Pub Date : 2021-08-23DOI: 10.1109/CASE49439.2021.9551618
A. Ashe, K. Krishna
Human-robot interaction, particularly in wheeled mobile robots that can autonomously assist humans to traverse dynamically changing environments is a field of active research. Integrated motion planning and obstacle-avoidance pose a considerable challenge for an autonomous person-following robot (PFR). And, scenarios with intersections and occlusions along the path only increase the complexity in sustained tracking. In this paper, we use model predictive control (MPC) with early-relocation (ER) strategy to formulate a prioritized tracking scheme and implement it for a differential-drive system. Our approach ensures that the target person stays within the field of view (FOV) of the PFR consistently, even while it maneuvers intersections or crowded spots, by adding new locations to its updated path. As trajectory generation in such cases must be incremental to accommodate new information, the use of efficient representations is key. To that end, we build this social representation of following a person directly into the controller itself. MPC can naturally handle such state and input limitations as constraints to solve an on-line optimization at each time step. A non-linear MPC with ER is thus devised and tested with increasing levels of complexity arising from occlusions due to the map and its dynamic actors. By using 2D simulations, we show that for slow and medium walking speeds of the target person, the controller can plan maneuvers with an adequate margin of over 20 Hz apt for achieving a near real-time person-following behaviour.
{"title":"Maneuvering Intersections & Occlusions Using MPC-Based Prioritized Tracking for Differential Drive Person Following Robot","authors":"A. Ashe, K. Krishna","doi":"10.1109/CASE49439.2021.9551618","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551618","url":null,"abstract":"Human-robot interaction, particularly in wheeled mobile robots that can autonomously assist humans to traverse dynamically changing environments is a field of active research. Integrated motion planning and obstacle-avoidance pose a considerable challenge for an autonomous person-following robot (PFR). And, scenarios with intersections and occlusions along the path only increase the complexity in sustained tracking. In this paper, we use model predictive control (MPC) with early-relocation (ER) strategy to formulate a prioritized tracking scheme and implement it for a differential-drive system. Our approach ensures that the target person stays within the field of view (FOV) of the PFR consistently, even while it maneuvers intersections or crowded spots, by adding new locations to its updated path. As trajectory generation in such cases must be incremental to accommodate new information, the use of efficient representations is key. To that end, we build this social representation of following a person directly into the controller itself. MPC can naturally handle such state and input limitations as constraints to solve an on-line optimization at each time step. A non-linear MPC with ER is thus devised and tested with increasing levels of complexity arising from occlusions due to the map and its dynamic actors. By using 2D simulations, we show that for slow and medium walking speeds of the target person, the controller can plan maneuvers with an adequate margin of over 20 Hz apt for achieving a near real-time person-following behaviour.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"59 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127381715","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551434
L. B. Paet, S. Santra, Mickaël Laîné, Kazuya Yoshida
This work focuses on the wireless connectivity of multi-agent lunar robotic systems and how it can be preserved during large-scale lunar exploration missions. In particular, we consider in this work the connectivity of systems composed of a single lunar module and several micro-rovers performing coordinated area coverage exploration tasks. To this end, we adopted a deterministic model for lunar radio propagation to predict the status of point-to-point communication links for agents operating on the moon. We then used this information to build a communication graph for the lunar micro-rover network. The Fiedler value, a metric derived from algebraic graph theory, was then utilized for evaluating the system's evolving network connectivity as the micro-rovers explore finite regions on the lunar surface. Simulations involving a network consisting of a single fixed lunar module and three mobile micro-rovers were performed to illustrate how the rovers' basic mobility can cause disruptions in network connectivity. Results of the simulations show that the overall connectivity of lunar multi-rover networks can be maintained by imposing constraints on the rovers' motion.
