Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326928
N. Mishima
This paper first describes the concept of a microfactory and its design basics. The microfactory is a desktop-type miniature manufacturing system consists of miniature machine tools and manipulators. Since the prototyped microfactory was able to perform the whole process of machining parts and assembling them to a miniature ball bearing, it was able to say that it has a significant capability for micro mechanical fabrication. However, the possibility of the microfactory to improve manufacturing efficiencies of micro mechanical fabrications has not been considered enough. In the paper, the author proposes an evaluation method to calculate efficiencies of the system, based on the required time for each process, machine cost, operator's cost and environmental impact measured by energy consumption, using the abovementioned microfactory as an example. Through the analysis the paper tries to evaluate the system efficiency and show the procedure to determine the optimum system configuration. Finally, the paper concludes that a microfactory-like reconfigurable system will be useful in improving productivity, by combined with a proper evaluation method system efficiency.
{"title":"Development of a micro manufacturing system and its efficiency evaluation method","authors":"N. Mishima","doi":"10.1109/COASE.2006.326928","DOIUrl":"https://doi.org/10.1109/COASE.2006.326928","url":null,"abstract":"This paper first describes the concept of a microfactory and its design basics. The microfactory is a desktop-type miniature manufacturing system consists of miniature machine tools and manipulators. Since the prototyped microfactory was able to perform the whole process of machining parts and assembling them to a miniature ball bearing, it was able to say that it has a significant capability for micro mechanical fabrication. However, the possibility of the microfactory to improve manufacturing efficiencies of micro mechanical fabrications has not been considered enough. In the paper, the author proposes an evaluation method to calculate efficiencies of the system, based on the required time for each process, machine cost, operator's cost and environmental impact measured by energy consumption, using the abovementioned microfactory as an example. Through the analysis the paper tries to evaluate the system efficiency and show the procedure to determine the optimum system configuration. Finally, the paper concludes that a microfactory-like reconfigurable system will be useful in improving productivity, by combined with a proper evaluation method system efficiency.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128250012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326856
Qingsong Xu, Yangmin Li
In this paper, the architectural parameters optimization of a three degree-of-freedom (DOF) parallel kinematic machine (PKM) with three PUU (prismatic-universal-universal) links is performed using the efficient particle swarm optimization (PSO) to achieve the best accuracy characteristics. The error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and the lowest value of the maximum singular value of the ETM over a usable workspace is considered as an error performance index for the optimal design. To emphasize the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are compared with it. The simulation results demonstrate that the PSO is the best method for the optimization, and the analysis results are valuable in designing and controlling a 3-PUU PKM for machine tool applications
{"title":"Accuracy-Based Architecture Optimization of a 3-DOF Parallel Kinematic Machine","authors":"Qingsong Xu, Yangmin Li","doi":"10.1109/COASE.2006.326856","DOIUrl":"https://doi.org/10.1109/COASE.2006.326856","url":null,"abstract":"In this paper, the architectural parameters optimization of a three degree-of-freedom (DOF) parallel kinematic machine (PKM) with three PUU (prismatic-universal-universal) links is performed using the efficient particle swarm optimization (PSO) to achieve the best accuracy characteristics. The error transformation matrix (ETM) is derived based on the differentiation of kinematic equations, and the lowest value of the maximum singular value of the ETM over a usable workspace is considered as an error performance index for the optimal design. To emphasize the efficiency of the PSO method, both the traditional direct search method and the genetic algorithm (GA) are compared with it. The simulation results demonstrate that the PSO is the best method for the optimization, and the analysis results are valuable in designing and controlling a 3-PUU PKM for machine tool applications","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130330585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326958
Min Zhou, F. Deng
The problems of supply chains are research hot points now. And the evolutionary game theory gradually becomes a new and effective method to these problems. An evolutionary game model learning through imitation is proposed on the relationship between retailers' promotion and suppliers' inspection. It is found that the dynamics process and evolutionary stable strategies of this model equal to some type of replicator dynamics model's. But, there are differences of meaning and time scale between imitation learning and replicator dynamics. At last, a numerical example is studied to illustrate dynamic evolutionary process of this model learning through imitation.
