Pub Date : 1999-10-18DOI: 10.1109/ETFA.1999.813164
J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego
The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.
{"title":"Digital control of an autonomous guided vehicle","authors":"J. Quevedo, E. Garrido, F. Rodríguez, J. C. Hernández, J. Cugueró, B. Morcego","doi":"10.1109/ETFA.1999.813164","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813164","url":null,"abstract":"The paper deals with the digital control design of an autonomous vehicle of a four wheeled vehicle with two independent movements per wheel. This vehicle has been designed by CERTAP (Reference Center for Manufacturing Advanced Technologies) Consortium. There are two versions of digital control of each course wheel: a conventional digital filter + PID controller and a fuzzy controller using two inputs (the error of the course and its rate) and one output (the variation of the torque set-points of the servo-amplifiers). A PID position control is used to drive one of the four wheels, and its control action is the torque set-point for all the other drive servo-amplifiers.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"1 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":"128729574","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.1999.813125
F. Castellana, X. Escalera, P. Andrada
This paper is devoted to sensorless control of 12/8 switched reluctance motor drives for low power and low voltage applications, which require adjustable speed. For simplicity, fault tolerant features, size reduction, better adaptation to harsh environments and economy a sensorless control implemented in a cheap and well known 8-bit microcontroller using two different clock frequencies are considered (20 or 40 MHz). Performance comparison between these proposals and a 12/8 conventional switched reluctance drive with position sensors is also included.
{"title":"Low cost adjustable speed sensorless 12/8 switched reluctance drive for low power and low voltage applications","authors":"F. Castellana, X. Escalera, P. Andrada","doi":"10.1109/ETFA.1999.813125","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813125","url":null,"abstract":"This paper is devoted to sensorless control of 12/8 switched reluctance motor drives for low power and low voltage applications, which require adjustable speed. For simplicity, fault tolerant features, size reduction, better adaptation to harsh environments and economy a sensorless control implemented in a cheap and well known 8-bit microcontroller using two different clock frequencies are considered (20 or 40 MHz). Performance comparison between these proposals and a 12/8 conventional switched reluctance drive with position sensors is also included.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"5 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":"134376422","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.1999.813083
P. Marino, M. Domínguez, F. Poza, J. Nogueira
In this work the protocol WorldFIP for industrial communication networks is specified with the formal specification language LOTOS. The paper introduces the main features of WorldFIP particularly those related to its data link layer. The methodology used and the description of specification are explained with the data types implemented. Following that, instances of tests developed for verifying the specification are described. A simulation environment is obtained for the WorldFIP protocol and an instance of simulation is shown. This allows us to detect a lack of efficiency in the protocol with the transfer of messages. Results and new guidelines of this work are explained. The LOTOS specification of the WorldFIP protocol shows that formal description techniques provide powerful CAE tools for advanced designs in the field of industrial communications.
{"title":"Application of formal description techniques in the framework of factory communications","authors":"P. Marino, M. Domínguez, F. Poza, J. Nogueira","doi":"10.1109/ETFA.1999.813083","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813083","url":null,"abstract":"In this work the protocol WorldFIP for industrial communication networks is specified with the formal specification language LOTOS. The paper introduces the main features of WorldFIP particularly those related to its data link layer. The methodology used and the description of specification are explained with the data types implemented. Following that, instances of tests developed for verifying the specification are described. A simulation environment is obtained for the WorldFIP protocol and an instance of simulation is shown. This allows us to detect a lack of efficiency in the protocol with the transfer of messages. Results and new guidelines of this work are explained. The LOTOS specification of the WorldFIP protocol shows that formal description techniques provide powerful CAE tools for advanced designs in the field of industrial communications.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"1 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":"133694944","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.1999.815350
R. R. Torres, J. L. Silvino, P.F.M. Palmeira, J. D. de Melo
A simulator of autonomous robots in a non-structured environment is presented. This simulator is used to develop alternative programming techniques for robot control. These techniques consist basically of using genetic algorithms to train neural networks that are used to control the autonomous robots. The robots' autonomous control is presented and the computational aspects are discussed.
