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Comparisons and discussion of three typical robot path planning approaches

Zhongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Central South University (Science and Technology) 2005年第SUPPL.期36卷 315-319页

作者： Wang, Qi-Zhi Wang, Hong-Zhi School of Computer and Information Technology Beijing Jiaotong University Beijing 100044 China Laboratory of Complex System and Intelligence Science Institute of Automation Chinese Academy of Sciences Beijing 10080 China Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China Shenyang Coking and Coal Gas Limited Company Shenyang 110026 China

Three typical path planning methods, i.e. artificial potential field, probabilistic path planning and biologically inspired neural network, were introduced. The analysis and comparisons were made in relating to genera... 详细信息

关键词： Artificial potential fields Biologically inspired neural network Obstacle avoidance Probabilistic path planning Robot path planning

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Modelling cooperative control in process automation with multi-agent systems

Modelling cooperative control in process automation with mul...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： I. Seilonen T. Pirttioja P. Appelqvist K. Koskinen A. Halme Information and Computer Systems in Automation Helsinki University of Technology Espoo Finland Automation Technology Laboratory Helsinki University of Technology Espoo Finland

An approach to modeling cooperative control systems and their operation in process automation is presented in this paper. In this approach agent-oriented software engineering techniques are used throughout the design of cooperative control systems both as modeling method and as implementation technology. A part of a process automation system is modeled as a multi-agent society, which adhere to goal-oriented behavior both in their internal and cooperative operations. Another idea in the approach is to use qualitative process modeling in planning of control operations. The approach outlines a generic process automation agent system, which can be applied to building cooperative control applications. Sequential and supervisory control are presented as example applications. The approach is illustrated with examples from a prototype control system build for a laboratory test process

关键词： Automatic control Process control automation Multiagent systems Control system synthesis Control systems Software engineering Process planning Supervisory control Prototypes

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An intelligent system for Aerial image Retrieval and Classification

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Gasteratos, Antonios Zafeiridis, Panagiotis Andreadis, Ioannis Laboratory of Robotics and Automation Section of Production Systems Department of Production and Management Engineering Democritus University of Thrace Building of University’s Library Kimmeria XanthiGR-671 00 Greece Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace Vassilisis Sophias 12 XanthiGR-671 00 Greece

ISBN: (纸本)3540219374

Content based image retrieval is an active research area of pattern recognition. A new method of extracting global texture energy descriptors is proposed and it is combined with features describing the color aspect of texture, suitable for image retrieval. The same features are also used for image classification, by its semantic content. An exemplar fuzzy system for aerial image retrieval and classification is proposed. The fuzzy system calculates the degree that a class, such as sea, clouds, desert, forests and plantations, participates in the input image. Target applications include remote sensing, computer vision, forestry, fishery, agricultures, oceanography and weather forecasting. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Fuzzy systems

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Petri net modeling and lagrangian relaxation approach to vehicle scheduling in 300mm semiconductor manufacturing

Petri net modeling and lagrangian relaxation approach to veh...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Da-Yin Liao MuDer Jeng MengChu Zhou Department of Information Management National Chi Nan University Nantou Taiwan Department of Electrical Engineering National Taiwan Ocean University Keelung Taiwan Laboratory of Complex Systems and Intelligence Science Institute of Automation CAS Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark USA

Instead of making decisions with fast but local dispatching functions, the increasing computing power and up-to-moment information provisioning have made possible real-time vehicle scheduling in an automated material handling environment in 300mm semiconductor manufacturing. To our best knowledge, this paper is the first work to adopt the scheduling approach to solve the 300mm vehicle transportation problems. We adopt Petri nets to model the coupling dynamics among transport jobs and OHT vehicles in an intrabay loop. The congestion phenomenon among OHT vehicles is captured. The OHT scheduling problem is then formulated into an integer programming problem whose goal is to efficiently allocate OHT vehicles to jobs such that average job delivery time is minimized. A solution methodology that combines Lagrangian relaxation and the surrogate subgradient methods [13] is developed. To reduce computational efforts in solving each subproblem optimally, an approximation method is developed to solve for subproblems. A heuristic algorithm is developed to adjust the dual solution to a feasible schedule. Numerical results demonstrate that our solution methodology can generate good schedules within a reasonable amount of computation time for realistic problems. Compared to a popular vehicle dispatching rule, our approach can achieve 25.6% improvements on the average delivery time in our realistic test cases.

关键词： Lagrangian functions Vehicles Job shop scheduling Virtual manufacturing Semiconductor device manufacture Processor scheduling Dispatching computer aided manufacturing Materials handling Manufacturing automation

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An approach to process automation based on cooperating subprocess agents 1

An approach to process automation based on cooperating subpr...

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1st International Conference on Industrial Applications of Holonic and Multi-Agent systems, HoloMAS 2003

作者： Seilonen, Ilkka Pirttioja, Teppo Appelqvist, Pekka Halme, Aarne Koskinen, Kari Helsinki University of Technology Computer and Information Systems in Automation P.O.Box 5400 HUTFIN-02015 Finland Helsinki University of Technology Automation Technology Laboratory P.O.Box 5400 HUTFIN-02015 Finland

ISBN: (纸本)9783540407515

An approach to extend process automation systems with cooperating subprocess agents is presented in this paper. According to this approach a society of subprocess agents supervises an ordinary process automation system. The functionality of this agent layer includes supervising the lower-level automation system, semi-autonomous reconfiguration of its control logic when needed and query processing for external systems. In this way the approach aims for enhancing the operational flexibility of the automation system. The subprocess agents utilize several agent-based cooperation mechanisms in order to be able to perform their tasks. The approach is demonstrated with a laboratory test process where process startup and fault-recovery scenarios have been imitated. Experiences from initial test runs are described, too. © Springer-Verlag Berlin Heidelberg 2003.