{"title":"An evolutionary game model on supply chains learning through imitation","authors":"Min Zhou, F. Deng","doi":"10.1109/COASE.2006.326958","DOIUrl":"https://doi.org/10.1109/COASE.2006.326958","url":null,"abstract":"The problems of supply chains are research hot points now. And the evolutionary game theory gradually becomes a new and effective method to these problems. An evolutionary game model learning through imitation is proposed on the relationship between retailers' promotion and suppliers' inspection. It is found that the dynamics process and evolutionary stable strategies of this model equal to some type of replicator dynamics model's. But, there are differences of meaning and time scale between imitation learning and replicator dynamics. At last, a numerical example is studied to illustrate dynamic evolutionary process of this model learning through imitation.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132323270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326962
Q. Jiang
An improved distributed coordination algorithm for multi-agent system is presented. Combined an coverage control method with rolling window method (RWM) based on r-limited Voronoi partitions, the algorithm has a natural priority to safety, goal convergence, and formation keeping, even if the location and shape of all existing obstacles are unavailable. The theoretical properties are discussed in the paper and there are numerical simulations illustrating its efficiency.
{"title":"An improved algorithm for coordination control of multi-agent system based on r-limited voronoi partitions","authors":"Q. Jiang","doi":"10.1109/COASE.2006.326962","DOIUrl":"https://doi.org/10.1109/COASE.2006.326962","url":null,"abstract":"An improved distributed coordination algorithm for multi-agent system is presented. Combined an coverage control method with rolling window method (RWM) based on r-limited Voronoi partitions, the algorithm has a natural priority to safety, goal convergence, and formation keeping, even if the location and shape of all existing obstacles are unavailable. The theoretical properties are discussed in the paper and there are numerical simulations illustrating its efficiency.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115624609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326947
K. Chee, C. Y. Ang, I. Chen, Guilin Yang, Wei Lin
Due to the proliferation of new technologies and demands for dexterous robotics manipulators, multi-degree-of-freedom (MDOF) actuators are widely sought after. These actuators are utilized primarily in the assembly sectors, precision machining and active tracking devices. Prior to realizing a feasible MDOF actuator for any practical use, positional closed loop feedback is of paramount importance. To date, commercially available encoders are mainly limited to single-DOF sensing. Furthermore, integration of these sensors inherently introduces mechanical linkages that compromise the overall performance of the system. This paper introduces an alternative approach in 3-DOF motions sensing leveraging on contactless sensing of anisotropic magneto-resistive (AMR) sensors. The theory and design methodology of this sensing method is being discussed and presented. Experimentation was also conducted for conceptual verification on existing spherical actuator. The uniqueness of this technique lies in the exploitation of existing magnetic field generated from the rotor. The test platform being established is expected to lay the foundation for optimizing key parameters. With the successful implementation of this new sensing system, future development will be focusing on real-time measurement and control.
{"title":"An Alternative Approach In Sensing Simultaneous 3-DOF Motions","authors":"K. Chee, C. Y. Ang, I. Chen, Guilin Yang, Wei Lin","doi":"10.1109/COASE.2006.326947","DOIUrl":"https://doi.org/10.1109/COASE.2006.326947","url":null,"abstract":"Due to the proliferation of new technologies and demands for dexterous robotics manipulators, multi-degree-of-freedom (MDOF) actuators are widely sought after. These actuators are utilized primarily in the assembly sectors, precision machining and active tracking devices. Prior to realizing a feasible MDOF actuator for any practical use, positional closed loop feedback is of paramount importance. To date, commercially available encoders are mainly limited to single-DOF sensing. Furthermore, integration of these sensors inherently introduces mechanical linkages that compromise the overall performance of the system. This paper introduces an alternative approach in 3-DOF motions sensing leveraging on contactless sensing of anisotropic magneto-resistive (AMR) sensors. The theory and design methodology of this sensing method is being discussed and presented. Experimentation was also conducted for conceptual verification on existing spherical actuator. The uniqueness of this technique lies in the exploitation of existing magnetic field generated from the rotor. The test platform being established is expected to lay the foundation for optimizing key parameters. With the successful implementation of this new sensing system, future development will be focusing on real-time measurement and control.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114782411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326895
