Pub Date : 2011-10-13DOI: 10.1109/CASE.2011.6042430
Latéfa Ghomri, H. Alla
In this paper, we consider the control synthesis of a particular class of systems called continuous flow systems, such as transport systems, manufacturing systems, communication systems, biological systems… etc. These systems are positive systems where continuous and discrete event dynamics interact. They are then considered as hybrid systems. Numerous tools and techniques exist in the literature for modeling and analyzing such systems. As positiveness is a hard constraint, an appropriate tool integrating naturally this constraint is strongly needed. Hybrid Petri Nets (HPNs) are an elegant modeling tool of positive systems, while Hybrid Automata (HA) are a powerful tool giving formally the reachable dynamic space. Combining these two tools aim to a sound approach for control synthesis of continuous flow systems. We start by considering the process to control and compute its behavior, or its reachable state space using specialized software like PHAVer. Algebraic inequalities define this reachable state space. The constrained behavior is obtained by restricting this state space into a smaller desired space. This reduction is expressed in term of linear constraints only over the continuous variables; while the control is given by the discrete transitions (occurrence dates of controllable events). The control synthesis methodology is based on the control of a hybrid system modeled by a D-elementary HPN. The control consists in modifying the guard of the controllable transitions so that the reachable controlled state space is maximally permissive.
{"title":"Continuous flow systems and control methodology using Hybrid Petri nets","authors":"Latéfa Ghomri, H. Alla","doi":"10.1109/CASE.2011.6042430","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042430","url":null,"abstract":"In this paper, we consider the control synthesis of a particular class of systems called continuous flow systems, such as transport systems, manufacturing systems, communication systems, biological systems… etc. These systems are positive systems where continuous and discrete event dynamics interact. They are then considered as hybrid systems. Numerous tools and techniques exist in the literature for modeling and analyzing such systems. As positiveness is a hard constraint, an appropriate tool integrating naturally this constraint is strongly needed. Hybrid Petri Nets (HPNs) are an elegant modeling tool of positive systems, while Hybrid Automata (HA) are a powerful tool giving formally the reachable dynamic space. Combining these two tools aim to a sound approach for control synthesis of continuous flow systems. We start by considering the process to control and compute its behavior, or its reachable state space using specialized software like PHAVer. Algebraic inequalities define this reachable state space. The constrained behavior is obtained by restricting this state space into a smaller desired space. This reduction is expressed in term of linear constraints only over the continuous variables; while the control is given by the discrete transitions (occurrence dates of controllable events). The control synthesis methodology is based on the control of a hybrid system modeled by a D-elementary HPN. The control consists in modifying the guard of the controllable transitions so that the reachable controlled state space is maximally permissive.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123542996","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042467
F. Hackbarth
This paper is about a theoretic model for resource based communication using the example of an autonomous warehouse. Autonomous automata handle boxes in the warehouse just based on the information they can read in their direct environment. These automata act according to two concurring algorithms. One is for finding boxes and carrying them to an output. The other algorithm is used to store boxes inside the warehouse. There is no direct communication between different automata in the warehouse. Analogous to stationary pheromones their communication is based on information that can be read from and written to their direct environment. This environment is the common communication resource and is acting as collective memory used independently by all robot automata. By this simple communication model a structure emerges in the placement of the boxes. Although representable as a common cellular automaton this model is presented basing on robots moving on a grid and memory tags that can be read and written to.
