Pub Date : 2005-09-12DOI: 10.1109/COASE.2005.1506751
Kaizhi Tang, S. Kumara
We develop an evolutionary method that combines reinforcement learning and fictitious playing to seek equilibrium solution for a multi-agent and multi-stage game in the context of supply chain procurement. The game is designed to model task delegation among a group of self-interested transportation companies which serve logistic shipment. The game involves more than two agents and multiple stages of matrix games. The integration of reinforcement learning and fictitious play overcomes the weaknesses of each approach and exploits their strengths. This innovative approach performs extraordinarily well on a game with three players, unknown number of stages, and large gaps of payoff values.
{"title":"Cooperation in a multi-stage game for modeling distributed task delegation in a supply chain procurement problem","authors":"Kaizhi Tang, S. Kumara","doi":"10.1109/COASE.2005.1506751","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506751","url":null,"abstract":"We develop an evolutionary method that combines reinforcement learning and fictitious playing to seek equilibrium solution for a multi-agent and multi-stage game in the context of supply chain procurement. The game is designed to model task delegation among a group of self-interested transportation companies which serve logistic shipment. The game involves more than two agents and multiple stages of matrix games. The integration of reinforcement learning and fictitious play overcomes the weaknesses of each approach and exploits their strengths. This innovative approach performs extraordinarily well on a game with three players, unknown number of stages, and large gaps of payoff values.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129098483","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506741
S. Takeuchi, K. Saitou
This paper presents a computational method for designing an assembly with multiple built-in disassembly pathways, each of which can be activated to retrieve certain components. It is motivated by the global sales of consumer products whose optimal end-of-life options vary geographically due to local recycling/reuse infrastructures and regulatory requirements. Given the sets of components to be retrieved at each location, the method simultaneously determines the spatial configurations of components and locator features, such that each set of desired components is retrieved via a domino-like "self-disassembly" process triggered by the removal of a fastener. A multi-objective generic algorithm is utilized to search for Pareto-optimal designs in terms of the realization of the desired disassembly pathways, the satisfaction of distance specifications among components, the minimization of disassembly cost at each location, and the efficient use of on-component locator features. A case study demonstrates the feasibility of the method.
{"title":"Design for product-embedded disassembly pathways","authors":"S. Takeuchi, K. Saitou","doi":"10.1109/COASE.2005.1506741","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506741","url":null,"abstract":"This paper presents a computational method for designing an assembly with multiple built-in disassembly pathways, each of which can be activated to retrieve certain components. It is motivated by the global sales of consumer products whose optimal end-of-life options vary geographically due to local recycling/reuse infrastructures and regulatory requirements. Given the sets of components to be retrieved at each location, the method simultaneously determines the spatial configurations of components and locator features, such that each set of desired components is retrieved via a domino-like \"self-disassembly\" process triggered by the removal of a fastener. A multi-objective generic algorithm is utilized to search for Pareto-optimal designs in terms of the realization of the desired disassembly pathways, the satisfaction of distance specifications among components, the minimization of disassembly cost at each location, and the efficient use of on-component locator features. A case study demonstrates the feasibility of the method.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114891174","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506781
Y. Su, F. Cheng, Min-Hsiung Hung, Yen-Chang Lin, Rung-Chuan Lin
This work proposes an intelligent prognostics system (IPS) for semiconductor and TFT-LCD manufacturing. The IPS comprises several generic embedded devices (GEDs) and a remote host. The GED can be easily embedded into various types of equipment to acquire equipment-engineering data and meet the specification requirements of interface A for supporting semiconductor industry e-diagnostics. Furthermore, the GED has an open-standard application interface offering any pluggable and customized intelligent-maintenance applications. With this feature, intelligent-maintenance tasks can be distributed and localized releasing the factory network burden and enhancing equipment reliability and maintainability. This work also develops two typical pluggable applications: the predictive maintenance scheme (PMS) for equipment fault detection, and the quality prognostics scheme (QPS) for virtual metrology and product quality prediction. Integrating the PMS into the IPS and the QPS into the IPS are respectively accomplished using the conveyor equipment and the sputtering equipment of a TFT-LCD factory. These two illustrative examples clearly demonstrate that IPS is versatile, configurable, and effective.