G. Biggs, B. MacDonald
Robot programs typically manage a substantial amount of dimensioned data. However, existing robot programming tools do not directly support the description and manipulation of dimensioned quantities. A new data type has been proposed for managing dimensioned data in robot software. The design removes much of the hard work of using and ensuring correctness in dimensional data and allows mixing of units using dimensional analysis. An initial implementation has been created by extending the Python interpreter. This paper evaluates the proposal for dimensioned data in robotic systems, using established qualitative evaluation criteria for programming languages, based on the design and implementation, human factors, software engineering, and the application domain. In addition the paper shows that the method can be formalised, and that it is able to support coordinate systems. A set of unit tests is reported for the implementation. Together these evaluations show the proposed dimensioned data system to be implementable, self-consistent, and useful in robotics. The proposed design improves robot programming where dimensioned data is involved
{"title":"Evaluation of Dimensional Analysis in Robotics","authors":"G. Biggs, B. MacDonald","doi":"10.1109/COASE.2006.326895","DOIUrl":"https://doi.org/10.1109/COASE.2006.326895","url":null,"abstract":"Robot programs typically manage a substantial amount of dimensioned data. However, existing robot programming tools do not directly support the description and manipulation of dimensioned quantities. A new data type has been proposed for managing dimensioned data in robot software. The design removes much of the hard work of using and ensuring correctness in dimensional data and allows mixing of units using dimensional analysis. An initial implementation has been created by extending the Python interpreter. This paper evaluates the proposal for dimensioned data in robotic systems, using established qualitative evaluation criteria for programming languages, based on the design and implementation, human factors, software engineering, and the application domain. In addition the paper shows that the method can be formalised, and that it is able to support coordinate systems. A set of unit tests is reported for the implementation. Together these evaluations show the proposed dimensioned data system to be implementable, self-consistent, and useful in robotics. The proposed design improves robot programming where dimensioned data is involved","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116005175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326944
Peizhi Zhang, Chengliang Yin, Jianwu Zhang
Diagnostics and control are critical for ensuring sufficient reliability and availability of electronic throttle control (ETC) system in modern vehicles. A nonlinear electronic throttle control system and its actuation modules are considered in the present of sensor fault tolerance. A Sliding mode control is proposed. Sliding mode observer and control strategies for sensor fault are presented respectively. Sensor fault effects on the ETC system are demonstrated in simulations.
{"title":"Sliding Mode Control with Sensor Fault Tolerant for Electronic Throttle","authors":"Peizhi Zhang, Chengliang Yin, Jianwu Zhang","doi":"10.1109/COASE.2006.326944","DOIUrl":"https://doi.org/10.1109/COASE.2006.326944","url":null,"abstract":"Diagnostics and control are critical for ensuring sufficient reliability and availability of electronic throttle control (ETC) system in modern vehicles. A nonlinear electronic throttle control system and its actuation modules are considered in the present of sensor fault tolerance. A Sliding mode control is proposed. Sliding mode observer and control strategies for sensor fault are presented respectively. Sensor fault effects on the ETC system are demonstrated in simulations.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116999316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326870
J. Ren, Jin Wang, I. Jenkinson, Dongling Xu, Jianbo Yang
This paper aims to contribute to offshore risk analysis by proposing a methodology to model causal relationships focusing on human and organisational errors. The proposed methodology uses James Reason's "Swiss cheese" model to form a generic offshore risk analysis framework and tailors Bayesian Network (BN) to fit into the framework to construct a causal relationship model. A case study of the collision risk between a Floating Production, Storage and Offloading (FPSO) unit and authorised vessels caused by human and organisational factors (HOFs) during operations is used to illustrate the application of the proposed methodology. This paper shows that James Reason's "Swiss cheese" model and BN can be jointly used in offshore risk analysis