{"title":"Self-organizing warehouse management based on communicating distributed memory tags","authors":"F. Hackbarth","doi":"10.1109/CASE.2011.6042467","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042467","url":null,"abstract":"This paper is about a theoretic model for resource based communication using the example of an autonomous warehouse. Autonomous automata handle boxes in the warehouse just based on the information they can read in their direct environment. These automata act according to two concurring algorithms. One is for finding boxes and carrying them to an output. The other algorithm is used to store boxes inside the warehouse. There is no direct communication between different automata in the warehouse. Analogous to stationary pheromones their communication is based on information that can be read from and written to their direct environment. This environment is the common communication resource and is acting as collective memory used independently by all robot automata. By this simple communication model a structure emerges in the placement of the boxes. Although representable as a common cellular automaton this model is presented basing on robots moving on a grid and memory tags that can be read and written to.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114917704","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042445
C. Kuo, Y. Syu, T. Tsai, Ting-Shuo Chen
In this paper, we propose a robotic wheelchair control architecture for reactive navigations to improve safety. The proposed solution is developed based on the XScale embedded platform and real-time embedded Linux. A touch panel is used to display useful information for users. In addition, reactive navigation techniques of mobile robots are developed by combining the obstacle detection sensor information to perform collision free navigations where the obstacle detection sensor uses a laser range finder and the reactive navigation uses the artificial field potential (APF) approach. The collections of obstacle information and realizations of APF navigations are implemented as device drivers in the kernel space to improve real time performance, as well as to reduce the computational loads of graphical user interface (GUI) in the user space. In addition, the modules of power monitoring, travel distance counter and drive speed counting are also developed as device drivers. Consequently, the proposed robotic wheelchair control architecture has the features of real-time performance, simple architecture, high reliability, and safety. Meanwhile, the device drivers and GUI are all developed as open source codes, and they are easy for integrations. Finally, a robotic wheelchair prototype is produced in our laboratory for experimental validations of the embedded robotic wheelchair control architecture, as well as for the evaluations of reactive navigations.
{"title":"An embedded robotic wheelchair control architecture with reactive navigations","authors":"C. Kuo, Y. Syu, T. Tsai, Ting-Shuo Chen","doi":"10.1109/CASE.2011.6042445","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042445","url":null,"abstract":"In this paper, we propose a robotic wheelchair control architecture for reactive navigations to improve safety. The proposed solution is developed based on the XScale embedded platform and real-time embedded Linux. A touch panel is used to display useful information for users. In addition, reactive navigation techniques of mobile robots are developed by combining the obstacle detection sensor information to perform collision free navigations where the obstacle detection sensor uses a laser range finder and the reactive navigation uses the artificial field potential (APF) approach. The collections of obstacle information and realizations of APF navigations are implemented as device drivers in the kernel space to improve real time performance, as well as to reduce the computational loads of graphical user interface (GUI) in the user space. In addition, the modules of power monitoring, travel distance counter and drive speed counting are also developed as device drivers. Consequently, the proposed robotic wheelchair control architecture has the features of real-time performance, simple architecture, high reliability, and safety. Meanwhile, the device drivers and GUI are all developed as open source codes, and they are easy for integrations. Finally, a robotic wheelchair prototype is produced in our laboratory for experimental validations of the embedded robotic wheelchair control architecture, as well as for the evaluations of reactive navigations.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116020774","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042521
N. Malki, M. S. Mouchaweh
In this paper, an approach for fault diagnosis of Discrete Event Systems (DESs) is proposed. This approach builds a Boolean temporal model representing the normal and faulty behavior of a plant. This model is built by exploiting past events occurrences and their dates of occurrence. In addition, the proposed approach integrates a mechanism to detect a drift of the system functioning from normal to faulty conditions. This approach is illustrated and evaluated by using an example of a system composed of two independent tanks and equipped by discrete sensors and actuators.
{"title":"Boolean temporal model-based approach for the diagnosis of Discrete Event Systems","authors":"N. Malki, M. S. Mouchaweh","doi":"10.1109/CASE.2011.6042521","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042521","url":null,"abstract":"In this paper, an approach for fault diagnosis of Discrete Event Systems (DESs) is proposed. This approach builds a Boolean temporal model representing the normal and faulty behavior of a plant. This model is built by exploiting past events occurrences and their dates of occurrence. In addition, the proposed approach integrates a mechanism to detect a drift of the system functioning from normal to faulty conditions. This approach is illustrated and evaluated by using an example of a system composed of two independent tanks and equipped by discrete sensors and actuators.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126787986","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042483
N. Costantino, M. Dotoli, M. Falagario, M. P. Fanti, A. M. Mangini, F. Sciancalepore, W. Ukovich
The paper addresses the optimal design of the last branch of the supply chain, i.e., the Distribution Network (DN). We extend a deterministic optimization model previously proposed by the authors, using fuzzy numbers and fuzzy logic to take into account uncertainty in the DN model and in the DN design. Hence, a procedure employing digraph modeling and fuzzy mixed integer linear programming is presented to select the optimal DN configuration. To show the method effectiveness, the optimization model is applied to a case study.
