Informatics in Control, Automation and Robotics I

TABLE OF CONTENTS

PREFACE

CONFERENCE COMMITTEE

INVITED SPEAKERS

ROBOT-HUMAN INTERACTION

1 INTRODUCTION

1.1 Human Integration

2 INVASIVE NEURAL INTERFACE

2.1 Surgical Procedure

2.2 Neural Stimulation and Neural Recordings

3 NEURAL INTERACTION WITH TECHNOLOGY

4 CONCLUSIONS

INDUSTRIAL AND REAL WORLD APPLICATIONS OF ARTIFICIAL NEURAL NETWORKS

1 INTRODUCTION

2 FROM NATURAL TO ARTIFICIAL

2.1 Back-Propagation Learning Rule and Multi- Layer Perceptron

2.2 Kernel Functions Based Neural Models

3 ANN BASED SOLUTIONS FOR INDUSTRIAL ENVIRONMENT

3.1 MLP Based Adaptive Controller

3.2 Kernel Functions ANN Based Image Processing for Industrial Applications

3.3 Bio-inspired Multiple Neural Networks Based Process Identification

4 CONCLUSION

ACKNOWLEDGEMENTS

REFERENCES

THE DIGITAL FACTORY

1 INTRODUCTION

2 DEFINITION

3 GLOBAL DATA BASE

4 WORKFLOW MANAGEMENT

5 SUBCONTRACTORS AND COLLABORATIVE ENDINEERING

6 DANGER AND UNRESOLVED PROBLEMS

7 SUMMARY

REFERENCES

WHAT'S REAL IN "REAL-TIME CONTROL SYSTEMS"?

