Pub Date : 2001-09-05DOI: 10.1109/ISIC.2001.971513
M. Yeddes, J. Mullins
This paper show how one can transform a synchronous system into a globally asynchronous locally synchronous systems in which each site behaves synchronously while the exchange between sites are asynchronous. This is a case of synchronous distributed systems called quasi-synchronous systems. We investigate a hybrid system and show that the continuous control has no problem when the distribution is different from the discrete sequential one. We propose a method allowing the validation of the distributed system through the validation of the centralized one.
{"title":"Quasi-synchronous approach for distributed control in synchronous systems","authors":"M. Yeddes, J. Mullins","doi":"10.1109/ISIC.2001.971513","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971513","url":null,"abstract":"This paper show how one can transform a synchronous system into a globally asynchronous locally synchronous systems in which each site behaves synchronously while the exchange between sites are asynchronous. This is a case of synchronous distributed systems called quasi-synchronous systems. We investigate a hybrid system and show that the continuous control has no problem when the distribution is different from the discrete sequential one. We propose a method allowing the validation of the distributed system through the validation of the centralized one.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"355 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115932746","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971537
P. J. Escamilla-Ambrosio, N. Mort
A novel hybrid multi-sensor data fusion (MSDF) architecture integrating Kalman filtering and fuzzy logic techniques is explored. The objective of the hybrid MSDF architecture is to obtain fused measurement data that determines the parameter being measured as precisely as possible. To reach this objective, first each measurement coming from each sensor is fed to a fuzzy-adaptive Kalman filter (FKF), thus there are n sensors and n FKFs working in parallel. Next, a fuzzy logic observer (FLO) monitors the performance of each FKF. The FLO assigns a degree of confidence, a number on the interval [0, 1], to each one of the FKFs output. The degree of confidence indicates to what level each FKF output reflects the true value of the measurement. Finally, a defuzzificator obtains the fused estimated measurement based on the confidence values. To demonstrate the effectiveness and accuracy of this new hybrid MSDF architecture, an example with four noisy sensors is outlined. Different defuzzification methods are explored to select the best one for this particular application. The results show very good performance.
{"title":"A hybrid Kalman filter-fuzzy logic architecture for multisensor data fusion","authors":"P. J. Escamilla-Ambrosio, N. Mort","doi":"10.1109/ISIC.2001.971537","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971537","url":null,"abstract":"A novel hybrid multi-sensor data fusion (MSDF) architecture integrating Kalman filtering and fuzzy logic techniques is explored. The objective of the hybrid MSDF architecture is to obtain fused measurement data that determines the parameter being measured as precisely as possible. To reach this objective, first each measurement coming from each sensor is fed to a fuzzy-adaptive Kalman filter (FKF), thus there are n sensors and n FKFs working in parallel. Next, a fuzzy logic observer (FLO) monitors the performance of each FKF. The FLO assigns a degree of confidence, a number on the interval [0, 1], to each one of the FKFs output. The degree of confidence indicates to what level each FKF output reflects the true value of the measurement. Finally, a defuzzificator obtains the fused estimated measurement based on the confidence values. To demonstrate the effectiveness and accuracy of this new hybrid MSDF architecture, an example with four noisy sensors is outlined. Different defuzzification methods are explored to select the best one for this particular application. The results show very good performance.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121207199","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971500
Goran Frehse, O. Stursberg, S. Engell, Ralf Huuck, Ben Lukoschus
While formal verification has been successfully used to analyze several academic examples of controlled hybrid systems, the application to real-world processing systems is largely restricted by the complexity of modeling and computation. This paper aims at improving the applicability by using decomposition and deduction techniques: A given system is first decomposed into a set of physical and/or functional units and modeled by communicating timed automata or linear hybrid automata. The so-called assumption/commitment method allows one to formulate requirements for the desired behavior of single modules or groups of modules. Model-checking is an appropriate technique to analyze whether the requirements (e.g. the exclusion of critical states) are fulfilled. By combining the analysis results obtained for single modules, properties of composed modules can be deduced. As illustrated for a laboratory plant, properties of the complete system for which direct model-checking is prohibitively expensive can be inferred by the iterative application of analysis and deduction.