{"title":"A fuzzy programming approach for the strategic design of distribution networks","authors":"N. Costantino, M. Dotoli, M. Falagario, M. P. Fanti, A. M. Mangini, F. Sciancalepore, W. Ukovich","doi":"10.1109/CASE.2011.6042483","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042483","url":null,"abstract":"The paper addresses the optimal design of the last branch of the supply chain, i.e., the Distribution Network (DN). We extend a deterministic optimization model previously proposed by the authors, using fuzzy numbers and fuzzy logic to take into account uncertainty in the DN model and in the DN design. Hence, a procedure employing digraph modeling and fuzzy mixed integer linear programming is presented to select the optimal DN configuration. To show the method effectiveness, the optimization model is applied to a case study.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121212909","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042446
Chi-An Kao, F. Cheng, Wei-ming Wu
Incorporation of virtual metrology (VM) into run-to-run (R2R) control is one of key advanced process control (APC) focus areas of International Technology Roadmap for Semiconductors (ITRS) for 2009. However, a key problem preventing effective utilization of VM in R2R control is the inability to take the reliance level in the VM feedback loop of R2R control into consideration. The reason is that the result of adopting an unreliable VM value may be worse than if no VM at all is utilized. The authors have proposed the so-called reliance index (RI) of VM to gauge the reliability of the VM results. This paper proposes a novel scheme of run-to-run control that utilizes VM with RI in the feedback loop.
{"title":"Preliminary study of run-to-run control utilizing virtual metrology with reliance index","authors":"Chi-An Kao, F. Cheng, Wei-ming Wu","doi":"10.1109/CASE.2011.6042446","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042446","url":null,"abstract":"Incorporation of virtual metrology (VM) into run-to-run (R2R) control is one of key advanced process control (APC) focus areas of International Technology Roadmap for Semiconductors (ITRS) for 2009. However, a key problem preventing effective utilization of VM in R2R control is the inability to take the reliance level in the VM feedback loop of R2R control into consideration. The reason is that the result of adopting an unreliable VM value may be worse than if no VM at all is utilized. The authors have proposed the so-called reliance index (RI) of VM to gauge the reliability of the VM results. This paper proposes a novel scheme of run-to-run control that utilizes VM with RI in the feedback loop.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126339166","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042436
S. Pampuri, A. Schirru, Cristina De Luca, G. Nicolao
The present paper is motivated by the application of Predictive Maintenance (PM) techniques in the semiconductor manufacturing environment: such techniques are able, using process data, to make reliable predictions of residual equipment lifetime. The employment of PM yields positive fallouts on the productive process in form of unscheduled downtime reduction, increased spare parts availability and improved overall production quality. One of the main challenges in PM modeling regards the data-driven assessment of relevant process variables when insufficient expert knowledge is available. In this paper, survival models theory is employed jointly with ℓ1 penalization techniques: this allows to obtain sparse models able to select the meaningful process variables and simultaneously predict the remaining lifetime of an equipment. Additionally, frailty modeling techniques are employed to concurrently handle several productive equipments of the same type, exploiting their similarities to increase prediction accuracy. The proposed methodology is validated, illustrating promising results, by means of a semiconductor manufacturing dataset.
{"title":"Proportional hazard model with ℓ1 Penalization applied to Predictive Maintenance in semiconductor manufacturing","authors":"S. Pampuri, A. Schirru, Cristina De Luca, G. Nicolao","doi":"10.1109/CASE.2011.6042436","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042436","url":null,"abstract":"The present paper is motivated by the application of Predictive Maintenance (PM) techniques in the semiconductor manufacturing environment: such techniques are able, using process data, to make reliable predictions of residual equipment lifetime. The employment of PM yields positive fallouts on the productive process in form of unscheduled downtime reduction, increased spare parts availability and improved overall production quality. One of the main challenges in PM modeling regards the data-driven assessment of relevant process variables when insufficient expert knowledge is available. In this paper, survival models theory is employed jointly with ℓ1 penalization techniques: this allows to obtain sparse models able to select the meaningful process variables and simultaneously predict the remaining lifetime of an equipment. Additionally, frailty modeling techniques are employed to concurrently handle several productive equipments of the same type, exploiting their similarities to increase prediction accuracy. The proposed methodology is validated, illustrating promising results, by means of a semiconductor manufacturing dataset.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130070209","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042402
M. Kanamori
Using an output saturation function of the error vector (difference between the target vector and the revolution angle vector), globally asymptotic stability of any equilibrium state can be achieved for an anti-windup PID position control of Euler-Lagrange systems with actuator saturation. The control performance is verified by numerical simulations and experiments on a two-link robot arm.