{"title":"A Methodology to Model Human and Organisational Errors on Offshore Risk Analysis","authors":"J. Ren, Jin Wang, I. Jenkinson, Dongling Xu, Jianbo Yang","doi":"10.1109/COASE.2006.326870","DOIUrl":"https://doi.org/10.1109/COASE.2006.326870","url":null,"abstract":"This paper aims to contribute to offshore risk analysis by proposing a methodology to model causal relationships focusing on human and organisational errors. The proposed methodology uses James Reason's \"Swiss cheese\" model to form a generic offshore risk analysis framework and tailors Bayesian Network (BN) to fit into the framework to construct a causal relationship model. A case study of the collision risk between a Floating Production, Storage and Offloading (FPSO) unit and authorised vessels caused by human and organisational factors (HOFs) during operations is used to illustrate the application of the proposed methodology. This paper shows that James Reason's \"Swiss cheese\" model and BN can be jointly used in offshore risk analysis","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116780868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326906
B. Sai, B. Kastelein
Accuracy and reliability on liquid level measurements in bulk storage tanks are getting increasingly important for oil and gas industry in which revenue losses from incorrect measurement are becoming more costly, specifically in legal custody transfer and custom monitoring. In this paper, a robust and self-adaptive radar gauging system for high-precision continuous level measurements is presented. The radar system has a compact size and is explosion proof. It consists of a stepped frequency continuous wave (SFCW) transmitter and receiver with monostatic gas-tight antenna. The frequency range is from 9.5 to 10.5 GHz. With most advanced processing software algorithm implemented in the microprocessor, the accuracy of plusmn 0.3 mm over whole measuring range is obtained. Even if under severe conditions, an accuracy of plusmn 1 mm can still be attained. By means of the advanced level radar system the fine accuracy can become attainable under worst-case scenarios. Whereby the authentic custody transfer and inventory management are guaranteed
{"title":"Highly Reliable and Accurate Level Radar for Automated Legal Custody Transfer and Inventory Management","authors":"B. Sai, B. Kastelein","doi":"10.1109/COASE.2006.326906","DOIUrl":"https://doi.org/10.1109/COASE.2006.326906","url":null,"abstract":"Accuracy and reliability on liquid level measurements in bulk storage tanks are getting increasingly important for oil and gas industry in which revenue losses from incorrect measurement are becoming more costly, specifically in legal custody transfer and custom monitoring. In this paper, a robust and self-adaptive radar gauging system for high-precision continuous level measurements is presented. The radar system has a compact size and is explosion proof. It consists of a stepped frequency continuous wave (SFCW) transmitter and receiver with monostatic gas-tight antenna. The frequency range is from 9.5 to 10.5 GHz. With most advanced processing software algorithm implemented in the microprocessor, the accuracy of plusmn 0.3 mm over whole measuring range is obtained. Even if under severe conditions, an accuracy of plusmn 1 mm can still be attained. By means of the advanced level radar system the fine accuracy can become attainable under worst-case scenarios. Whereby the authentic custody transfer and inventory management are guaranteed","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132555236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-10-01DOI: 10.1109/COASE.2006.326940
Helei Wu, Yirong Yang, Qingquan Wang, Shan'an Zhu
This paper describes the hardware configuration and software structure of an Internet-based control engineering laboratory. The laboratory provides a remote access to many experiment plants which all have distinguished features that render them worthwhile for experimentation for either control education or research. After logging on the laboratory to choose experiments to be conducted via the Internet, students can choose a predefined controller or they can design a new controller through the GUI in the client. During the experiment it is also permitted to change some typical controller parameters and the reference signal. Experimental results can be checked through on-line plots and a live video window shows the real running experiment.
{"title":"An Internet-based Control Engineering Laboratory for Undergraduate and Graduate Education","authors":"Helei Wu, Yirong Yang, Qingquan Wang, Shan'an Zhu","doi":"10.1109/COASE.2006.326940","DOIUrl":"https://doi.org/10.1109/COASE.2006.326940","url":null,"abstract":"This paper describes the hardware configuration and software structure of an Internet-based control engineering laboratory. The laboratory provides a remote access to many experiment plants which all have distinguished features that render them worthwhile for experimentation for either control education or research. After logging on the laboratory to choose experiments to be conducted via the Internet, students can choose a predefined controller or they can design a new controller through the GUI in the client. During the experiment it is also permitted to change some typical controller parameters and the reference signal. Experimental results can be checked through on-line plots and a live video window shows the real running experiment.","PeriodicalId":116108,"journal":{"name":"2006 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130747660","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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