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Modeling and multilevel control of complex multistage processes with recycles and intermediate storages

IFAC Proceedings Volumes 2000年第20期33卷 227-232页

作者： Peter P. Groumpos Mincho В. Hadjiski Kosta P. Boshnakov Nikolinka G. Christova Lab. for Automation & Robotics Dept. of Electrical & Computer Engineering University of Patras 26500 Rion Patras GREECE Department of Automation in Industry University of Chemical Technology and Metallurgy 1756 Sofia BULGARIA

A multilevel hierarchical control system for a single end product multistage plant is under consideration. It is shown that a variety of models and/or hybrid modeling are reasonable for inferred key variable forming, monitoring and control. Because of the complexity, uncompleted information, large uncertainties and mixture of batch, semi-batch and continuous processes different control strategies are appropriate for each hierarchical level. Two level reactive scheduler is proposed. Integration of operational and business management is carried out at the top hierarchical level using Fuzzy Cognitive Maps (FCM) approach. Some results of practical application of the system are reported.

关键词： modeling hierarchical control production planning scheduling

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Layered Multi-Agent Reactive-Behavior Learning in a Robotic Soccer

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IFAC Proceedings Volumes 2000年第27期33卷 545-550页

作者： Andon V. Topalov Spyros G. Tzafestas Gregor Novak Dept. of Control Systems Technical University of Sofia Plovdiv hranch61 Sankt Petersburg Blvd.4000 Plovdiv BULGARIA tel./fax.: +359- 32- 631103 Intelligent Robotics and Automation Lab. Dept. of Electrical and Computer Eng. National Technical University of Athens Zografou 15773 Athens GREECE tel.: +30- 1- 7722489 fax: +30-1- 7722490 Institute for Handling Devices and Robotics Vienna University of Technology Favoritenstrasse 9-11 A-1040 Vienna AUSTRIA

Robotic soccer is an interesting test bench for the field of self-organizing and cooperating multi-agent systems. This paper deals with learning of two basic low-level behaviors that will enable the robotic player to participate further in higher-level collab.rative and adversarial learning situations. First, a ball interception and obstacle avoidance behavior is learned. Then the acquired skills are incorporated into a next higher-level multi-agent learning scenario, namely the shooting ball behavior. The proposed control scheme for these behaviors consists of a trajectory generator with a layered structure, which supplies data to a trajectory-tracking controller.

关键词： mobile robots agents learning obstacle avoidance trajectory planning tracking control

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Application of a genetic algorithm in triangulation of a 3-D object surface

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International Journal of Computers and Applications 2000年第2期22卷 73-77页

作者： Zhenyu, Chen Mbede, J.B. Yan, Zhou Dehua, Li Hanping, Hu State Commn. Res. Open Lab. Image P. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Intelligent Contr. and Robotics Lab. Dept. of Contr. Sci. and Engineering Huazhong Univ. of Sci. and Technol. 430074 Wuhan China Second Artillery Institute Huazhong Univ. of Sci. and Technol. Inst. Pattern Recog. Artif. Intell. Huazhong Univ. of Sci. and Technol. Second Artillery Institute China Wuhan University China Artificial Intelligence Department University of Edinburgh Inst. of AI and Pattern Recognition Huazhong Univ. of Sci. and Technol. China Cogn. Sci. Natl. Key Found. Res. P. Douala University Cameroon Tübingen University Germany Automatic Control Laboratory Darmstadt University Department of Service Cameroon Min. of National Education Robotics Laboratory Huazhong Univ. of Sci. and Technol. Wuhan China Assoc. Connectionnistes These-ACTH Rennes France IEEE Soc. of Robotics and Automation IEEE Society of Control Systems IASTED Assoc. Jeunes Chercheurs Robotique France Navy University of Engineering China Huazhong Univ. of Sci. and Technol. China Department of Computer Science Airforce Radar Acad. of Engineering China Inst. of P.R and AI Huazhong Univ. of Sci. and Technol.

This paper proposes a genetic-based algorithm for surface reconstruction of three-dimension (3-D) objects from a group of contours representing its section plane lines. The algorithm can optimize the triangulation of the surface of 3-D objects with a multi-objective optimization function to meet the needs of a wide range of applications. Further, a new crossover operator for triangulation and a new 3-D quadrilateral mutation operator are also introduced.

