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

作者： Pawel Gluchowski Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

The paper deals with a problem of a description and analysis of fault trees with time dependencies, constructed for real-time systems to show possible ways leading to a hazard. Both the description and analysis are made with the duration temporal logic formalism - Duration Calculus (DC). It is the first time, when fault trees, containing the temporal gates, proposed by Magott and Skrobanek, got formally described with the DC logic (preserving all their properties for each gate type and for the whole structure) and became possible to be formally deductively analyzed (the latter part still need same work though).

关键词： Calculus Fault trees Hazards Logic US Department of Transportation Delay effects Real time systems Process design control engineering computing Robot control

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Cognition-oriented building blocks of future benchmark scenarios for humanoid home robots

Cognition-oriented building blocks of future benchmark scena...

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2007 AAAI Workshop

作者： Burghart, Catherina R. Mikut, Ralf Holzapfel, Hartwig Institute of Process Control and Robotics University of Karlsruhe D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe GmbH Institute of Applied Computer Science P.O. Box 3640 D-76021 Karlsruhe Germany Interactive Systems Lab. University of Karlsruhe D-76128 Karlsruhe Germany

ISBN: (纸本)9781577353317

Comparing intelligent robots interacting with humans is a difficult task. First of all, robotic helps in everyday life can be involved in different tasks. Additionally, the grade of autonomy of the robot and the type of interaction between human and robot may differ to a great extent. It also is an intricate task to design common metrics to assess human-robot interaction. Thus normal benchmarks fail in this case. After an overview of already existing benchmarks in robotics this paper sketches affordances for benchmarks for human-robot interaction in a home environment. Many aspects of already existing benchmarks, evaluation criteria, and metrics have to be combined to asses human-robot interaction in a complex environment. The great difficulty is measuring human and robot behavior;here novel approaches taking into account perspectives from different fields (i.e. engineers, psychologists, sociologist) are needed, as a human being does not behave as anticipated by the system designer most of the time. Copyright © 2007, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Human robot interaction

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Segmentation and tracking of cells in the image sequences

Segmentation and tracking of cells in the image sequences

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作者： Kubik, Tomasz Sugisaka, Masanori Institute of Computer Engineering Control and Robotics Wroc Law University of Technology Janiszewskiego 11/17 Wroclaw 50-372 Poland Department of Electrical and Electronic Engineering Oita University 700 Dannoharu Oita 870-1124 Japan

ISBN: (纸本)9784990288013

In the paper the method of automated cells tracking in the sequence of images is presented. The method starts with a sequence of images processing by the use of an adaptive threshold operator. Then the cells are detected, labeled and parameterized by their size, position, orientation, bounding box, etc. Each pair of two consecutive images in the sequence is analyzed next in order to find corresponding (i.e. matching) cells. In that way all observed cells might be recognized and traced. The tracking, associated with cells parameters measurements, provides data in a form of time series. This data can be used for a particular cell activity observation, complex interaction modeling of multicellular organisms, etc. Such analysis can give detailed information about cells time-space dynamics. The method proposed is demonstrated on a set of biological data. ©ISAROB 2007.

关键词： Cells

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KNOWLEDGE BASED AND CLP-DRIVEN APPROACH TO AGVs SYSTEM control

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IFAC Proceedings Volumes 2007年第3期40卷 56-62页

作者： Grzegorz Bocewicz Wojciech Muszyński Zbigniew Banaszak Deptartament of Computer Science and Management Technical University of Koszalin 75–453 Koszalin Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology 50–372 Wrocław Poland

The subject matter of the study are the automated guided vehicle (AGV) operation synchronisation mechanisms in flexible manufacturing systems, enabling determination of the travel schedules via some preset travelling route intervals. In many practical cases transport operations are repetitive. For this type of systems the transport processes can be modelled as a system of cyclic concurrent processes sharing common resources with mutual exclusion. The processes examination has to guarantee the collision-free and deadlock free AGVs flow. In this paper the problem of determination of the rules coordinating access of the vehicles to the shared travel route intervals, ensuring the collision-free and deadlock-free execution of the repetitive processes was reduced to determination of the sufficient conditions. In particular the problem of searching for a pair is defined in the form of the constraint satisfaction problem (CSP) and is solved with use of the logic programming techniques.

关键词： knowledge engineering constraints logic programming deadlock avoidance scheduling

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Job shop scheduling problems with Genetic Algorithms

Job shop scheduling problems with Genetic Algorithms

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International Conference on computer Engineering and Systems

作者： Antonio Ferrolho Manuel Crisostomo Robert Wojcik Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal Department of Electrical Engineering Superior School of Technology of Viseu Polytechnic Institute of Viseu Viseu Portugal Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland

ISBN: (纸本)1424413656;9781424413652

The Job-Shop Scheduling Problem (JSSP) is an extremely difficult problem because it requires very large combinational search space and the precedence constraint between machines. A software tool called Hybrid and Flexible Genetic Algorithm (HybFlexGA) was developed for solving the JSSP. Computational results demonstrate that the proposed HybFlexGA is very efficient and potentially useful in solving the JSSP. The results obtained with standard JSSP benchmark demonstrate its efficiency.

