,which simplifies the derivation *** on the established dynamic model,a coordinate transformation method is proposed to transform the control force matrix into the conventional form of an underactuated system,so that the control force can be separated from the unactuated *** PFL method in combination with the LQR control method is then proposed to realize the targets that the joint angles can track given desired *** experiments are conducted to verify the correctness and effectiveness of the proposed methods.

关键词： underactuated robot trajectory tracking control partial feedback linearization non-linear control

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Artificial Neural Network control Design for Continuous Flow Stirred Tank Reactor

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IFAC Proceedings Volumes 1997年第21期30卷 397-400页

作者： Vladimír Popardovský Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravska cesta 9 842 37 Bratislava Slovak Republic

This contribution shows artificial neural network (ANN) approach in system identification and control of the continuous flow stirred tank reactor (CSTR). The internal model control (IMC) strategy was used. Some simula... 详细信息

关键词： inverse model forward model backpropagation IMC CSTR

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An Autonomous Mobile Vehicle

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IFAC Proceedings Volumes 1994年第4期27卷 255-259页

作者： D. Janglová I. Kello I. Považan L. Uher Institute of Control Theory and Robotics Slovak Academy of Sciences Dúbravská cesta 9 842 37 Bratislava Slovak Republic

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.

关键词： autonomous mobile vehicle path planning rangefinder navigation odometry

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