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IEEE International Conference on Artificial Intelligence systems, ICAIS 2002

作者： Tzafestas, S.G. Zikidis, K.C. Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens15773 Greece

ISBN: (纸本)0769517331

Most fuzzy modeling algorithms rely either on simplistic (grid type) or off-line (trial-and-error type) structure identification methods. The proposed neurofuzzy modeling architecture, NeuroFAST, is an on-line, structure and parameter learning algorithm, featuring high function approximation accuracy. It is based on the first order Takagi-Sugeno-Kang (TSK) model (functional reasoning), where the consequence part of each fuzzy rule is a linear equation of the input variables. Fuzzy rules are allocated as learning evolves by a modified Fuzzy ART (Adaptive Resonance Theory) mechanism, assisted by fuzzy rule splitting and adding procedures (structure learning). The well known δ-rule continuously tunes learning weights on both premise and consequence parts (parameter identification). Tested on the Box-Jenkins gas furnace process modeling and the Mackey-Glass chaotic time series prediction, NeuroFAST yields very good results in terms of approximation accuracy, outperforming all known approaches. © 2002 IEEE.

关键词： Fuzzy rules

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Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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Modeling and control of keyhole ARC welding process 15th

Modeling and control of keyhole ARC welding process

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Zhang, Y.M. Liu, Y.C. Welding Research Laboratory Center for Robotics and Manufacturing Systems Department of Electrical and Computer Engineering College of Engineering University of Kentucky LexingtonKY40506 United States

ISBN: (纸本)9783902661746

This paper addresses the development of an adaptive control system for keyhole arc welding process. The system developed adjusts the amperage of the peak current to achieve the desired peak current period under varying manufacturing conditions. A nominal model is selected from models identified using experimental data and is used as the a prior model of the controlled process. A predictive control algorithm has been designed for the nominal model structure. Closed-loop control experiments have been conducted to verify the effectiveness of the developed system under varying set-point and varying travel speed. Copyright © 2002 IFAC.

关键词： Adaptive control systems

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Image Processing-Based Mine Detection Techniques: A Review

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Subsurface Sensing Technologies and Applications 2002年第3期3卷 153-202页

作者： Paik, Joonki Lee, Cheolha P. Abidi, Mongi A. Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering The University of Tennessee Knoxville

Various mine detection techniques are reviewed with particular emphasis on signal and image processing methods. Based on the target, mines are classified into two types; anti-tank mine (ATM) and anti-personnel mine (APM). Because of the variety of mine types, current mine detection techniques are diversified. The assumption is made that most mine detection techniques consist of sensor, signal processing, and decision processes. For the sensor part, ground penetration radar (GPR), infrared (IR), and ultrasound (US) sensors are reviewed and their characteristics are summarized for the corresponding output signals. For the signal processing and decision parts, a set of image processing techniques including filtering, enhancement, feature extraction, and segmentation are surveyed. Segmentation is used to extract mine signal from various competing signals. For most image processing techniques covered by this paper, mine detection related experimental results are included or reproduced from existing works.

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On-line improvement for the decentralized predictive control of the heat dynamics of a greenhouse 15th

On-line improvement for the decentralized predictive control...

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Kyriannakis, E.J. Arvanitis, K.G. Sigrimis, N. National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou Athens15773 Greece Agricultural University of Athens Department of Agricultural Engineering Athens11855 Greece

ISBN: (纸本)9783902661746

A decentralized model-based predictive controller is used for the design of discrete-time control systems aiming at regulating the air temperature and heat supply in greenhouses. Moreover, alternative techniques are proposed for the approximation of the decentralized part of the control and the on-line improvement of the overall control problem. A state space model is used to predict the corresponding local indoor temperature over a long-range time-period and approximate models are used to predict the interactions among the subsystems. The sun radiation and outdoor temperature are treated as external disturbances that affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature. Copyright © 2002 IFAC.

关键词： Discrete time control systems

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Human systems integration and advanced technology in engineering department workload and manpower reduction

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NAVAL ENGINEERS JOURNAL 2003年第1期115卷 57-65页

作者： Lively, KA Seman, AJ Kirkpatrick, M KENNETH A. LIVELY graduated from the University of Colorado with a BS in applied mathematics and an MS in mathematics in 1976 and from the Massachusetts Institute of Technology with an MS in electrical engineering and the degree ocean engineer in naval architecture and marine engineering in 1984. He retired from the U.S. Navy in 1989 after 23 years of service. Assignments included electrical officer on the USS Constellation (CV 64) project engineer for the DDG 51 machinery control system (NAVSEA) and DDG 51 Technical Director (NAVSEA). He was vice president of the PDI Division of Bird-Johnson Company from July 1989 to November 1998 where he managed various gas turbine and machinery controls related development projects. He joined Anteon Corporation's Systems Engineering Group as senior controls engineer in December 1998 where he provided technical support to the integrated power systems program (NAVSEA PMS 510) and managed the Office of Naval Research Afloat Laboratory. DR. MARK KIRKPATRICK is currently an independent consultant in human factors and work-load/manning analysis and modeling. He holds a Ph.D. degree in experimental psychology from The Ohio State University and has 34 years of experience in applied human factors. From 1982 through 2000 Dr. Kirkpatrick served as the senior vice president of Carlow International. Prior to joining Carlow in 1982 Dr. Kirkpatrick served as a member of the technical staff at North American Rockwell's Missiles Division and as a project director and vice president for Essex Corporation. His areas of expertise include workload simulation task analysis operator-in-the-loop simulation human performance experimentation statistical analysis and human factors T&E. He has directed and/or participated in human factors projects for the U.S. Navy U.S. Army NASA Department of Transportation the U.S. Nuclear Regulatory Commission and private industry. ANTHONY J. SEMAN III is the technical manager for the reduced ship's crew by virtual presence (RSVP) advanced technology d