{"title":"Maintaining Connectivity in Multi-Rover Networks for Lunar Exploration Missions","authors":"L. B. Paet, S. Santra, Mickaël Laîné, Kazuya Yoshida","doi":"10.1109/CASE49439.2021.9551434","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551434","url":null,"abstract":"This work focuses on the wireless connectivity of multi-agent lunar robotic systems and how it can be preserved during large-scale lunar exploration missions. In particular, we consider in this work the connectivity of systems composed of a single lunar module and several micro-rovers performing coordinated area coverage exploration tasks. To this end, we adopted a deterministic model for lunar radio propagation to predict the status of point-to-point communication links for agents operating on the moon. We then used this information to build a communication graph for the lunar micro-rover network. The Fiedler value, a metric derived from algebraic graph theory, was then utilized for evaluating the system's evolving network connectivity as the micro-rovers explore finite regions on the lunar surface. Simulations involving a network consisting of a single fixed lunar module and three mobile micro-rovers were performed to illustrate how the rovers' basic mobility can cause disruptions in network connectivity. Results of the simulations show that the overall connectivity of lunar multi-rover networks can be maintained by imposing constraints on the rovers' motion.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114075264","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551667
Gustavo B. P. Barbosa, Eduardo C. Da Silva, A. C. Leite
In this work, we present a new robust vision-based controller for wheeled mobile robots, equipped with a fixed monocular camera, to perform autonomous navigation in agricultural fields accurately. Here, we consider the existence of uncertainties in the parameters of the robot-camera system and external disturbances caused by high driving velocities, sparse plants, and terrain unevenness. Then, we design a robust image-based visual servoing (rIBVS) approach based on the sliding mode control (SMC) method for robot motion stabilization, even under the presence of such inaccuracies and perturbations. The vision-based controller, based on column and row primitives, is slightly modified to include a robustness term into the original feedback control laws to ensure successful row crop reaching and following tasks. We employ the Lyapunov stability theory to verify the stability and robustness properties of the overall closed-loop system. 3D computer simulations are carried out in the ROS-Gazebo platform, an open-source robotics simulator, using a differential-drive mobile robot (DDMR) in an ad-hoc developed row crop environment to illustrate the effectiveness and feasibility of the proposed control methodology.
{"title":"Robust Image-based Visual Servoing for Autonomous Row Crop Following with Wheeled Mobile Robots*","authors":"Gustavo B. P. Barbosa, Eduardo C. Da Silva, A. C. Leite","doi":"10.1109/CASE49439.2021.9551667","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551667","url":null,"abstract":"In this work, we present a new robust vision-based controller for wheeled mobile robots, equipped with a fixed monocular camera, to perform autonomous navigation in agricultural fields accurately. Here, we consider the existence of uncertainties in the parameters of the robot-camera system and external disturbances caused by high driving velocities, sparse plants, and terrain unevenness. Then, we design a robust image-based visual servoing (rIBVS) approach based on the sliding mode control (SMC) method for robot motion stabilization, even under the presence of such inaccuracies and perturbations. The vision-based controller, based on column and row primitives, is slightly modified to include a robustness term into the original feedback control laws to ensure successful row crop reaching and following tasks. We employ the Lyapunov stability theory to verify the stability and robustness properties of the overall closed-loop system. 3D computer simulations are carried out in the ROS-Gazebo platform, an open-source robotics simulator, using a differential-drive mobile robot (DDMR) in an ad-hoc developed row crop environment to illustrate the effectiveness and feasibility of the proposed control methodology.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114157627","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551606
Kar Way Tan
Smart cities, are often perceived as urban areas that use technologies to manage resources, improve economy and enhance community livelihood. In this paper, we share an approach which uses multiple sources of data for evidence-based analysis of the public's views, concerns and sentiments on the topic related to mental wellness. We hope to bring forth a better understanding of the existing concerns of the citizens and available social support. Our study leverages on social sensing via text mining and social network analysis to listen to the voices of the citizens through revealed content from web data sources, such as social media and public forums. By using hybrid data sources, we present the important considerations for mining inherent mental wellness concerns faced by the citizens. The outcome of the analysis includes, both the positive and negative sentiments towards mental wellness and draws relations to national level performance indicators relating to mental wellness. We hope our research could help authorities derive actionable plans for designing health services or public events that bring positive social mixing and happiness by addressing the mental wellness of the residents.
{"title":"Discovery of Mental Wellness via Social Analytics for Liveability in an Urban City","authors":"Kar Way Tan","doi":"10.1109/CASE49439.2021.9551606","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551606","url":null,"abstract":"Smart cities, are often perceived as urban areas that use technologies to manage resources, improve economy and enhance community livelihood. In this paper, we share an approach which uses multiple sources of data for evidence-based analysis of the public's views, concerns and sentiments on the topic related to mental wellness. We hope to bring forth a better understanding of the existing concerns of the citizens and available social support. Our study leverages on social sensing via text mining and social network analysis to listen to the voices of the citizens through revealed content from web data sources, such as social media and public forums. By using hybrid data sources, we present the important considerations for mining inherent mental wellness concerns faced by the citizens. The outcome of the analysis includes, both the positive and negative sentiments towards mental wellness and draws relations to national level performance indicators relating to mental wellness. We hope our research could help authorities derive actionable plans for designing health services or public events that bring positive social mixing and happiness by addressing the mental wellness of the residents.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"156 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122781045","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}
Estimation of transmission line parameters is an important problem for state estimation of power grid. In recent years, some studies have shown that the transmission line parameters can be estimated by some specific measurement data of the power grid. However, most of the studies mainly focus on single type of measurement data. In this paper, we propose an estimation method of transmission line parameters based on multi-measurement data of power grid, including measurements of injection power and voltage phasor. And considering the different reliability of the measurements, we make different restrictions on the multi-measurements. In our method, parameters and connection topology of transmission lines are estimated separately, and an ALS optimization model is established to solve the problem. Compared to the previous methods, the objective functions and constraints of our optimization model are improved, with considering different constraints based on phasor measurements, to get better estimation accuracy. The effectiveness and performance of the developed estimation method are demonstrated based on experiments using IEEE 30-bus and 118-bus systems.