关键词： Object recognition

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Tele-Operative System for Bioproduction - Remote Local Image Processing for Object Identification

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IFAC Proceedings Volumes 2000年第29期33卷 191-194页

作者： Si Chan Kim Heon Hwang Jung Eek Son Dong Yup Choi Robotics & Vision Lab. Dept. of Bio-Mechatronic Engineering Faculty of Life Science & Technology Sungkyunkwan University Kyungki-do Suwon-si Changan-gu 440-746 KOREA Dept. of Horticulture College of Agri culture & Life Science Seoul National University Kyungki-do Suwon-si Kwonsun-gu 441-744 KOREA Automation Dept. Daelim college Kyungki-do Anyang-si Dongan-gu 431-715 KOREA

This paper introduces a new concept of automation for bio-production with tele-operative system. The proposed system showed practical and feasible way of automation for the volatile bio-production process. Based on the proposition, recognition of the job environment with object identification was performed using computer vision system. A man-machine interactive hybrid decision-making, which utilized a concept of tele-operation was proposed to overcome limitations of the capability of computer in image processing and feature extraction from the complex environment image. Identifying watermelons from the outdoor scene of the cultivation field was selected to realize the proposed concept. Identifying watermelon from the camera image of the outdoor cultivation field is very difficult because of the ambiguity among stems, leaves, shades, and especially fruits covered partly by leaves or stems. The analog signal of the outdoor image was captured and transmitted wireless to the host computer by R. F module. The localized window was formed from the outdoor image by pointing to the touch screen. And then a sequence of algorithms to identify the location and size of the watermelon was performed with the local window image. The effect of the light reflectance of fruits, stems, ground, and leaves were also investigated.

关键词： Local Image Processing Tele-operation Feature Extraction Bio-production Real Time Control Watermelon

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Soft computing approach for modelling the supervisor of manufacturing systems

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Journal of Intelligent and Robotic Systems: Theory and Applications 1999年第3期26卷 389-403页

作者： Stylios, C.D. Groumpos, P.P. Lab. for Automation and Robotics Dept. of Elec. and Comp. Engineering University of Patras Rion 26500 Greece

The development of a novel soft computing approach to model the supervisor of manufacturing systems is described, it is named Fuzzy Cognitive Maps (FCMs) and it is used to model the behaviour of complex systems. Fuzzy cognitive maps combine characteristics of both fuzzy logic and neural networks. The description and the construction of fuzzy cognitive maps are examined, a new methodology for developing fuzzy cognitive maps is proposed here and as an example the fuzzy cognitive map for a simple plant is developed. A hierarchical two-level structure for supervision of manufacturing systems is presented, where the supervisor is modelled as a fuzzy cognitive map. The fuzzy cognitive map model for the failure diagnosis part of the supervisor for a simple chemical process is constructed.

关键词： Computer integrated manufacturing

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Reformulation of organizing supervisory controller via parameterized fuzzy-petri nets

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IFAC Proceedings Volumes 1999年第2期32卷 391-396页

作者： Georgi M. Dimirovski Zoran M. Gacovski Miomir K. Vukobratovic Institute of Automation & Systems Engineering at Faculty of Electrical Engineering Sts. Cyril & Methodius University P.O.Box 574 MK-91000 Skopje R. of Macedonia Fax: ++ 389-91-36-42-62 Information Technology Department at Ministry of Defence Skopje R. of Macedonia Lab. of Robotics & Flexible Automation M.Pupin Institute Belgrade F.R. of Yugoslavia

This work presents a novel development on modelling the organisation control level in complex systems via mapping our previous model, based on fuzzy Petri-nets with respective rule-based decision-making and appropriate knowledge base, onto a model that is based on para-meterised fuzzy Petri-nets. Proposed model makes a further extension of previous forms of organising supervisory controllers employing fuzzy-Petri reasoning algorithms. This fuzzified and parameterised Petri-net reformulation follows the original concept of G.N. Saridis, and makes a fuzzy supllement to his organising and co-ordinating controllers. Thus it carries a novel generic feature of generality for the supervisory functions of organisation and co-ordination.

关键词： Complex systems supervisory control fuzzy-petri-nets parameterised fuzzy-fetri nets knowledge-based control

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Steering of drift-free nonholonomic systems under a discrete levels control constraint

Steering of drift-free nonholonomic systems under a discrete...