1 INTRODUCTION

2 MODEL CHECKING

3 VISUAL FORMALISM, STATECHARTS, AND STATEMATE

4 TIMED AUTOMATA

5 REAL-TIME LOGIC, GRAPHTHEORETIC ANALYSIS, AND MODECHART

6 PROCESS ALGEBRA

7 REAL-TIME RULE-BASED DECISION SYSTEMS

8 REAL-TIME DECISION SYSTEMS

SUFFICIENT CONDITIONS FOR THE STABILIZABILITY OF MULTI-STATE UNCERTAIN SYSTEMS, UNDER INFORMATION CONSTRAINTS

1 INTRODUCTION

1.1 Main Contributions of the Paper

2 PROBLEM FORMULATION

2.1 Description of Uncertainty in the Plant

2.2 Statistical Description of a(k)

2.3 Functional Structure of the Feedback Interconnection

2.4 Problem Statement and M-th Moment Stability

2.5 Motivation for our Definition of Stochastic Link and Further Comments on the Information Pattern

3 SUFFICIENCY CONDITIONS FOR THE ROBUST STABILIZATION OF FIRST ORDER LINEAR SYSTEMS

3.1 The Deterministic Case

3.2 Suficient Condition for the Stochastic Case

4 SUFFICIENT CONDITIONS FOR A CLASS OF SYSTEMS OF ORDER HIGHER THAN ONE

4.1 Description of the Nominal Plant and Equivalent Representations

4.2 Description of Uncertainty and Robust Stability

4.3 Feedback Structure and Channel Usage Assumptions

4.4 Construction of a Stabilizing Feedback Scheme

4.5 Suf.ciency for the Deterministic/Time-InvariantCase

4.6 Suf.ciency for the StochasticCase

4.7 Suf.ciency for the case ¯za = 0

4.8 Solving the Allocation Problem for a Class of Stochastic Systems

ACKNOWLEDGEMENTS

REFERENCES

Part 1 Intelligent Control Systems and Optimization

DEVICE INTEGRATION INTO AUTOMATION SYSTEMS WITH CONFIGURABLE DEVICE HANDLER

1 INTRODUCTION

2 DEVICE HANDLER TYPES

2.2 Configurable Device Handler

2.1 Device Specific Handler

2.3 Related Work

3 CDH DEVICE INTEGRATION

4 OFFLINE CONFIGURATION

4.1 Physical Line

4.2 Device Variables

4.3 Telegrams

4.4 Sequences

4.5 Global Conditions

5 ON-LINE USAGE

6 FURTHER DEVELOPMENT

6.1 Calculation Capability

6.2 Automatic Detection of Devices

6.3 Multi-Line Connection

6.4 Binary Protocols

6.5 Capability Profiles

7 CONCLUSION

REFERENCES

NON LINEAR SPECTRAL SDP METHOD FOR BMI-CONSTRAINED PROBLEMS : APPLICATIONS TO CONTROL DESIGN

1 INTRODUCTION

2 NONLINEAR SPECTRAL SDP METHOD

2.1 General Outline

2.2 The mechanism of the Algorithm

3 DERIVATIVES OF SP FUNCTIONS

3.1 Second Derivatives

3.2 Multiplier Update Rule

3.3 Solving the Subproblem - Implementational Issues

4 NUMERICAL EXAMPLES

4.1 Static Output Feedback Controller Synthesis

4.2 Miscellaneous Examples

5 CONCLUSION

REFERENCES

A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR ROBOTIC MANIPULATORS

1 INTRODUCTION

2 PROBLEM STATEMENT

3 REFORMULATION OF THE PROBLEM

3.1 Scaling

4 STRATEGY OF RESOLUTION

5 NUMERICAL RESULTS

6 CONCLUSION

REFERENCES

ACKNOWLEDGEMENTS

FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING

1 INTRODUCTION

2 IMAGE-BASED VISUAL SERVOING

2.1 Modeling the Image-Based Visual Servoing System

2.2 Controlling the Image-Based Visual Servoing System

3 PROBLEM STATEMENT

4 INVERSE FUZZY MODELING

4.1 Fuzzy Modeling

4.2 Inverse Modeling

5 FUZZY COMPENSATION OF STEADY-STATE ERRORS

5.1 Derivation of Fuzzy Compensation

6 EXPERIMENTAL SETUP

6.1 Vision System

6.2 Robotic Manipulator System

6.3 Systems Integration

7 RESULTS

7.1 Inverse Fuzzy Modeling

7.2 Control Results

8 CONCLUSIONS

ACKNOWLEDGEMENTS

REFERENCES

AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE-TIME OPTIMAL CONTROL WITH TERMINAL CONSTRAINTS

1 INTRODUCTION

2 OPTIMAL CONTROL OF NONLINEAR DISCRETE TIME DYNAMICAL SYSTEMS

3 DISCRETE VELOCITY DIRECTION PROGRAMMING FOR MAXIMUM RANGE WITH GRAVITY AND THRUST

4 NECESSARY CONDITIONS FOR ANOPTIMUM

5 AN EVOLUTIONARY APPROACH TO OPTIMAL CONTROL

6 CONCLUSIONS

REFERENCES

A DISTURBANCE COMPENSATION CONTROL FOR AN ACTIVE MAGNETIC BEARING SYSTEM BY A MULTIPLE FXLMS ALGORITHM

1 INTRODUCTION

2 SYSTEM MODEL

3 CONTROLLER DESIGN

4 EXPERIMENTS

5 CONCLUSION

ACKNOWLEDGEMENTS

REFERENCES

AN INTELLIGENT RECOMMENDATION SYSTEM BASED ON FUZZY LOGIC

1 INTRODUCTION

2 RECOMMENDATION SYSTEM

2.1 System Architecture

2.2 Information Description

2.3 Application of Fuzzy Logic Control Theory in a Recommendation System

3 FUZZY RECOMMENDATION

3.1 Fuzzy Information Database

3.2 Similarity Matching

3.3 Filtering & Ranking

3.4 Profiling Agent

4 EXAMPLE

4.1 Similarity Matching and Preference Learning Example

4.2 Application Scenario

5 CONCLUSION

REFERENCES

MODEL REFERENCE CONTROL IN INVENTORY AND SUPPLY CHAIN MANAGEMENT

1 INTRODUCTION

2 MODEL PREDICTIVE CONTROL

2.1 Implementing the Cost Function

3 SIMULATIONS

3.1 Simulator Implementation Tool