{"title":"Design and implementation of an intelligent prognostics system","authors":"Y. Su, F. Cheng, Min-Hsiung Hung, Yen-Chang Lin, Rung-Chuan Lin","doi":"10.1109/COASE.2005.1506781","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506781","url":null,"abstract":"This work proposes an intelligent prognostics system (IPS) for semiconductor and TFT-LCD manufacturing. The IPS comprises several generic embedded devices (GEDs) and a remote host. The GED can be easily embedded into various types of equipment to acquire equipment-engineering data and meet the specification requirements of interface A for supporting semiconductor industry e-diagnostics. Furthermore, the GED has an open-standard application interface offering any pluggable and customized intelligent-maintenance applications. With this feature, intelligent-maintenance tasks can be distributed and localized releasing the factory network burden and enhancing equipment reliability and maintainability. This work also develops two typical pluggable applications: the predictive maintenance scheme (PMS) for equipment fault detection, and the quality prognostics scheme (QPS) for virtual metrology and product quality prediction. Integrating the PMS into the IPS and the QPS into the IPS are respectively accomplished using the conveyor equipment and the sputtering equipment of a TFT-LCD factory. These two illustrative examples clearly demonstrate that IPS is versatile, configurable, and effective.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132316447","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506758
Sandeep Dulluri, P. Shrinivas, N. Raghavan
We discuss a dynamic pricing model which aids automobile manufacturer in choosing the right price for customer segment. Though there is oligopoly market structure, the customers get "locked" into a particular technology/company which virtually makes the situation akin to a monopoly. There are associated network externalities and positive feedback. The key idea in monopoly pricing lies in extracting the customer surplus by exploiting the respective elasticities of demand. We present a Walrasian general equilibrium approach to determine the segment price. We compare the prices obtained from optimization model with that from Walrasian dynamics. The results are encouraging and can serve as a critical factor in customer relationship management (CRM) and thereby effectively manage the lock-in.
{"title":"Predicting price-tag for customized goods","authors":"Sandeep Dulluri, P. Shrinivas, N. Raghavan","doi":"10.1109/COASE.2005.1506758","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506758","url":null,"abstract":"We discuss a dynamic pricing model which aids automobile manufacturer in choosing the right price for customer segment. Though there is oligopoly market structure, the customers get \"locked\" into a particular technology/company which virtually makes the situation akin to a monopoly. There are associated network externalities and positive feedback. The key idea in monopoly pricing lies in extracting the customer surplus by exploiting the respective elasticities of demand. We present a Walrasian general equilibrium approach to determine the segment price. We compare the prices obtained from optimization model with that from Walrasian dynamics. The results are encouraging and can serve as a critical factor in customer relationship management (CRM) and thereby effectively manage the lock-in.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132703467","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506799
J. Chang, F. Cheng
The successful rate of microelectronic device's first design declines year by year. The first design failure results in increasing the design cost because of adding the possible expenses of the subsequent design revisions. Also, the shorter life cycle due to late start of mass-production may incur lower revenue of device selling. Therefore, the requirement for an efficient and effective microelectronic device's design cycle is needed. Different from IDM (integrated design and manufacturing), current semiconductor industry has a new business model. Device designer, which does not have any of the following resources: IP/library, mask operation, foundry FAB, IC assembly house and IC test house, but they still can design and manufacture a device by communicating with the global-community resources. Actually, more than 30% of semiconductor revenue is from fabless design houses, foundry service providers and professional assembly/test houses. The microelectronic device's design cycle needs tremendous amount of engineering data exchange in this collaboration. The microelectronic device design cycle with engineering collaboration is defined as "engineering chain". A well-defined requirement of this engineering-chain operation for improving the successful rate of microelectronic device's design, reducing design cost and increasing revenue is therefore essential. Also, this requirement becomes the foundations for an engineering chain management system to provide a common platform to integrate heterogeneous processes as a unified operation.