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3rd ASCE Specialty Conference on robotics for Challenging Environments, robotics 1998

作者： Skiadas, Photis G. Koussoulas, Nick T. Lab. for Automation and Robotics Univ. of Patras Rion Patras 26500 Greece

ISBN: (纸本)0784403376

We solve the Motion Planning Problem for nonholonomic systems without drift under a discrete levels constraint, i.e. when it is driven by input that can assume only discrete levels. In particular, we propose an algorithm that steers a drift-free system from a given initial point to a given final point within a finite time interval and we prove that the proposed algorithm provides an exact steering when the system is nilpotentizable. For a general system without drift, i.e., for a drift-free system that is neither nilpotent nor feedback nilpotentizable, the discrete levels control can be computed by an iterative algorithm. Finally, we explore the details of the proposed methods through a specific example. © 1998 American Society of Civil Engineers.

关键词： Automobile steering equipment

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Advanced Methods for Evolutionary Optimisation

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IFAC Proceedings Volumes 1998年第20期31卷 1121-1128页

作者： P. Adamidis S. Kazarlis V. Petridis Automation and Robotics Lab. Dept. of Electrical & Computer Eng. Aristotle University of Thessaloniki Greece

In this paper we present two advanced methods for evolutionary optimisation. One method is based on Parallel Genetic Algorithms. It is called Cooperating Populations with Different Evolution Behaviours (CoPDEB), and allows each population to exhibit a different evolution behaviour. Results from two problems show the advantage of using different evolution behaviour on each population. The other method concerns application of GAs on constrained optimisation problems. It is called the Varying Fitness Function (VFF) method and implements a fitness function with varying penalty tenns, added to the objective function for penalising infeasible solutions, in order to assist the GA to easily locate the area of the global optimum. Simulation results on two real world problems show that the VFF method outperfonns the classic static fitness function implementations.

关键词： Genetic Algorithms Parallel Algorithm Behaviour Optimization Methodology

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Robot Intelligence and Flexibility for Smooth Finishing of Car Body

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IFAC Proceedings Volumes 1997年第14期30卷 303-311页

作者： Byung-Hoon Kang Jin-Dae Kim Jin-Yang Yoo Jong-Oh Park Kwang-Se Lee Hyun-Oh Shin Advanced Robotics Research Center Korea Institute of Science and Technology Automation Research Lab. Hyundai Motor Co.

Robotic finishing such as car body grinding is one of critical automation processes because of direct influence of robot system capability on final surface quality. Difference of each car surface even in the same car model is also one another critical problem. Here one suggestion on robotic finishing system with intelligence and flexibility. Laser vision scans the local surface of each car body, from sensing data after signal processing surface and bead are modeled, after that exact robot path is generated. All these processes are integrated in one robot finishing system, which is applied in actual production line. Such intelligence and flexibility of robot system shows adaptability even in production line as well as further interesting research topics. Finally technological extension of such system to more complicated workpiece is explained.

关键词： Robotic finishing Laser vision surface modeling Bead modeling Robot path generation Robot intelligence Robot flexibility

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On-line assistance for crane operators

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JOURNAL OF COMPUTING IN CIVIL ENGINEERING 1997年第4期11卷 248-259页

作者： Bernold, LE Lorenc, SJ Luces, E Dept. Civ. Engrg. North Carolina State Univ. Raleigh NC 27695-7908 United States Constr. Automation and Robotics Lab. Dept. Civ. Engrg. North Carolina State Univ. Raleigh NC United States Fluor Daniel Albany GA 31705 United States Dept. of Civ. Engrg. North Carolina State Univ. Raleigh NC United States

Safety is considered to be the most critical issue in the success of any lift operation. However, crane accidents involving tragic deaths of innocent people and destruction of property do occur. The number of accidents has decreased, only after the implementation of strict regulations by the Occupational Safety and Health Administration (OSHA). Repeated boom failure accidents of truck cranes used by the Bridge Maintenance Unit from the North Carolina Department of Transportation (NC DOT) triggered the research study described in this paper. Throughout the summer of 1994, the Bridge Maintenance Division of NC DOT recorded four accidents involving serious damage to their fleet of 64 National Series 446A truck mounted hydraulic cranes. The accidents involved bending of telescopic booms as well as turret drive gear failures. The repair of a bent boom alone can cost up to $16,000 in replacement parts, without considering all the costs of lab.r and overhead. The main objective of this research project was to develop and test an intelligent monitoring system that could be used to retrofit existing crane hardware. It was shown how a set of sensors and special devices were built and electronically integrated using an analog/digital converter and a laptop computer. Experimental work with a fully operational crane provided the necessary data to build a feature-based state identification system. Using a set of data collected during the experiments the paper demonstrates how sensory patterns can be recognized that lead to the identification of dangerous stales.

关键词： Intelligent control

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