3.2 Inventory Control Simulations

3.3 Step Response Simulations

3.4 Simulations with a More Realistic Demand Pattern

4 CONCLUSIONS REFERENCES

AN LMI OPTIMIZATION APPROACH FOR GUARANTEED COST CONTROL OF SYSTEMS WITH STATE AND INPUT DELAYS

1 INTRODUCTION

2 PROBLEM STATEMENT AND DEFINITIONS

3 SOLUTION IN THE LMI FRAMEWORK

4 EXAMPLE

5 CONCLUSIONS

REFERENCES

USING A DISCRETE-EVENT SYSTEM FORMALISM FOR THE MULTI- AGENT CONTROL OF MANUFACTURING SYSTEMS

1 INTRODUCTION

2 THE MULTI-AGENT SYSTEMS CONTROL APPROACH

3 THE DISCRETE-EVENT MODELLING FRAMEWORK

4 THE INTERACTIONS OF A PA WITH WAS AND TAS

5 SOME EXPERIMENTAL RESULTS AND FUTURE PLANS

6 CONCLUDING REMARKS

REFERENCES

Part 2 Robotics and Automation

FORCE RIPPLE COMPENSATOR FOR A VECTOR CONTROLLED PM LINEAR SYNCHRONOUS MOTOR

1 INTRODUCTION

2 SIMULATION MODEL

2.1 Model of LSM

2.2 Non-idealities of PMLSM

2.3 Current Controller of the Linear Motor

2.4 Verification of the Simulation Model

3 DISTURBANCE COMPENSATION

4 CONCLUSION

APPENDIX

REFERENCES

HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD TUNNELING MACHINE

1 INTRODUCTION

2 MODELING

2.1 Manipulator Model

2.2 Environment Model

2.3 Hydraulic Thrust Cylinders

3 HYBRID CONTROLLER

3.1 Feedback Linearization

3.2 Transformation of Sensor Data

3.3 Selection Matrix

3.4 Position Control

3.5 Force Control

3.6 Impedance Control

3.7 Simulation Results

4 CONCLUSIONS

REFERENCES

MOCONT LOCATION MODULE: A CONTAINER LOCATION SYSTEM BASED ON DR/ DGNSS INTEGRATION

1 INTRODUCTION

2 OVERVIEW OF THE MOCONT SYSTEM

4 DR SUBSYSTEM DESIGN

4.1 Description of the DR Subsystem

4.2 DR/DGNSS Integration

5 EXPERIMENTAL RESULTS

6 CONCLUSIONS

ACKNOWLEDGEMENTS

REFERENCES

PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL COMPONENTS

1 INTRODUCTION

2 OVERALL DESCRIPTION OF THE METHOD

3 PRINCIPAL COMPONENTS DATABASE GENERATE

3.1 Virtual Partial Views Computation

3.2 Principal Components of VPV Computation

4 MATCHING PROCESS

4.1 Initial Transformation Matrix Computation

4.2 ICP Algorithm Application

5 EXPERIMENTAL RESULT

6 CONCLUSIONS

ACKNOWLEDGEMENTS

REFERENCES

TOWARDS A CONCEPTUAL FRAMEWORK-BASED ARCHITECTURE FOR UNMANNED SYSTEMS

1 INTRODUCTION

2 DESCRIPTION OF THE SOFTWARE ARCHITECTURE

2.1 Architectural Elements

2.2 Middleware-Based Framework

3 DESIGN OF AN AUTONOMOUS ENTITY

3.1 Structure of an AE

3.2 Provider of Concrete Services

3.3 Retrieving CSPs

3.4 Provision of Services

4 EXPERIMENTAL RESULTS

5 CONCLUSIONS

REFERENCES

A INTERPOLATION-BASED APPROACH TO MOTION GENERATION FOR HUMANOID ROBOTS

1 INTRODUCTION

2 HUMANOID ROBOT AND THE TARGET MOTIONS

2.1 Humanoid Robot

2.2 Tai Chi Chuan

3 MOTION GENERATION SYSTEM

3.1 Interpolation-based Motion Generation

3.2 Classification of the Postures in Balance Space

4 EXPERIMENT

4.1 Performance Results

4.2 Effectiveness of Balance Checker

5 CONCLUSION

ACKNOWLEDGEMENTS

REFERENCES

REALISTIC DYNAMIC SIMULATION OF AN INDUSTRIAL ROBOT WITH JOINT FRICTION

1 INTRODUCTION

2 FINITE ELEMENT REPRESENTATION OF THE MANIPULATOR

3 THE DRIVING SYSTEM

4 JOINT FRICTION MODEL

5 CLOSED-LOOP ROBOT MODEL

6 PERTURBATION METHOD

7 SIMULATION RESULTS

8 CONCLUSIONS

ACKNOWLEDGEMENTS

REFERENCES

A NEW PARADIGM FOR SHIP HULL INSPECTION USING A HOLONOMIC HOVER- CAPABLE AUV

1 INTRODUCTION AND EXISTING CAPABILITIES

2 PHYSICAL VEHICLE OVERVIEW

3 OUR APPROACH TO HULL NAVIGATION

3.1 Suitability of the DVL for this Task

3.2 Two Approaches Using “Slicing&rdquo

3.3 Role of Low- and Mid-Level Control

4 SUMMARY

REFERENCES

DIMSART: A REAL TIME - DEVICE INDEPENDENT MODULAR SOFTWARE ARCHITECTURE FOR ROBOTIC AND TELEROBOTIC APPLICATIONS

1 INTRODUCTION

1.1 Telepresence Environment

1.2 Control and Software engineering Interplay

1.3 Existing Architectures

2 ROBOT CONTROL

2.1 Wave Variables Scheme as Bilateral Control Example

2.2 General Robot Control setup

2.3 Bilateral Control Scheme with DIMSART Embedded

3 ARCHITECTURE OVERVIEW

3.1 Modules

3.2 The Data Base

3.3 The Module Engine

3.4 The Frame

4 EXAMPLE

5 CONCLUDING REMARKS AND REMAINING ASPECTS

REFERENCES

Part 3 Signal Processing, Systems Modeling and Control

ON MODELING AND CONTROL OF DISCRETE TIMED EVENT GRAPHS WITH MULTIPLIERS USING (MIN, +) ALGEBRA

1 INTRODUCTION

2 RECURRENT EQUATIONS OF TEGM’s

3 DIOID, OPERATORIAL REPRESENTATION

4 JUST IN TIME CONTROL

4.1 Residuation Theory

4.2 Control Problem Statement

5 CONCLUSION

REFERENCES

MODEL PREDICTIVE CONTROL FOR HYBRID SYSTEMS UNDER A STATE PARTITION BASED MLD APPROACH ( SPMLD)

