检索结果-内蒙古大学图书馆

PETRI NETS AND INDUSTRIAL APPLICATIONS - A TUTORIAL

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第6期41卷 567-583页

作者： ZURAWSKI, R ZHOU, MC Laboratory for Robotics & Intelligent Systems Swinburne University of Technology Melbourne VIC Australia Laboratory for Discrete Event Systems Department of Elcctrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This is a tutorial paper on Petri nets. Petri nets, as a graphical and mathematical tool, provide a uniform environment for modelling, formal analysis, and design of discrete event systems. The main objective of this paper is to introduce the fundamental concepts of Petri nets to the researchers and practitioners, both from academia and industry, who are involved in the work in the areas of modelling and analysis of industrial types of systems, as well as those who may potentially be involved in these areas. The paper begins with an overview of applications of Petri nets, mostly industrial ones. Then, it proceeds with a description of Petri nets, properties, and analysis methods. The discussion of properties is put in the context of industrial applications. The analysis methods are illustrated using an example of a simple robotic assembly system. The performance analysis, using Petri nets, is discussed for deterministic and stochastic Petri nets. The presented techniques are illustrated by examples representing simple production systems. In addition, the paper introduces high-level Petri nets, fuzzy Petri nets, and temporal Petri nets. This is done in the context of application prospects. The paper also briefly discusses some of the reasons restricting the use of Petri nets, mostly, to academic institutions.

关键词： Tutorial Petri nets Mathematical model Discrete event systems Performance analysis Production systems Modems Communication industry Laboratories Intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Learning laws for neural-network implementation of fuzzy control systems

Learning laws for neural-network implementation of fuzzy con...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： Fei-Yue Wang D.D. Chen Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

A method of designing adaptive fuzzy control systems using structured neural networks is discussed. The basic idea is to implement a rule-based fuzzy control system with a neural network consisting of two subnetworks of pattern recognition, and fuzzy reasoning and control synthesis. The neural network is arranged such that the structure and operations of the original fuzzy control system can be fully retrieved from its network implementation. Equipped with the learning capability of neural networks, this implementation provides a mechanism to refine the existing rules and generate new rules for fuzzy control. It also opens a way for fuzzy control systems to exploit neural networks for carrying out their inherent parallel computation and suppressing the memory space required by their knowledge bases and inference programs.< >

关键词： Fuzzy control Neural networks Design methodology Adaptive systems Programmable control Adaptive control Pattern recognition Fuzzy reasoning Control system synthesis Network synthesis

来源：评论

学校读者我要写书评

暂无评论

Control of robotic manipulator using fuzzy logic

Control of robotic manipulator using fuzzy logic

引用

IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： K.K. Kumbla M. Jamshidi CAD Laboratory for Intelligent and Robotics Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >

关键词： Robot control Fuzzy logic Fuzzy control Manipulator dynamics Robot kinematics PD control Intelligent robots Nonlinear equations Control systems Distributed control

来源：评论

学校读者我要写书评

暂无评论

Embedded fuzzy logic-based wall-following behavior for mobile robot navigation

Embedded fuzzy logic-based wall-following behavior for mobil...

引用

Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： E. Tunstel M. Jamshidi CAD Laboratory for Robotics and Intelligent Systems Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA

The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t... 详细信息

关键词： Fuzzy logic Mobile robots Navigation Fuzzy control Intelligent robots Embedded system Robot sensing systems Control systems Assembly Fuzzy systems

来源：评论

学校读者我要写书评

暂无评论

On-line trajectory planning for autonomous robotic excavation based on force/torque sensor measurements

On-line trajectory planning for autonomous robotic excavatio...

引用

International Conference on Multisensor Fusion and Integration for Intelligent systems (MFI)

作者： Fei-Yue Wang P.J.A. Lever Robotics and Automation Laboratory Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Advanced Mining Systems Laboratory Department of Mining and Geological Engineering University of Arizona Tucson Tucson AZ USA

This paper describes the authors' initial investigation into on-line trajectory planning for autonomous robotic excavation. A dynamic model for arm/environment interaction is proposed. Excavation trajectories are generated using a trapezoidal velocity profile under the maximum force/torque constraints. A scheme for real-time identification of dynamic arm/environment interaction parameters is implemented with a first-order algorithm of Saridis-Stein stochastic approximation. The result of a simulation study is presented to illustrate the proposed trajectory planning approach.< >

关键词： Force measurement Trajectory Robot sensing systems Force sensors Torque measurement robotics and automation Humans Automatic control Fuzzy logic Control systems

来源：评论

学校读者我要写书评

暂无评论

A fuzzy-behavior-based approach for controlling mining excavator bucket/rock interactions

A fuzzy-behavior-based approach for controlling mining excav...

引用

Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： P.J.A. Lever Fei-Yue Wang Xiaobo Shi Deqian Chen Advanced Mining Systems Laboratory Mining and Geological Engineering Department University of Arizona Tucson Tucson AZ USA Robotics and Automation Laboratory Systems and Industrial Engineering Department University of Arizona Tucson Tucson AZ USA

Successful control of an autonomous mining excavator requires sensor feedback from the excavation tool to control unpredictable tool/rock interactions. Conventional control approaches cannot deal effectively with uncertainties in the dynamic and unstructured mining environment. This paper presents a new intelligent control approach that utilizes fuzzy behaviors with fuzzy strategies to control bucket motions for autonomous excavation tasks. In this approach, the control system uses feedback from a bucket mounted force/torque sensor to control excavation motions by sensing and reacting to interactions with rock particles during excavation. A behaviour coordination configuration is developed to improve the controllers effectiveness in reaching its overall excavation goals. It uses fuzzy logic rules to adjust control system output variables and performs goal-driven behaviour selection. This technique is a first step towards realistic control of complex machine/environment interactions in difficult and unpredictable environments, where traditional control approaches are either impossible or computationally excessive. The discussion here focuses on: (a) development of a new control architecture; (b) the individual components of the architecture; and (c) experiments with a simulated excavator using a PUMA 560 robotic arm.< >

关键词： Motion control Control systems Intelligent sensors Fuzzy control Force control Torque control Force feedback Computer architecture Uncertainty Intelligent control

来源：评论

学校读者我要写书评

暂无评论

Fuzzy, neural network, and genetic algorithm based control system

Fuzzy, neural network, and genetic algorithm based control s...