{"title":"Control of autonomous robots using genetic algorithms and neural networks","authors":"R. R. Torres, J. L. Silvino, P.F.M. Palmeira, J. D. de Melo","doi":"10.1109/ETFA.1999.815350","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815350","url":null,"abstract":"A simulator of autonomous robots in a non-structured environment is presented. This simulator is used to develop alternative programming techniques for robot control. These techniques consist basically of using genetic algorithms to train neural networks that are used to control the autonomous robots. The robots' autonomous control is presented and the computational aspects are discussed.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"21 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":"133461473","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.1999.815417
A. Gharbi, J. Kenné
We consider a multiple and identical machines manufacturing system with random breakdowns, corrective maintenance activities and repair times. Our objective is to find the production rates of the system and the corrective maintenance rates of the machines so as to minimize the total cost of inventory/backlog. By combining analytical formalism and simulation based statistical tools, such as experimental design and response surface methodology, an approximation of the optimal control policy is obtained.
{"title":"Experimental approach of control for unreliable manufacturing systems","authors":"A. Gharbi, J. Kenné","doi":"10.1109/ETFA.1999.815417","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815417","url":null,"abstract":"We consider a multiple and identical machines manufacturing system with random breakdowns, corrective maintenance activities and repair times. Our objective is to find the production rates of the system and the corrective maintenance rates of the machines so as to minimize the total cost of inventory/backlog. By combining analytical formalism and simulation based statistical tools, such as experimental design and response surface methodology, an approximation of the optimal control policy is obtained.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"48 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":"133219792","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.1999.815425
S. Nathalie
Addresses the marking optimization problem of a weighted marked graph (WMG) with deterministic times. The goal is to reach a given productivity while minimizing the number of transportation resources. In terms of timed Petri nets, this problem consists of reaching a given average cycle time while minimizing a linear combination of markings. To limit the size of the model, we use strongly connected WMG. We establish a necessary and sufficient condition to obtain a feasible solution of the problem. A fast heuristic solution, based on iterative process and using simulation, is given. An example and an application to manufacturing systems are presented.
{"title":"Marking optimization of weighted marked graphs","authors":"S. Nathalie","doi":"10.1109/ETFA.1999.815425","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815425","url":null,"abstract":"Addresses the marking optimization problem of a weighted marked graph (WMG) with deterministic times. The goal is to reach a given productivity while minimizing the number of transportation resources. In terms of timed Petri nets, this problem consists of reaching a given average cycle time while minimizing a linear combination of markings. To limit the size of the model, we use strongly connected WMG. We establish a necessary and sufficient condition to obtain a feasible solution of the problem. A fast heuristic solution, based on iterative process and using simulation, is given. An example and an application to manufacturing systems are presented.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"50 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":"116632607","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.1999.813140
N. Shoji, Y. Ikkai, N. Komoda
In sequential controllers of plants, the ladder diagram is one of the major programming languages. However, it is difficult to understand its control sequences and to maintain them because ladder diagrams do not clearly represent the sequence of plant behavior. The Sequential Function Chart (SFC), which is based on the Petri net, has recently spread as a powerful graphical description of sequential logic. SFC can represent clearly the sequence of control programs. Therefore, a method to translate ladder diagrams to SFC is required. A control sequence extraction method is proposed. In this method, a tentative SFC is created by searching all possible states by using transitions in the ladder diagram. However, the tentative SFC description is complicated because of the existence of non-order control, which does not depend on a fixed sequence, for example manual control. Therefore, the sequential flow of plant behavior in the tentative SFC is extracted according to the difference of transfer frequency between order control and non-order control. Through an application of the proposed method to a practical plant model, it is confirmed that the adequate sequence which represents the original plant behaviour is extracted from the ladder diagram.
