Pub Date : 1999-10-18DOI: 10.1109/ETFA.1999.815411
A. Almansa, M. de La Sen
The performance quality in nonlinear model based control of mechanical manipulators is conditioned to the reliability of the mathematical model and precision in the knowledge of all the involved parameters. Control methods based on artificial intelligence techniques (learning algorithms, system identification and neural networks) can be applied to improve its performance. A neural control scheme is proposed, consisting basically of a neural network for learning the robot inverse dynamics and online generating the control signal. Also an online supervision based on optimisation techniques is designed and implemented for such neural control. Simulation results are provided to evaluate the alternative variations to the proposed central scheme.
{"title":"Advanced control techniques based in artificial intelligence for robotics manipulators","authors":"A. Almansa, M. de La Sen","doi":"10.1109/ETFA.1999.815411","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815411","url":null,"abstract":"The performance quality in nonlinear model based control of mechanical manipulators is conditioned to the reliability of the mathematical model and precision in the knowledge of all the involved parameters. Control methods based on artificial intelligence techniques (learning algorithms, system identification and neural networks) can be applied to improve its performance. A neural control scheme is proposed, consisting basically of a neural network for learning the robot inverse dynamics and online generating the control signal. Also an online supervision based on optimisation techniques is designed and implemented for such neural control. Simulation results are provided to evaluate the alternative variations to the proposed central scheme.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122119226","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813074
S. Abdellatif, G. Juanole
The purpose of this paper is to make a basic study on the implementation of a periodic Producer/Consumer relationship on an ATM LAN. A periodic Producer/Consumer relationship is a paradigm used, in particular, in many real-time distributed applications like for instance distributed control applications. This study considers important mechanisms at the ATM switch level (buffering, concentration and scheduling aspects) and at the consumer architecture level (event triggered and time triggered). It is based on Stochastic Timed Petri Nets model and consist in evaluating the impact of the network load and the switch cell scheduling discipline on the performance of the producers/consumer application(cell loss probability, cell delay, average time between consumptions and vacant samplings and rejections).
{"title":"Evaluation of the quality of service of a periodic distributed producer/consumer relationship implemented on an ATM LAN","authors":"S. Abdellatif, G. Juanole","doi":"10.1109/ETFA.1999.813074","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813074","url":null,"abstract":"The purpose of this paper is to make a basic study on the implementation of a periodic Producer/Consumer relationship on an ATM LAN. A periodic Producer/Consumer relationship is a paradigm used, in particular, in many real-time distributed applications like for instance distributed control applications. This study considers important mechanisms at the ATM switch level (buffering, concentration and scheduling aspects) and at the consumer architecture level (event triggered and time triggered). It is based on Stochastic Timed Petri Nets model and consist in evaluating the impact of the network load and the switch cell scheduling discipline on the performance of the producers/consumer application(cell loss probability, cell delay, average time between consumptions and vacant samplings and rejections).","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130623084","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813153
K. J. Schilling, H. Roth
The teleoperation of robots exhibits a huge application potential, ranging from industrial production to space exploration. The main technical problems to be addressed concern remote sensor data acquisition to characterise the remote robot's environment, and data transmission issues like signal propagation delays, noise and contact interruptions. In this context, advanced human operator interfaces are integrating distributed control techniques, sensor data fusion and predictive control schemes to support the operator. This paper addresses several concrete examples of teleoperated mobile robots: Internet-based solutions applied in tele-education, industrial telemaintenance and, teleoperations for space exploration.
{"title":"Control interfaces for teleoperated mobile robots","authors":"K. J. Schilling, H. Roth","doi":"10.1109/ETFA.1999.813153","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813153","url":null,"abstract":"The teleoperation of robots exhibits a huge application potential, ranging from industrial production to space exploration. The main technical problems to be addressed concern remote sensor data acquisition to characterise the remote robot's environment, and data transmission issues like signal propagation delays, noise and contact interruptions. In this context, advanced human operator interfaces are integrating distributed control techniques, sensor data fusion and predictive control schemes to support the operator. This paper addresses several concrete examples of teleoperated mobile robots: Internet-based solutions applied in tele-education, industrial telemaintenance and, teleoperations for space exploration.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123368068","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815393
H. Park, B. Kim, H.D. Kim, Kyung Hwang Nu
This paper proposes the architecture of a 3-dimensional WEB monitoring system to monitor and control of processes from the soft real-time point of view. The proposed architecture uses Java API for the server API, push methods and Java applet for periodic and continuous updates for the monitored data, VRML and cascaded style sheet, and external authoring interface specification for 3-dimensional representation of processes.