引用

International Conference on Industrial Electronics, Control and Instrumentation

作者： T. Fukuda K. Shimojima T. Shibata Department of Mechano-Informatics and Systems University of Nagoya Nagoya Japan Bio-Robotics Division Robotics Department Mechanical Engineering Laboratory M.I.T.I. Tsukuba Japan

This paper introduces a hierarchical control scheme based on a fuzzy, neural network, and a genetic algorithm for intelligent robotics. The scheme has three levels: learning level, skill level and adaptation level. The learning level manipulates symbols to reason logically for control strategies. The skill level produces control references along with the control strategies and sensory information on environments. The adaptation level controls robots and machines while adapting to their environments which include uncertainties. For these levels and to connect them, artificial intelligence, neural networks, fuzzy logic, and genetic algorithms are applied to the hierarchical control system while integrating and synthesizing themselves. To be intelligent, the hierarchical control system learns various experiences both in top-down manner and bottom-up manner. The hierarchical control scheme is effective for intelligent robotics and mechatronics.< >

关键词： Fuzzy control Fuzzy neural networks Fuzzy systems Neural networks Genetic algorithms Control systems Intelligent robots Artificial intelligence Intelligent sensors Learning systems

来源：评论

学校读者我要写书评

暂无评论

Probability-based weighting of performance criteria for a redundant manipulator

Probability-based weighting of performance criteria for a re...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： S. McGhee T.F. Chan R.V. Dubey R.L. Kress Mechanical & Aerospace Engineering University of Tennessee Knoxville TN USA Robotics & Process Systems Division Oak Ridge National Laboratory Oak Ridge TN USA

A method to simultaneously optimize multiple performance criteria for a redundant manipulator is presented. Preferred formulation requirements for the criteria are discussed, and previously proposed normalization methods are examined. A statistically based variable weighting technique is developed and evaluated. A seven-degree-of freedom robotics Research Corporation manipulator is used as a test bed for the multiple criteria optimization scheme.< >

关键词： Manipulators Optimization methods Welding Orbital robotics Aerospace engineering Testing Position control End effectors Service robots Cost function

来源：评论

学校读者我要写书评

暂无评论

Utilization of torque wheels for active damping of flexible manipulators

Utilization of torque wheels for active damping of flexible ...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： F. Khorrami A.A. Gomez M.D. Hills Polytechnic University School of Electrical Engineering 4 Computer Science Control/Robotics Research Laboratory Brooklyn NY USA Bernoulli Optical Systems Company Danbury CT USA Control/Robotics Research Laboratory (CRRL) School of Electrical Engineering 4 Computer Science University of California Brooklyn NY USA

Utilization of inertial actuators, such as torque wheels, for vibration damping of a single-link flexible manipulator is considered. The torque wheel is mounted at the end effector of the manipulator to provide a bending moment at the tip for vibration suppression and pointing purposes. The torque exerted by the torque wheel at the end-effector of the manipulator is achieved through controlling the velocity of the torque wheel. A decentralized control scheme is advocated in this paper for slewing and vibration suppression. The local loop around the torque wheel is closed through feedback of the accelerometer signal at the tip. Experimental results are provided to show the effectiveness of the proposed method for end-effector positioning of flexible-link manipulators. Although the experimental results reported are for a single-link flexible manipulator, the results are applicable to the multi-link case. It may be shown that the dynamics from the voltage input to the torque wheel mounted at the tip to the tip position is minimum phase and hence invertible given that an inner-loop controller has been applied to stabilize the rigid-body motion.< >

关键词： Wheels Damping Torque control Manipulator dynamics Actuators End effectors Velocity control Distributed control Vibration control Feedback loop

来源：评论

学校读者我要写书评

暂无评论

Explicit fuzzy force control of industrial manipulators with position servo drives

Explicit fuzzy force control of industrial manipulators with...

引用

IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： I.H. Suh K.S. Eom H.J. Yeo B.H. Kang S.-R. Oh B.H. Lee Intelligent Control and Robotics Laboratory Department of Electrvnics Engineering Hanyang University South Korea Samsung Data System Company Limited South Korea Division of Electronics and Infonmation technology KIST Seoul South Korea Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University South Korea

In this paper, a fuzzy force control algorithm is suggested for commercialized industrial robots equipped with the position servo drives, where control rules of the proposed fuzzy controller are changed according to the magnitude of environmental stiffness in such a way that good force response is maintained regardless of changes of environmental stiffness. Specifically, some fuzzy control rules are designed for several representative environmental stiffness values, and then a control action for a given arbitrary environmental stiffness value is decided by a fuzzy interpolation method. To show the validity of the proposed fuzzy controller, several experimental results are illustrated, where a 5-axis articulated robot manipulator equipped with the wrist force/torque sensor system and our prototype dual robot controller are employed.< >

关键词： Fuzzy control Force control Industrial control Manipulators Torque control Control systems Robot sensing systems Commercialization Service robots Servomechanisms

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：