1 INTRODUCTION

2 HYBRID SYSTEMS MODELING

2.1 Mixed Logical Dynamical Model

2.2 Piecewise Affine Model

3 MODEL PREDICTIVE CONTROL

3.1 Model Predictive Control for the MLD Systems

3.2 Model Predictive Control for the PWA Systems

4 MPC FOR STATE PARTITION BASED MLD ( SPMLD) FORMALISM

4.1 The SPMLD Formalism

4.2 Reformulation of the MPC Solution

4.3 Compared Computational Burden

4.4 Further Improvements of the Optimization Time

5 APPLICATION

5.1 Description of the Benchmark

5.2 Application of MPC for the SPMLD Formalism

6 CONCLUSION

REFERENCES

EFFICIENT SYSTEM IDENTIFICATION FOR MODEL PREDICTIVE CONTROL WITH THE ISIAC SOFTWARE

1 INTRODUCTION

2 SYSTEM IDENTIFICATION AND MODEL PREDICTIVE CONTROL

3 ISIAC

3.1 Approaches to Model Estimation

3.2 General Structure and Layout

4 WORKING WITH ISIAC

4.1 Experiment Design

4.2 Working with Data

4.3 Working with Models

4.4 Estimating and Validating Models

4.5 Building the Control Model

5 AN INDUSTRIAL APPLICATION: MODEL PREDICTIVE CONTROL OF A MTBE UNIT

6 CONCLUSION

REFERENCES

IMPROVING PERFORMANCE OF THE DECODER FOR TWO-DIMENSIONAL BARCODE SYMBOLOGY PDF417

1 INTRODUCTION

2 LOCALIZING THE DATA REGION

3 DECODING CODEWORDS FROM BAR- SPACE PATTERNS

4 EXPERIMENTAL RESULTS

5 CONCLUSION

REFERENCES

CONTEXT IN ROBOTIC VISION

1 INTRODUCTION

2 CONTEXT IN COMPUTER VISION

3 AN OPERATIVE DEFINITION OF CONTEXT

3.1 Model Set M

3.2 Operator Set Z

3.3 Contextual Changes

4 BAYESIAN CONTEXT SWITCHING

4.1 Opportunistic Switching

4.2 Context Commutation

4.3 A Practical Implementation

5 CONCLUSIONS

REFERENCES

DYNAMIC STRUCTURE CELLULAR AUTOMATA IN A FIRE SPREADING APPLICATION

1 INTRODUCTION

2 BACKGROUND

3 DSCA MODELLING

4 DSCA SIMULATION

ACTIVITY TRACKING

6 FIRE SPREADING APPLICATION

7 CONCLUSION

REFERENCES

ACKNOWLEDGEMENTS

SPEAKER VERIFICATION SYSTEM

1 INTRODUCTION

2 BASIC IDEA OF THE VQ-VERIFICATION

3 THE GMM BASED SPEAKER VERIFICATION

4 EXPERIMENTAL RESULTS

5 CONCLUSION

REFERENCES

MOMENT-LINEAR STOCHASTIC SYSTEMS

1 INTRODUCTION

2 MLSS: FORMULATION AND BASIC ANALYSIS

3 FURTHER RESULTS

4 EXAMPLE: MJLS

5 MLSS MODELS FOR NETWORK DYNAMICS: SUMMARY

REFERENCES

ACTIVE ACOUSTIC NOISE CONTROL IN DUCTS

1 INTRODUCTION

2 FEEDFORWARD CONTROL

3 EXPERIMENTAL SET-UP

4 IDENTIFICATION

5 EXPERIMENTAL RESULTS

6 CONCLUSIONS

REFERENCES

HYBRID UML COMPONENTS FOR THE DESIGN OF COMPLEX SELF-OPTIMIZING MECHATRONIC SYSTEMS

1 INTRODUCTION

2 RELATEDWORK

3 MODELING RECONFIGURATION

4 THE APPROACH

4.1 Hybrid UML Model

4.2 Hybrid Statecharts

4.3 Hybrid Components

4.4 Modular Recon.guration

5 RUN-TIME ARCHITECTURE

6 CONCLUSION AND FUTURE WORK

REFERENCES

AUTHOR INDEX