{"title":"An Estimation Method of Transmission Line Parameters Based on Measurements of Injection Power and Voltage Phasor in Power Grid","authors":"Yadong Zhou, Bowen Hu, Jiang Wu, Zhanbo Xu, X. Guan, Wei Chen, Ting Liu","doi":"10.1109/CASE49439.2021.9551501","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551501","url":null,"abstract":"Estimation of transmission line parameters is an important problem for state estimation of power grid. In recent years, some studies have shown that the transmission line parameters can be estimated by some specific measurement data of the power grid. However, most of the studies mainly focus on single type of measurement data. In this paper, we propose an estimation method of transmission line parameters based on multi-measurement data of power grid, including measurements of injection power and voltage phasor. And considering the different reliability of the measurements, we make different restrictions on the multi-measurements. In our method, parameters and connection topology of transmission lines are estimated separately, and an ALS optimization model is established to solve the problem. Compared to the previous methods, the objective functions and constraints of our optimization model are improved, with considering different constraints based on phasor measurements, to get better estimation accuracy. The effectiveness and performance of the developed estimation method are demonstrated based on experiments using IEEE 30-bus and 118-bus systems.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"135 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127348789","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551547
Chih-Wei Chen, M. Chiang, Kuan-Yu Su, Yu-Wen Chen, Li-Chen Fu
In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results.
{"title":"Distributed adaptive formation control of Multi-Agent Systems in three-dimensional space","authors":"Chih-Wei Chen, M. Chiang, Kuan-Yu Su, Yu-Wen Chen, Li-Chen Fu","doi":"10.1109/CASE49439.2021.9551547","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551547","url":null,"abstract":"In this paper, we discuss formation and maneuver control of multi-agent systems (MAS) in the three-dimensional space. The system is controlled in a distributed manner with connected communication links. Our considered agents are mainly focused on the micro unmanned aerial vehicle (UAV) and thus a second-order integrator model is adopted. The control target is to achieve desired formation and reference trajectory tracking. The agents only use information from their neighbors and keep the connectivity to maintain the communication while tracking the reference trajectory. Moreover, our approach allows the agents to form into the desired shape with a given order relation, due to the given formation formulation and the adaptive control structure. Several examples and software in the loop simulation are given to validate the proposed results.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127848793","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551557
V. K. Sivakumar, P. Sujit
In this paper, we propose a multi-UAV path planning strategy for fixed wing UAVs to provide convoy protection to a ground vehicle moving over a hilly terrain. As the ground target motion is in 3D, we have developed a Model-Predictive control based framework for tracking the convoy taking the terrain restriction, kinematic constraints of the UAV and the camera field-of-view into account. Due to these constraints, it may not be possible for a single UAV to track the convoy continuously and hence we develop a cooperative multi-UAV framework with two UAVs to ensure continuous tracking. The simulation results show that the proposed framework adequately tracks the target without losing the line-of-sight of the convoy.
{"title":"MPC-based Multi-UAV Path Planning for Convoy Protection in 3D","authors":"V. K. Sivakumar, P. Sujit","doi":"10.1109/CASE49439.2021.9551557","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551557","url":null,"abstract":"In this paper, we propose a multi-UAV path planning strategy for fixed wing UAVs to provide convoy protection to a ground vehicle moving over a hilly terrain. As the ground target motion is in 3D, we have developed a Model-Predictive control based framework for tracking the convoy taking the terrain restriction, kinematic constraints of the UAV and the camera field-of-view into account. Due to these constraints, it may not be possible for a single UAV to track the convoy continuously and hence we develop a cooperative multi-UAV framework with two UAVs to ensure continuous tracking. The simulation results show that the proposed framework adequately tracks the target without losing the line-of-sight of the convoy.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"40 9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129153790","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551663
Sheila Sutjipto, Jon Woolfrey, Marc G. Carmichael, G. Paul
The objective of introducing robotic manipulators into human-centric domains is to improve the efficacy of tasks in a safe and practical manner. The shift toward collaborative manipulator platforms has facilitated physical human-robot interaction (pHRI) in such environments. Often, these platforms are kinematically redundant and possess more degrees of freedom (DOF) than needed to complete a desired task. When no additional task is defined, it is possible for the manipulator to converge upon joint configurations that are unfavourable for the collaborative task. Consequently, there is potential for the posture of the manipulator to affect the interaction experienced. This paper investigates an inertia-based optimization control method for redundant manipulators interacting with an active agent. The inertia-based reconfiguration is evaluated through simulations and quantified with real-life experiments conducted with a robot-robot dyad. It was found that resolving redundancy to reconfigure the Cartesian inertia reduced the energy expenditure of the active agent during the interaction.