{"title":"Three dimensional WEB monitoring systems","authors":"H. Park, B. Kim, H.D. Kim, Kyung Hwang Nu","doi":"10.1109/ETFA.1999.815393","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815393","url":null,"abstract":"This paper proposes the architecture of a 3-dimensional WEB monitoring system to monitor and control of processes from the soft real-time point of view. The proposed architecture uses Java API for the server API, push methods and Java applet for periodic and continuous updates for the monitored data, VRML and cascaded style sheet, and external authoring interface specification for 3-dimensional representation of processes.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120894344","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813075
C. Cseh, M. Janssen, J. Jasperneite
In this paper the authors discuss the suitability of the Asynchronous Transfer Mode (ATM) as a data transfer technology for factory communications. The paper will focus on the special requirements of the sensor/actuator level to transmit real-rime control data via an ATM network. A performance analysis of a potential ATM system on fieldbus level is presented by providing simulation results. The simulations study the influence of different network topologies, ATM cell scheduling strategies and the presence of video streams on the transmission of real-time control data.
{"title":"ATM networks for factory communication","authors":"C. Cseh, M. Janssen, J. Jasperneite","doi":"10.1109/ETFA.1999.813075","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813075","url":null,"abstract":"In this paper the authors discuss the suitability of the Asynchronous Transfer Mode (ATM) as a data transfer technology for factory communications. The paper will focus on the special requirements of the sensor/actuator level to transmit real-rime control data via an ATM network. A performance analysis of a potential ATM system on fieldbus level is presented by providing simulation results. The simulations study the influence of different network topologies, ATM cell scheduling strategies and the presence of video streams on the transmission of real-time control data.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"7 1-2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114020354","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813130
A. Valera, J. Salt, V. Casanova, S. Ferrus
The paper deals with the control of an industrial robot on a local area network using an industrial fieldbus: the PROFIBUS DP. The main goal is to explain the use of this architecture in order to make available a distributed control and to open the control scheme. Next, we present different advanced control schemes and their implementation with an industrial robot. With this new control system, different kinds of controllers and/or reference generators can be obtained in a very easy way.
{"title":"Control of industrial robot with a fieldbus","authors":"A. Valera, J. Salt, V. Casanova, S. Ferrus","doi":"10.1109/ETFA.1999.813130","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813130","url":null,"abstract":"The paper deals with the control of an industrial robot on a local area network using an industrial fieldbus: the PROFIBUS DP. The main goal is to explain the use of this architecture in order to make available a distributed control and to open the control scheme. Next, we present different advanced control schemes and their implementation with an industrial robot. With this new control system, different kinds of controllers and/or reference generators can be obtained in a very easy way.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127624299","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813094
A. Lázaro, I. Serrano, E. G. Cueto
This work deals with the automatic control of a system without the intervention of an operator. It consists of the identification of the equations that define the behaviour of the plant by means of a genetic algorithm, and the calculation of a regulator using the identification results. Genetic algorithms are useful for system identification because of their power in searching for an optimal solution among a large number of possibilities due to their evolutive characteristics. A modification of the algorithm is carried out for its real time operation.