{"title":"Verification of hybrid controlled processing systems based on decomposition and deduction","authors":"Goran Frehse, O. Stursberg, S. Engell, Ralf Huuck, Ben Lukoschus","doi":"10.1109/ISIC.2001.971500","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971500","url":null,"abstract":"While formal verification has been successfully used to analyze several academic examples of controlled hybrid systems, the application to real-world processing systems is largely restricted by the complexity of modeling and computation. This paper aims at improving the applicability by using decomposition and deduction techniques: A given system is first decomposed into a set of physical and/or functional units and modeled by communicating timed automata or linear hybrid automata. The so-called assumption/commitment method allows one to formulate requirements for the desired behavior of single modules or groups of modules. Model-checking is an appropriate technique to analyze whether the requirements (e.g. the exclusion of critical states) are fulfilled. By combining the analysis results obtained for single modules, properties of composed modules can be deduced. As illustrated for a laboratory plant, properties of the complete system for which direct model-checking is prohibitively expensive can be inferred by the iterative application of analysis and deduction.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116138659","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971504
D. Gravel, W. Newman
Current robotic applications in automotive plants are limited primarily to material handling and spot welding operations. The Ford Advanced Manufacturing Technology Development Center (AMTD) has been pursuing force controlled robotic technology and adaptive learning techniques for teaching force controlled robots since 1996. The paper outlines efforts Ford has participated in to develop a force controlled robot assembly capability on Robotics Research, Kawasaki, FANUC, and MicroDexterity robot platforms. The paper also outlines the robotic learning progress made by Case Western Reserve University under a NIST ATP project called "Flexible Robotic Assembly for Powertrain Applications".
{"title":"Flexible robotic assembly efforts at Ford Motor Company","authors":"D. Gravel, W. Newman","doi":"10.1109/ISIC.2001.971504","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971504","url":null,"abstract":"Current robotic applications in automotive plants are limited primarily to material handling and spot welding operations. The Ford Advanced Manufacturing Technology Development Center (AMTD) has been pursuing force controlled robotic technology and adaptive learning techniques for teaching force controlled robots since 1996. The paper outlines efforts Ford has participated in to develop a force controlled robot assembly capability on Robotics Research, Kawasaki, FANUC, and MicroDexterity robot platforms. The paper also outlines the robotic learning progress made by Case Western Reserve University under a NIST ATP project called \"Flexible Robotic Assembly for Powertrain Applications\".","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127741063","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971517
A. Vahidi, Martin Fabian, B. Lennartson
This paper presents a generic model for the resource allocation problem common in flexible manufacturing systems. The resource allocation model is used for computing the supremal controllable and nonblocking supervisor of the system. A real world example of such system is given, and it is explained why the exhaustive search method for supervisor generation fails on large system due to the state explosion problem. To solve this a special data structure adapted from the symbolic model checking area called binary decision diagram is utilized.
{"title":"Generic resource booking models in flexible cells","authors":"A. Vahidi, Martin Fabian, B. Lennartson","doi":"10.1109/ISIC.2001.971517","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971517","url":null,"abstract":"This paper presents a generic model for the resource allocation problem common in flexible manufacturing systems. The resource allocation model is used for computing the supremal controllable and nonblocking supervisor of the system. A real world example of such system is given, and it is explained why the exhaustive search method for supervisor generation fails on large system due to the state explosion problem. To solve this a special data structure adapted from the symbolic model checking area called binary decision diagram is utilized.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133799641","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971519
Torbjörn Liljenvall, Martin Fabian
In this paper we propose a generic system architecture for development, control and scheduling of flexible production systems. As typical applications we have mainly considered control systems for machining cells, and batch applications in processing industry. The architecture is based on an object-oriented model of a production system, together with distributed product specifications and automatic synthesis of control laws to integrate product specification and production planning with the control system.
{"title":"Implementation of control and scheduling for production systems","authors":"Torbjörn Liljenvall, Martin Fabian","doi":"10.1109/ISIC.2001.971519","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971519","url":null,"abstract":"In this paper we propose a generic system architecture for development, control and scheduling of flexible production systems. As typical applications we have mainly considered control systems for machining cells, and batch applications in processing industry. The architecture is based on an object-oriented model of a production system, together with distributed product specifications and automatic synthesis of control laws to integrate product specification and production planning with the control system.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"175 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126941025","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971491
S. S. Ge, G.Y. Li, T.H. Lee
In this paper, the adaptive control problem is studied for a class of discrete-time unknown nonlinear systems with general relative degree in the presence of bounded disturbances. To derive the feedback control, a causal state-space model of the plant is obtained. By using an NN observer to estimate the unavailable but predictable states of the system, a Lyapunov-based adaptive state feedback NN controller is proposed. The state feedback control avoids the possible singularity problem in adaptive nonlinear control. The closed-loop system is proven to be semi-globally uniformly ultimately bounded (SGUUB). An arbitrarily small tracking error can be achieved if the size of neural networks is chosen large enough, and the control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.