Aboard current ships, such as the DDG 51, engineering control and damage control activities are manpower intensive. It is anticipated that, for future combatants, the workload demand arising from operation of systems under conditions of normal steaming and during casualty response will need to be markedly reduced via automated monitoring, autonomous control, and other technology initiatives. Current DDG 51 class ships can be considered as a manpower baseline and under Condition III typical engineering control involves seven to eight watchstanders at manned stations in the Central Control Station, the engine rooms and other machinery spaces. In contrast to this manning level, initiatives such as DD 21 and the integrated engineering plant (IEP) envision a partnership between the operator and the automation system, with more and more of the operator's functions being shifted to the automation system as manning levels decrease. This paper describes some human systems integration studies of workload demand reduction and, consequently, manning reduction that can be achieved due to application of several advanced technology concepts. Advanced system concept studies in relation to workload demand are described and reviewed including. Piecemeal applications of diverse automation and remote control technology concepts to selected high driver tasks in current DDG 51 activities. Development of the reduced ship's crew by virtual presence system that will provide automated monitoring and display to operators of machinery health, compartment conditions, and personnel health. The IEP envisions the machinery control system as a provider of resources that are used by various consumers around the ship. Resource needs and consumer priorities are at all times dependent upon the ship's current mission and the availability of equipment pawnbrokers.

关键词： Naval warfare

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Design and implementation of a logic controller using petri nets and ladder logic diagrams

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systems Analysis Modelling Simulation 2002年第1期42卷 135-167页

作者： Tzafestas, S.G. Pantelelis, M.G. Kostis, D.L. Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens Zografou 15773 Athens Greece

Design methods for sequence controllers play an important role in modern industrial automation. The Programmable Logic Controller (PLC) in general meets today's automation requirements. The increasing complexity and varying needs of modern discrete industrial systems have challenged the traditional design methods such as the use of Ladder Logic Diagrams (LLDs) for PLCs. This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated LLD and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to the traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LLD controller. © 2002 Taylor & Francis Ltd.

关键词： Programmable logic controllers

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Affecting the accuracy of an active vision head 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Gasteratos, Antonios Sandini, Giulio Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-671 00 Greece Laboratory for Integrated Advanced Robotics Department of Communication Computer and System Sciences University of Genoa Viale Causa 13 GenoaI-16145 Italy

ISBN: (纸本)3540434720

In any measuring system the categorization of the error generation factors leads to simplification of complex error problems and to higher suppression of the error. In this paper we categorize, quantify and analyze the errors that affect a binocular active vision head. Simulations have been made and experimental results on a high resolution pan-tilt-vergence mechanism are also proposed. As a conclusion it can be said that the system performs optimal when it is initialized so that the two cameras are perfectly aligned and perpendicular to the baseline. Small variations in the vergence angle or small horizontal deviations of the principal point alters the measurement dramatically. On the other hand, variations in pan and tilt and vertical deviations of the principal point, affect the measurement insignificantly. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Errors

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MODELING AND CONTROL OF KEYHOLE ARC WELDING PROCESS

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IFAC Proceedings Volumes 2002年第1期35卷 151-156页

作者： Y.M. Zhang Y.C. Liu Welding Research Laboratory Center for Robotics and Manufacturing Systems and Department of Electrical and Computer Engineering College of Engineering University of Kentucky Lexington KY 40506 USA

关键词： Adaptive control manufacturing processes identification predictive control

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NeuroFAST: high accuracy neuro-fuzzy modeling

NeuroFAST: high accuracy neuro-fuzzy modeling

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IEEE International Conference on Artificial Intelligence systems (ICAIS)

作者： S.G. Tzafestas K.C. Zikidis Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National and Technical University of Athens Athens Greece

Most fuzzy modeling algorithms rely either on simplistic (grid type) or off-line (trial-and-error type) structure identification methods. The proposed neurofuzzy modeling architecture, NeuroFAST, is an on-line, structure and parameter learning algorithm, featuring high function approximation accuracy. It is based on the first order Takagi-Sugeno-Kang (TSK) model (functional reasoning), where the consequence part of each fuzzy rule is a linear equation of the input variables. Fuzzy rules are allocated as learning evolves by a modified Fuzzy ART (Adaptive Resonance Theory) mechanism, assisted by fuzzy rule splitting and adding procedures (structure learning). The well known /spl delta/-rule continuously tunes learning weights on both premise and consequence parts (parameter identification). Tested on the Box-Jenkins gas furnace process modeling and the Mackey-Glass chaotic time series prediction, NeuroFAST yields very good results in terms of approximation accuracy, outperforming all known approaches.

关键词： Function approximation Approximation algorithms Takagi-Sugeno-Kang model Fuzzy reasoning Equations Input variables Subspace constraints Resonance Parameter estimation Testing

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