{"title":"Global stabilization of anti-windup PID position control for euler-lagrange systems with actuator saturation","authors":"M. Kanamori","doi":"10.1109/CASE.2011.6042402","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042402","url":null,"abstract":"Using an output saturation function of the error vector (difference between the target vector and the revolution angle vector), globally asymptotic stability of any equilibrium state can be achieved for an anti-windup PID position control of Euler-Lagrange systems with actuator saturation. The control performance is verified by numerical simulations and experiments on a two-link robot arm.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"55 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131603370","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042415
M. Rakotondrabe, J. Agnus, P. Lutz
This paper presents the characterization, modeling and precise control of a 2-dof piezoactuator dedicated to precise and automated micropositioning tasks. The piezoactuator is characterized by a strong hysteresis and a high coupling between the two axes making the synthesis of a controller very difficult. We therefore propose to compensate first the hysteresis (feedforward control) in order to obtain an approximate linear system. Afterwards, an internal model control (IMC) structure is applied (feedback control) to enhance the performances of the piezoactuator. The main advantage of the proposed approach is its simplicity both for computation and for implementation making it very convenient for real-time embedded systems. Finally, the experimental results demonstrate its efficiency and conveniency for precise positioning.
{"title":"Feedforward and IMC-feedback control of a nonlinear 2-DOF piezoactuator dedicated to automated micropositioning tasks","authors":"M. Rakotondrabe, J. Agnus, P. Lutz","doi":"10.1109/CASE.2011.6042415","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042415","url":null,"abstract":"This paper presents the characterization, modeling and precise control of a 2-dof piezoactuator dedicated to precise and automated micropositioning tasks. The piezoactuator is characterized by a strong hysteresis and a high coupling between the two axes making the synthesis of a controller very difficult. We therefore propose to compensate first the hysteresis (feedforward control) in order to obtain an approximate linear system. Afterwards, an internal model control (IMC) structure is applied (feedback control) to enhance the performances of the piezoactuator. The main advantage of the proposed approach is its simplicity both for computation and for implementation making it very convenient for real-time embedded systems. Finally, the experimental results demonstrate its efficiency and conveniency for precise positioning.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133659684","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042432
Sahar Mohajerani, R. Malik, Martin Fabian
This paper proposes a framework for compositional synthesis of least restrictive controllable and nonblocking supervisors for modular discrete event systems models. The problem of state-space explosion is mitigated by abstracting individual components using synthesis abstraction before computing too large synchronous products. The paper improves and generalises previous work by introducing renaming to avoid nondeterministic intermediate results, making it possible to use more means of abstraction. Four classes of abstraction rules are discussed in the generalised framework, and an example demonstrates the feasibility of the method for practical problems.
{"title":"Nondeterminism avoidance in compositional synthesis of discrete event systems","authors":"Sahar Mohajerani, R. Malik, Martin Fabian","doi":"10.1109/CASE.2011.6042432","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042432","url":null,"abstract":"This paper proposes a framework for compositional synthesis of least restrictive controllable and nonblocking supervisors for modular discrete event systems models. The problem of state-space explosion is mitigated by abstracting individual components using synthesis abstraction before computing too large synchronous products. The paper improves and generalises previous work by introducing renaming to avoid nondeterministic intermediate results, making it possible to use more means of abstraction. Four classes of abstraction rules are discussed in the generalised framework, and an example demonstrates the feasibility of the method for practical problems.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132706664","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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