{"title":"Identification and control of a generic-type plant using genetic algorithms","authors":"A. Lázaro, I. Serrano, E. G. Cueto","doi":"10.1109/ETFA.1999.813094","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813094","url":null,"abstract":"This work deals with the automatic control of a system without the intervention of an operator. It consists of the identification of the equations that define the behaviour of the plant by means of a genetic algorithm, and the calculation of a regulator using the identification results. Genetic algorithms are useful for system identification because of their power in searching for an optimal solution among a large number of possibilities due to their evolutive characteristics. A modification of the algorithm is carried out for its real time operation.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122243825","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813133
D. Ṕaez, T.C. Lorrio
The paper describes the details of, and the experiences gained from, a case study undertaken by the authors on the design and implementation of a complex control system for a dosage industrial process used in a manufacturing industry. The goal was to demonstrate that industrial real time control systems could be implemented using a high level programming language and some suitable operating system. The software was designed using Harel's State Charts as the main tool and implemented on an Intel Pentium based system. Our results indicated that system works correctly and is very flexible. The system has been successfully tested and now is in full production at Lignotok S.A., a large manufacturing company in Vigo, Spain.
{"title":"Design of real time software for industrial process control","authors":"D. Ṕaez, T.C. Lorrio","doi":"10.1109/ETFA.1999.813133","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813133","url":null,"abstract":"The paper describes the details of, and the experiences gained from, a case study undertaken by the authors on the design and implementation of a complex control system for a dosage industrial process used in a manufacturing industry. The goal was to demonstrate that industrial real time control systems could be implemented using a high level programming language and some suitable operating system. The software was designed using Harel's State Charts as the main tool and implemented on an Intel Pentium based system. Our results indicated that system works correctly and is very flexible. The system has been successfully tested and now is in full production at Lignotok S.A., a large manufacturing company in Vigo, Spain.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131926871","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815332
C. Lizzi
We present an architecture that addresses the heterogeneity of distributed environments by enabling Java distributed real-time processing. Our framework can be used to build real-time Java virtual manufacturing devices that operate over ATM networks. The Java virtual machine is hosted by a custom version of the Chorus distributed real-time operating system. Provided extensions include earliest deadline first scheduling and real-time IPC service over ATM. This paper summarizes the problems raised by Java in a real-time context and introduces our architecture. Then, we detail the improvements made to the JVM and the way it uses our real-time services. Transfer rates up to 97 Mbps are substained between distributed Java objects within our testbed cluster.
{"title":"Java real-time distributed processing over ATM networks with Chorus/OS","authors":"C. Lizzi","doi":"10.1109/ETFA.1999.815332","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815332","url":null,"abstract":"We present an architecture that addresses the heterogeneity of distributed environments by enabling Java distributed real-time processing. Our framework can be used to build real-time Java virtual manufacturing devices that operate over ATM networks. The Java virtual machine is hosted by a custom version of the Chorus distributed real-time operating system. Provided extensions include earliest deadline first scheduling and real-time IPC service over ATM. This paper summarizes the problems raised by Java in a real-time context and introduces our architecture. Then, we detail the improvements made to the JVM and the way it uses our real-time services. Transfer rates up to 97 Mbps are substained between distributed Java objects within our testbed cluster.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132215666","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815409
S. Konishi, Y. Mizuguchi, K. Ohno
A non-contact manipulation is required in order to treat such objects as semiconductor wafers. This paper deals with a conveyance system using an air flow to levitate and move the objects. It is also important to adapt the system composition for various layouts of factory lines. This research employs the concept of distributed systems composed of many units. We have developed elemental units so as to arrange a conveyance system according to its layout. A prototype of the elemental unit, whose dimensions are 100 mm/spl times/100 mm/spl times/30 mm, is developed and demonstrated. Experimental investigation is applied in order to evaluate characteristics of the developed system.
{"title":"Development of a non-contact conveyance system composed of distributed nozzle units","authors":"S. Konishi, Y. Mizuguchi, K. Ohno","doi":"10.1109/ETFA.1999.815409","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815409","url":null,"abstract":"A non-contact manipulation is required in order to treat such objects as semiconductor wafers. This paper deals with a conveyance system using an air flow to levitate and move the objects. It is also important to adapt the system composition for various layouts of factory lines. This research employs the concept of distributed systems composed of many units. We have developed elemental units so as to arrange a conveyance system according to its layout. A prototype of the elemental unit, whose dimensions are 100 mm/spl times/100 mm/spl times/30 mm, is developed and demonstrated. Experimental investigation is applied in order to evaluate characteristics of the developed system.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129397804","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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