关键词： Job shop scheduling Genetic algorithms Artificial neural networks Space technology Simulated annealing control engineering computing Genetic engineering Robot control control systems Orbital robotics

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Multiple-Valued Logic Circuits Design Using Negative Differential Resistance Devices

Multiple-Valued Logic Circuits Design Using Negative Differe...

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International Symposium on Multiple-Valued Logic

作者： Krzysztof S. Berezowski Sarma B.K. Vrudhula The Institute of Computer Engineering Control and Robotics (CECR) Wroclaw University of Technology Wroclaw Poland Computer Science and Engineering Department Arizona State University Tempe AZ USA

In this paper, we present a novel multiple-valued logic circuit design style based on negative differential resistance (NDR) devices and the mono stable-to-multistable transition logic (MML) operating principle. We introduce an innovative topology that considerably enhances the design space of MML circuits thus providing more functionality achievable within an atomic multiple-valued circuit. The functional correctness of the design is proved by simulations.

关键词： Logic circuits Logic devices CMOS logic circuits Logic design Design engineering Circuit topology Circuit simulation CMOS technology control engineering computing Robot control

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Output feedback decoupling of neutral time delay systems

Output feedback decoupling of neutral time delay systems

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Mediterranean Conference on control and Automation (MED)

作者： G. E. Panagiotakis F. N. Koumboulis P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Psachna Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The problem of Input Output Decoupling is studied for the case of general neutral multi-delay systems, via proportional realizable output feedback. Using a pure algebraic approach, the necessary and sufficient conditions for the problem to have a realizable solution are established and the general analytical expressions of the proportional realizable controller matrices, are derived.

关键词： Output feedback Delay effects control systems Laplace equations robotics and automation Proportional control Polynomials Matrices Automatic control Robot control

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Model matching of SISO neutral time delay systems via output feedback

Model matching of SISO neutral time delay systems via output...

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Mediterranean Conference on control and Automation (MED)

作者： F. N. Koumboulis N. D. Kouvakas P. N. Paraskevopoulos Department of Automation Halkis Institute of Technology Chalkis Greece Division of Signals Control and Robotics Department of Electrical and Computer Engineering National and Technical University of Athens Athens Greece

The necessary and sufficient conditions for the solvability of the exact model matching problem for general neutral single input-single output multi-delay systems, via a realizable dynamic output feedback and a realizable dynamic precompensator, are established. The general class of the realizable dynamic controllers solving the problem is analytically determined. The results are successfully applied to the model of a cascade connection of two mixers as well as a numerical example.

关键词： Delay effects Output feedback Delay systems robotics and automation Sufficient conditions Automatic control Robot control Proportional control control systems

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Generalized Algebraic Deadlock Avoidance Policies for Sequential Resource Allocation Systems

Generalized Algebraic Deadlock Avoidance Policies for Sequen...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Spyros Reveliotis Elzbieta Roszkowska Jin Young Choi Georgia Institute of Technology School of Industrial and Systems Engineering USA Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Digital Communications Infra Division Samsung Networks Inc. South Korea

Currently, one of the most actively researched approaches regarding the design of deadlock avoidance policies for sequential resource allocation systems is based on concepts and techniques provided by the, so called, theory of regions, that addresses the broader problem of synthesizing PN models with pre-specified behaviors. However, one limitation of the theory of regions and its aforementioned derivatives is that they cannot be applied when the target behavior has a non-convex representation in the underlying state space. In this paper, we show how this problem can be circumvented by appropriately generalizing the employed class of the candidate policies.

关键词： System recovery Resource management Digital audio players State-space methods Space technology Polynomials robotics and automation Discrete event systems Automata Petri nets

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Correctness Verification of Generalized Algebraic Deadlock Avoidance Policies through Mathematical Programming

Correctness Verification of Generalized Algebraic Deadlock A...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Spyros Reveliotis Elzbieta Roszkowska Jin Young Choi School of Industrial & Systems Engineering Georgia Institute of Technology USA Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Poland Digital Communications Infra Division Samsung Networks Inc. South Korea

Generalized algebraic deadlock avoidance policies (DAPs) for sequential resource allocation systems (RAS) have recently been proposed as an interesting extension of the class of algebraic DAPs, that maintains the analytical representation and computational simplicity of the latter, while it guarantees completeness with respect to the maximally permissive DAP. The original work of S. Reveliotis, et al., (2007) that introduced these policies also provided a design methodology for them, but this methodology is limited by the fact that it necessitates the deployment of the entire state space of the considered RAS. Hence, this paper seeks the development of alternative computational tools that can support the synthesis of correct generalized algebraic DAPs while controlling the underlying computational complexity. From a conceptual standpoint, the presented results are motivated by and extend similar past results for the synthesis of correct algebraic DAPs. However, when viewed from a more technical standpoint, the presented developments are complicated by the fact that generalized algebraic DAPs do not admit a convenient representation in the Petri net (PN) modeling framework, that has been the primary vehicle for the aforementioned past developments, and therefore, the relevant analysis must be pursued in an alternative, automaton-based representation of the RAS behavior and the applied policy logic. We believe that this translation of the past results in this new representational framework is a significant contribution in itself, since it enables a more profound understanding of the past developments, and at the same time, it renders them more accessible to the practitioner.

关键词： System recovery Mathematical programming Digital audio players Design methodology Resource management Automation USA Councils State-space methods Computational complexity Vehicles

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