{"title":"Cartesian Inertia Optimization via Redundancy Resolution for Physical Human-Robot Interaction","authors":"Sheila Sutjipto, Jon Woolfrey, Marc G. Carmichael, G. Paul","doi":"10.1109/CASE49439.2021.9551663","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551663","url":null,"abstract":"The objective of introducing robotic manipulators into human-centric domains is to improve the efficacy of tasks in a safe and practical manner. The shift toward collaborative manipulator platforms has facilitated physical human-robot interaction (pHRI) in such environments. Often, these platforms are kinematically redundant and possess more degrees of freedom (DOF) than needed to complete a desired task. When no additional task is defined, it is possible for the manipulator to converge upon joint configurations that are unfavourable for the collaborative task. Consequently, there is potential for the posture of the manipulator to affect the interaction experienced. This paper investigates an inertia-based optimization control method for redundant manipulators interacting with an active agent. The inertia-based reconfiguration is evaluated through simulations and quantified with real-life experiments conducted with a robot-robot dyad. It was found that resolving redundancy to reconfigure the Cartesian inertia reduced the energy expenditure of the active agent during the interaction.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"41 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131260056","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551626
Alexander Dürr, Liam Neric, Volker Krueger, E. A. Topp
We address the problem of insufficient quality of robot simulators to produce precise sensor readings for joint positions, velocities and torques. Realistic simulations of sensor readings are particularly important for real time robot control laws and for data intensive Reinforcement Learning of robot movements in simulation. We systematically construct two architectures based on Long Short-Term Memory to model the difference between simulated and real sensor readings for online and offline application. Our solution is easy to integrate into existing Robot Operating System frameworks and its formulation is neither robot nor task specific. We demonstrate robust behavior and transferability of the learned model between individual Franka Emika Panda robots. Our experiments show a reduction in torque mean squared error of at least one order of magnitude. The collected data set, the plug-and-play Realeasy model for the Panda robot and a reproducible real-time docker setup are shared alongside the code.22https://sites.google.com/ulund.org/realeasy
{"title":"Realeasy: Real-Time capable Simulation to Reality Domain Adaptation","authors":"Alexander Dürr, Liam Neric, Volker Krueger, E. A. Topp","doi":"10.1109/CASE49439.2021.9551626","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551626","url":null,"abstract":"We address the problem of insufficient quality of robot simulators to produce precise sensor readings for joint positions, velocities and torques. Realistic simulations of sensor readings are particularly important for real time robot control laws and for data intensive Reinforcement Learning of robot movements in simulation. We systematically construct two architectures based on Long Short-Term Memory to model the difference between simulated and real sensor readings for online and offline application. Our solution is easy to integrate into existing Robot Operating System frameworks and its formulation is neither robot nor task specific. We demonstrate robust behavior and transferability of the learned model between individual Franka Emika Panda robots. Our experiments show a reduction in torque mean squared error of at least one order of magnitude. The collected data set, the plug-and-play Realeasy model for the Panda robot and a reproducible real-time docker setup are shared alongside the code.22https://sites.google.com/ulund.org/realeasy","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129396147","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 : 2021-08-23DOI: 10.1109/CASE49439.2021.9551475
Siqi Guo, Feng Cui, Na Geng, Zhibin Jiang
Cellular reconfigurable manufacturing systems (CRMS) are designed to deal with dynamic demand. This paper tries to optimize cell formation decision in CRMSs with alternative routing. A mixed integer nonlinear programming model is developed to simultaneously optimize cell formation, equipment configuration, and product mix plan. The objective is to maximize profit. The linearization methods are proposed and then the model is solved by Gurobi. Numerical experiment and sensitive analysis are conducted to show the efficiency and effectiveness of the proposed approach.
{"title":"Cell Formation for Cellular Reconfigurable Manufacturing Systems with Alternative Routing","authors":"Siqi Guo, Feng Cui, Na Geng, Zhibin Jiang","doi":"10.1109/CASE49439.2021.9551475","DOIUrl":"https://doi.org/10.1109/CASE49439.2021.9551475","url":null,"abstract":"Cellular reconfigurable manufacturing systems (CRMS) are designed to deal with dynamic demand. This paper tries to optimize cell formation decision in CRMSs with alternative routing. A mixed integer nonlinear programming model is developed to simultaneously optimize cell formation, equipment configuration, and product mix plan. The objective is to maximize profit. The linearization methods are proposed and then the model is solved by Gurobi. Numerical experiment and sensitive analysis are conducted to show the efficiency and effectiveness of the proposed approach.","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115922176","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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