{"title":"An extraction method of control flow from ladder diagram by judgement of transfer frequency","authors":"N. Shoji, Y. Ikkai, N. Komoda","doi":"10.1109/ETFA.1999.813140","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813140","url":null,"abstract":"In sequential controllers of plants, the ladder diagram is one of the major programming languages. However, it is difficult to understand its control sequences and to maintain them because ladder diagrams do not clearly represent the sequence of plant behavior. The Sequential Function Chart (SFC), which is based on the Petri net, has recently spread as a powerful graphical description of sequential logic. SFC can represent clearly the sequence of control programs. Therefore, a method to translate ladder diagrams to SFC is required. A control sequence extraction method is proposed. In this method, a tentative SFC is created by searching all possible states by using transitions in the ladder diagram. However, the tentative SFC description is complicated because of the existence of non-order control, which does not depend on a fixed sequence, for example manual control. Therefore, the sequential flow of plant behavior in the tentative SFC is extracted according to the difference of transfer frequency between order control and non-order control. Through an application of the proposed method to a practical plant model, it is confirmed that the adequate sequence which represents the original plant behaviour is extracted from the ladder diagram.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"60 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":"124894026","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.1999.813121
P. Lamboley, J. Pétin, D. Méry
This paper describes an attempt towards a formal modelling framework for process automation aiming at facing the reusability of the engineering studies on industrial systems. As hypotheses, we consider that such a framework should be based on concepts issued from the system theory to master the functional, structural and behavioural studies carried out in process automation. Formalisation of the basic elements involved in these system views and their interaction should lead to a formal design pattern for process system automation. This work is a first step towards such a formal design pattern using the set-based B method according to generic guidelines issued from the system theory. The feasibility of the approach is demonstrated using an industrial case study: a thermal power plant. Benefits are shown in terms of reusability of system formal specifications for control design.
{"title":"Towards a formal engineering framework for process automation","authors":"P. Lamboley, J. Pétin, D. Méry","doi":"10.1109/ETFA.1999.813121","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813121","url":null,"abstract":"This paper describes an attempt towards a formal modelling framework for process automation aiming at facing the reusability of the engineering studies on industrial systems. As hypotheses, we consider that such a framework should be based on concepts issued from the system theory to master the functional, structural and behavioural studies carried out in process automation. Formalisation of the basic elements involved in these system views and their interaction should lead to a formal design pattern for process system automation. This work is a first step towards such a formal design pattern using the set-based B method according to generic guidelines issued from the system theory. The feasibility of the approach is demonstrated using an industrial case study: a thermal power plant. Benefits are shown in terms of reusability of system formal specifications for control design.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"41 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":"125121247","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.1999.813155
L. Custódio, R. Ventura, C. Pinto-Ferreira
For the past two years, the research interest concerning subjects related to the area of (artificial) emotions has grown considerably. Generically, the goal is to develop new architectures/frameworks that are suitable for designing virtual or robotic agents whose behaviour may somehow be compared with the "emotional facet" of human behaviour. In this paper, an emotion-based system architecture, together with an application of it for control and supervision purposes is presented.
{"title":"Artificial emotions and emotion-based control systems","authors":"L. Custódio, R. Ventura, C. Pinto-Ferreira","doi":"10.1109/ETFA.1999.813155","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813155","url":null,"abstract":"For the past two years, the research interest concerning subjects related to the area of (artificial) emotions has grown considerably. Generically, the goal is to develop new architectures/frameworks that are suitable for designing virtual or robotic agents whose behaviour may somehow be compared with the \"emotional facet\" of human behaviour. In this paper, an emotion-based system architecture, together with an application of it for control and supervision purposes is presented.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"30 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":"127137953","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.1999.813154
T. Rofer, A. Lankenau
This paper describes the Bremen Autonomous Wheelchair project. It shows that common static fire strategies for ultrasonic sensors are inherently unsafe and proposes a new adaptive fire strategy which delivers a complete coverage of the environment of the robot. Furthermore, a new obstacle avoidance approach for shared-control robotic systems is described in detail.
{"title":"Ensuring safe obstacle avoidance in a shared-control system","authors":"T. Rofer, A. Lankenau","doi":"10.1109/ETFA.1999.813154","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813154","url":null,"abstract":"This paper describes the Bremen Autonomous Wheelchair project. It shows that common static fire strategies for ultrasonic sensors are inherently unsafe and proposes a new adaptive fire strategy which delivers a complete coverage of the environment of the robot. Furthermore, a new obstacle avoidance approach for shared-control robotic systems is described in detail.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"8 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":"129076867","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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