{"title":"Adaptive control for a class of nonlinear discrete-time systems using neural networks","authors":"S. S. Ge, G.Y. Li, T.H. Lee","doi":"10.1109/ISIC.2001.971491","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971491","url":null,"abstract":"In this paper, the adaptive control problem is studied for a class of discrete-time unknown nonlinear systems with general relative degree in the presence of bounded disturbances. To derive the feedback control, a causal state-space model of the plant is obtained. By using an NN observer to estimate the unavailable but predictable states of the system, a Lyapunov-based adaptive state feedback NN controller is proposed. The state feedback control avoids the possible singularity problem in adaptive nonlinear control. The closed-loop system is proven to be semi-globally uniformly ultimately bounded (SGUUB). An arbitrarily small tracking error can be achieved if the size of neural networks is chosen large enough, and the control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124172911","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971489
S. Ploix, C. Follot
This paper focuses on diagnostic reasoning for uncertain dynamical systems. It proposes a diagnostic reasoning that distinguishes normal from abnormal behavior and that takes into account the new results in set-membership diagnostic approaches. Considering these results, which are dedicated to uncertain systems, enlightens the diagnostic reasoning with new aspects. To validate the theoretical aspects, the paper ends by the presentation of an application of diagnostic reasoning and set-membership coherency tests on a laboratory plant: a water tanks system.
{"title":"Fault diagnosis reasoning for set-membership approaches and application","authors":"S. Ploix, C. Follot","doi":"10.1109/ISIC.2001.971489","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971489","url":null,"abstract":"This paper focuses on diagnostic reasoning for uncertain dynamical systems. It proposes a diagnostic reasoning that distinguishes normal from abnormal behavior and that takes into account the new results in set-membership diagnostic approaches. Considering these results, which are dedicated to uncertain systems, enlightens the diagnostic reasoning with new aspects. To validate the theoretical aspects, the paper ends by the presentation of an application of diagnostic reasoning and set-membership coherency tests on a laboratory plant: a water tanks system.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114138448","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971488
G. Vachtsevanos, Peng Wang, J. Echauz
This paper introduces a new model-free diagnostic methodology to detect and identify machine failures and product defects. The basic module of the methodology is a novel multidimensional wavelet neural network construct used as the failure mode classifier. Validated sensor data are preprocessed and a vector of appropriate features is extracted. The feature vector becomes the input to the wavelet neural network which is trained off-line to map features to failure causes. An example is employed to illustrate the robustness and effectiveness of the proposed scheme.
{"title":"A wavelet neural network framework for diagnostics of complex engineered systems","authors":"G. Vachtsevanos, Peng Wang, J. Echauz","doi":"10.1109/ISIC.2001.971488","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971488","url":null,"abstract":"This paper introduces a new model-free diagnostic methodology to detect and identify machine failures and product defects. The basic module of the methodology is a novel multidimensional wavelet neural network construct used as the failure mode classifier. Validated sensor data are preprocessed and a vector of appropriate features is extracted. The feature vector becomes the input to the wavelet neural network which is trained off-line to map features to failure causes. An example is employed to illustrate the robustness and effectiveness of the proposed scheme.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129268281","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 : 2001-09-05DOI: 10.1109/ISIC.2001.971534
B. Kadmiry, D. Driankov
The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose.
{"title":"Autonomous helicopter control using linguistic and model-based fuzzy control","authors":"B. Kadmiry, D. Driankov","doi":"10.1109/ISIC.2001.971534","DOIUrl":"https://doi.org/10.1109/ISIC.2001.971534","url":null,"abstract":"The paper presents the design of a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. The controller is able of regulating high horizontal velocities via stabilization of the attitude angles within much larger ranges than currently available. We use a novel approach to the design consisting of two steps: 1) a Mamdani-type of a fuzzy rules are used to compute for each desired horizontal velocity the corresponding desired values for the attitude angles and the main rotor collective pitch; and 2) using a nonlinear model of the altitude and attitude dynamics, a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. According to our knowledge this is the first time when a combination of linguistic and model-based fuzzy control is used for the control of a complicated plant such as an autonomous helicopter. The performance of the combined linguistic/model-based controllers is evaluated in simulation and shows that the proposed design method achieves its intended purpose.","PeriodicalId":367430,"journal":{"name":"Proceeding of the 2001 IEEE International Symposium on Intelligent Control (ISIC '01) (Cat. No.01CH37206)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132371408","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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