微电子器件首次设计的成功率逐年下降。第一次设计失败导致设计成本增加，因为增加了后续设计修改的可能费用。此外，由于批量生产开始较晚，生命周期较短，可能导致设备销售收入下降。因此，需要一个高效、有效的微电子器件设计周期。与IDM (integrated design and manufacturing，集成设计与制造)不同，当前的半导体行业拥有一种全新的商业模式。器件设计者，他们没有IP/库、掩码操作、代工FAB、IC组装厂和IC测试厂等资源，但他们仍然可以通过与全球社区的资源交流来设计和制造器件。事实上，超过30%的半导体收入来自无晶圆厂设计公司、代工服务提供商和专业组装/测试公司。在这种合作中，微电子设备的设计周期需要大量的工程数据交换。将具有工程协同的微电子器件设计周期定义为“工程链”。为提高微电子器件的设计成功率，降低设计成本，增加收益，必须明确这种工程链操作的要求。同时，这一需求成为工程链管理系统的基础，该系统提供了一个公共平台，将异构过程集成为一个统一的操作。
{"title":"Engineering-chain requirements for semiconductor industry","authors":"J. Chang, F. Cheng","doi":"10.1109/COASE.2005.1506799","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506799","url":null,"abstract":"The successful rate of microelectronic device's first design declines year by year. The first design failure results in increasing the design cost because of adding the possible expenses of the subsequent design revisions. Also, the shorter life cycle due to late start of mass-production may incur lower revenue of device selling. Therefore, the requirement for an efficient and effective microelectronic device's design cycle is needed. Different from IDM (integrated design and manufacturing), current semiconductor industry has a new business model. Device designer, which does not have any of the following resources: IP/library, mask operation, foundry FAB, IC assembly house and IC test house, but they still can design and manufacture a device by communicating with the global-community resources. Actually, more than 30% of semiconductor revenue is from fabless design houses, foundry service providers and professional assembly/test houses. The microelectronic device's design cycle needs tremendous amount of engineering data exchange in this collaboration. The microelectronic device design cycle with engineering collaboration is defined as \"engineering chain\". A well-defined requirement of this engineering-chain operation for improving the successful rate of microelectronic device's design, reducing design cost and increasing revenue is therefore essential. Also, this requirement becomes the foundations for an engineering chain management system to provide a common platform to integrate heterogeneous processes as a unified operation.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"171 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134142806","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506764
Dezhen Song, Qiang Hu, Ni Qin, Ken Goldberg
When constructing buildings, frequent inspection and detailed visual documentation are important but may not be feasible in remote or dangerous environments. We describe a networked robotic camera system that can automatically monitor construction details and allow remote human experts to zoom in on features as construction proceeds to archive the construction process over time, thereby reducing travel cost and human risk. We describe system architecture, interface design, data structures, and algorithms for such systems. We also report initial experimental results from cameras at two outdoor construction sites.
{"title":"Automating inspection and documentation of remote building construction using a robotic camera","authors":"Dezhen Song, Qiang Hu, Ni Qin, Ken Goldberg","doi":"10.1109/COASE.2005.1506764","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506764","url":null,"abstract":"When constructing buildings, frequent inspection and detailed visual documentation are important but may not be feasible in remote or dangerous environments. We describe a networked robotic camera system that can automatically monitor construction details and allow remote human experts to zoom in on features as construction proceeds to archive the construction process over time, thereby reducing travel cost and human risk. We describe system architecture, interface design, data structures, and algorithms for such systems. We also report initial experimental results from cameras at two outdoor construction sites.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134607409","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506750
F. Mervyn, A. Kumar, A. Nee
Integrated product and process design involves a dynamic environment where various design changes are made when the requirements of the different domains are not sufficiently met. To deal with such a dynamic environment, this paper presents the development of an adaptive future design system based on an evolutionary search algorithm. The system senses a change made to the workpiece model and automatically deals with the change. Conducted experiments reveal that the evolutionary search algorithm is efficient and effective in dealing with design changes adaptively.
{"title":"An adaptive fixture design system for integrated product and process design","authors":"F. Mervyn, A. Kumar, A. Nee","doi":"10.1109/COASE.2005.1506750","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506750","url":null,"abstract":"Integrated product and process design involves a dynamic environment where various design changes are made when the requirements of the different domains are not sufficiently met. To deal with such a dynamic environment, this paper presents the development of an adaptive future design system based on an evolutionary search algorithm. The system senses a change made to the workpiece model and automatically deals with the change. Conducted experiments reveal that the evolutionary search algorithm is efficient and effective in dealing with design changes adaptively.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129441989","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506791
A. Castelnuovo, L. Ferrarini, L. Piroddi
In logic control design, production sequences are typically expressed as a series of informal specifications to be translated into a formal model. The present paper introduces a novel Petri net based methodology conceived as an incremental process, which progressively adds sub-nets to a partial model until all specifications have been included. A formal verification of the model is performed at every stage, so that specifications which are incongruent with the current model and can jeopardize its correctness can be detected and rejected or modified. No modeling constraints are imposed to the design process, as is the case with classical methodologies, which are generally not well suited to represent behaviors characterized by complex alternative-parallel relationships between operations. An algorithm is provided for the automatic synthesis of complex connection structures in the model, allowing for greater flexibility and complexity in the design process.