关键词： automation

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Distributed planning agents for intelligent process automation

Distributed planning agents for intelligent process automati...

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IEEE International Symposium on Computational Intelligence in Robotics and automation (CIRA)

作者： I. Seilonen T. Pirttioja P. Appelqvist A. Halme K. Koskinen Information and Computer Systems in Automation Helsinki University of Technology Espoo Finland Automation Technology Laboratory Helsinki University of Technology Espoo Finland

An approach to intelligent process automation based on distributed planning agents is presented in this paper. According to this approach a higher-level agent-based automation layer supervises an ordinary process automation system. The purpose of the agent layer is to monitor the operation of the lower-level automation system and semi-autonomously reconfigure its control logic when needed. The agent layer operates as a distributed planning and plan execution system, which creates and runs reconfiguration sequences on the ordinary automation system in order to adapt it to various situations. In this way the approach aims to increase the operational flexibility of the whole automation system. The approach is demonstrated with a laboratory test process where process startup scenarios have been imitated. Experiences from the initial test runs are also described.

关键词： Process planning Intelligent agent automation Automatic control Artificial intelligence Laboratories Testing Process control Distributed computing World Wide Web

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Wavelet transform-based texture segmentation using feature smoothing

Wavelet transform-based texture segmentation using feature s...

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Xiang-Fa Song Zhi-Guo Chen Cheng-Lin Wen Quan-Bo Ge College of Computer and Information Engineering Henan University Kaifeng China National Laboratory of Pattem Recognition Instiitute of Automation Chinese Academy and Sciences Beijing China National Laboratory of Intelligence Technology and Systems Tsinghua University Beijing China

ISBN: (纸本)0780378652

Textures are one of the basic features in visual searching and computational vision. In this article, most of the attention has been focused on feature improvement based on pyramid wavelet transform using feature smoothing, and the goal is to improve textured image segmentation results, especially along the borders of regions. An improved method to extracting texture features in the feature extraction stage is described. Texture features are first estimated based on pyramid wavelet transform coefficients. The estimated texture features are then smoothed by a quadrant filtering method to reducing the variability of the estimates while retaining the region border accuracy. We conclude via results and discussion on an international texture database.

关键词： Smoothing methods Wavelet transforms Feature extraction Image segmentation Wavelet analysis Image texture analysis Low pass filters computer vision Remote monitoring Biomedical measurements

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A concept of an agent-augmented process automation system

A concept of an agent-augmented process automation system

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IEEE International Symposium on Intelligent Control (ISIC)

作者： I. Seilonen P. Appelqvist M. Vainio A. Halme K. Koskinen Information and Computer Systems in Automation Helsinki University of Technology Finland Automation Technology Laboratory Helsinki University of Technology HUT Finland

This paper studies issues concerning the application of agent technology to process automation systems. We present an approach to achieve increased flexibility and fault-tolerance in process control operations, as well as enhanced systems configuration and maintenance. A functional specification of an agent based system as an extension to traditional process automation systems is described. The software architecture for the implementation of the required functionality is also presented. Furthermore, the connection of a novel type of mobile instrumentation to this concept is presented.

关键词： Process control Robotics and automation Instruments Automatic control Application software Design automation Laboratories Software architecture Fault tolerance Mobile robots

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Computing on silicon with trigger waves: Experiments on CNN-UM chips

Computing on silicon with trigger waves: Experiments on CNN-...

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2001 IEEE International Symposium on Circuits and systems, ISCAS 2001

作者： Rekeczky, Csaba Szatmari, Istvan Foldesy, Peter Analogical and Neural Computing Systems Laboratory Computer and Automation Institute Hungarian Academy of Sciences Kende U. 13-17 Budapest 1111 Hungary Jedlik Laboratories Department of Information Technology Peter Pazmany Catholic University Szentkirdyi U. 28 Budapest 1088 Hungary

ISBN: (纸本)0780366859

In this paper, experimental results on Cellular Neural Network Universal Machine (CNN-UM) chips will be presented. These analogic spatio-temporal visual microprocessors make it possible that one can use nonlinear waves as the basic kernels of algorithms solving filtering-reconstruction and/or detection-classification problems. Showing output results from series of experiments it will be demonstrated how trigger waves, the simplest nonlinear waves, can constructively be used in a number of important application areas. © 2001 IEEE.

关键词： Silicon

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3D fractal compression for real-time video

3D fractal compression for real-time video

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International Symposium on Image and Signal Processing and Analysis

作者： A. Chabarchine R. Creutzburg Department of Automation and Information Technology Ural State Technical University Ekaterinburg Russia Digital and Computer Systems Laboratory Tampere University of Technology Tampere Finland Department of Computer Science and Media Fachhochschule Brandenburg University of Applied Sciences Brandenburg Germany

ISBN: (纸本)9539676940

A method of image sequence encoding is presented, based on fractal compression of 3D data blocks without searching. A simple fractal transform scheme is used that only depends on one real-valued coefficient. We have developed a software codec for the Windows95 operating system, that carries out video streams in real-time. The method can be further developed for application to videoconferencing, videotelephony or streaming video over the Internet.

关键词： Fractals Video compression Image coding Streaming media Image sequences Codecs Operating systems Real time systems Application software Teleconferencing

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