{"title":"An incremental Petri net approach to production sequence modeling","authors":"A. Castelnuovo, L. Ferrarini, L. Piroddi","doi":"10.1109/COASE.2005.1506791","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506791","url":null,"abstract":"In logic control design, production sequences are typically expressed as a series of informal specifications to be translated into a formal model. The present paper introduces a novel Petri net based methodology conceived as an incremental process, which progressively adds sub-nets to a partial model until all specifications have been included. A formal verification of the model is performed at every stage, so that specifications which are incongruent with the current model and can jeopardize its correctness can be detected and rejected or modified. No modeling constraints are imposed to the design process, as is the case with classical methodologies, which are generally not well suited to represent behaviors characterized by complex alternative-parallel relationships between operations. An algorithm is provided for the automatic synthesis of complex connection structures in the model, allowing for greater flexibility and complexity in the design process.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123095528","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506804
Yue Yang, P. Gohari
In this paper we propose to implement supervisory control by extending the plant finite state machine (FSM). Plant and supervisor are modeled by regular FSM. Supervisory control is introduced by extending the plant with Boolean variables, guard formulas and updating functions. Boolean variables are used to encode the supervisor's states. Event observation is captured by a set of Boolean functions that update the value of Boolean variables and are triggered by the occurrence of events. Finally, control is introduced by guarding events with Boolean formulas. The resulting extended finite state machine (EFSM) implements the supervisory control map in the sense that the languages closed and marked by the EFSM are equal to those of the supervised system. An application of our approach in the synthesis of communication protocols is presented.
{"title":"Embedded supervisory control of discrete-event systems","authors":"Yue Yang, P. Gohari","doi":"10.1109/COASE.2005.1506804","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506804","url":null,"abstract":"In this paper we propose to implement supervisory control by extending the plant finite state machine (FSM). Plant and supervisor are modeled by regular FSM. Supervisory control is introduced by extending the plant with Boolean variables, guard formulas and updating functions. Boolean variables are used to encode the supervisor's states. Event observation is captured by a set of Boolean functions that update the value of Boolean variables and are triggered by the occurrence of events. Finally, control is introduced by guarding events with Boolean formulas. The resulting extended finite state machine (EFSM) implements the supervisory control map in the sense that the languages closed and marked by the EFSM are equal to those of the supervised system. An application of our approach in the synthesis of communication protocols is presented.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130669872","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 : 2005-09-12DOI: 10.1109/COASE.2005.1506793
H. Low, Heng Wang, M. Wang
Constructing a robotic control system usually needs much effort. Furthermore, the real time operating environment is required for a teleoperation/telemanipulation system. Work in this paper aims at developing a real time control system using xPC Target for robotic system control. By utilizing the software package MATLAB, Simulink, Real Time Workshop, xPC Target and a C/C++ compiler, the I/O boards are interfaced between the Simulink block and the robotic system such that the physical system is controlled successfully in the manner of hardware-in-the-loop simulation. The presented developing procedure shows a convenient way to implement a real time robotic control system, which does not require any low level language programming. Three case studies, which are single DC motor control, robotic hand control, and telemanipulation system control, are performed to demonstrate the advantages and easiness of developing robotic control system using xPC Target.
构建机器人控制系统通常需要付出很大的努力。此外，远程操作系统还需要实时的操作环境。本文的工作旨在开发一个基于xPC Target的机器人系统实时控制系统。利用MATLAB、Simulink、Real Time Workshop、xPC Target和C/ c++编译器，在Simulink模块和机器人系统之间建立I/O板接口，以硬件在环仿真的方式成功地控制了物理系统。所提出的开发程序为实现实时机器人控制系统提供了一种方便的方法，不需要任何低级语言编程。通过对单直流电机控制、机械手控制和远程操作系统控制的实例分析，说明了利用xPC Target开发机器人控制系统的优越性和便捷性。
{"title":"On the development of a real time control system by using xPC Target: solution to robotic system control","authors":"H. Low, Heng Wang, M. Wang","doi":"10.1109/COASE.2005.1506793","DOIUrl":"https://doi.org/10.1109/COASE.2005.1506793","url":null,"abstract":"Constructing a robotic control system usually needs much effort. Furthermore, the real time operating environment is required for a teleoperation/telemanipulation system. Work in this paper aims at developing a real time control system using xPC Target for robotic system control. By utilizing the software package MATLAB, Simulink, Real Time Workshop, xPC Target and a C/C++ compiler, the I/O boards are interfaced between the Simulink block and the robotic system such that the physical system is controlled successfully in the manner of hardware-in-the-loop simulation. The presented developing procedure shows a convenient way to implement a real time robotic control system, which does not require any low level language programming. Three case studies, which are single DC motor control, robotic hand control, and telemanipulation system control, are performed to demonstrate the advantages and easiness of developing robotic control system using xPC Target.","PeriodicalId":181408,"journal":{"name":"IEEE International Conference on Automation Science and Engineering, 2005.","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127001300","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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