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MACHINE LEARNING IN HYBRID HIERARCHICAL AND PARTIAL-ORDER PLANNERS FOR MANUFACTURING DOMAINS

Susana Fernández, Ricardo Aler, Daniel Borrajo
2005 Applied Artificial Intelligence  
Hybis is a hierarchical and nonlinear planner whose goal is to obtain partially ordered plans at such a level of detail that they can be used as sequential control programs for manufacturing systems.  ...  One of these problems is the automatic generation of control sequences for the entire manufacturing system in such a way that final plans can be directly used as the sequential control programs which drive  ...  The authors would also like to thank Luis Castillo and Juan Fernández-Olivares for their help on using Hybis.  ... 
doi:10.1080/08839510490964491 fatcat:g3dpxeg6nfextmsrufuoict3lq

Performance-based reactive navigation for non-holonomic mobile robots

Michael Defoort, Jorge Palos, Annemarie Kokosy, Thierry Floquet, Wilfrid Perruquetti
2008 Robotica (Cambridge. Print)  
The planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines nonlinear control theory, B-spline  ...  An integral sliding mode controller is used for trajectory tracking. Closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances.  ...  It can be accomplished using an on-line receding horizon planner [15] , in which partial trajectories from an initial state toward the goal are computed by solving an optimal control problem over a limited  ... 
doi:10.1017/s0263574708004700 fatcat:zim4gjqwend4jpyy53i5zfbobe

Autonomous Object Manipulation Using a Soft Planar Grasping Manipulator

Robert K. Katzschmann, Andrew D. Marchese, Daniela Rus
2015 Soft Robotics  
This article presents the development of an autonomous motion planning algorithm for a soft planar grasping manipulator capable of grasp-and-place operations by encapsulation with uncertainty in the position  ...  The soft manipulation system can grasp randomly positioned objects within its reachable envelope and move them to a desired location without human intervention.  ...  We are grateful for this support. Author Disclosure Statement The authors declare that no competing financial interests exist.  ... 
doi:10.1089/soro.2015.0013 pmid:27625916 pmcid:PMC4998948 fatcat:d7ohps7izvglbf6oi4od2b6nwq

Energy efficient and collision free motion of industrial robots using optimal control

Staffan Bjorkenstam, Daniel Gleeson, Robert Bohlin, Johan S. Carlson, Bengt Lennartson
2013 2013 IEEE International Conference on Automation Science and Engineering (CASE)  
this path, and finally (iii) a nonlinear optimal control problem is solved to iteratively improve the trajectory.  ...  Our novel algorithm solves the problem in three steps; (i) first a path planning algorithm calculates an initial collision free path, (ii) a convex optimal control problem is then formulated to follow  ...  It was supported by the Swedish Governmental Agency for Innovation Systems.  ... 
doi:10.1109/coase.2013.6654025 dblp:conf/case/BjorkenstamGBCL13 fatcat:odwfrzheijfaxlnvyfuogbojzm

Time-Optimal Maneuver Planning in Automatic Parallel Parking Using a Simultaneous Dynamic Optimization Approach

Bai Li, Kexin Wang, Zhijiang Shao
2016 IEEE transactions on intelligent transportation systems (Print)  
In autonomous parking, maneuver planning is a crucial procedure that determines how intelligent the entire parking system is.  ...  Given that near-feasible solutions have been widely acknowledged to ease optimizing nonlinear programs (NLPs), a critical region-based initialization strategy is proposed to facilitate the offline NLP-solving  ...  Jiang for their precious comments and suggestions.  ... 
doi:10.1109/tits.2016.2546386 fatcat:xmpvp77tdfdrrhotigbznmu62a

The Seventeenth International Conference on Automated Planning and Scheduling (ICAPS-07)

Mark Boddy, Maria Fox, Sylvie Thiébaux
2008 The AI Magazine  
The program consisted of tutorials, workshops, system demonstrations, a doctoral consortium, and three days of technical presentations mostly in parallel sessions.  ...  ICAPS-07 also hosted the second edition of the International Competition on Knowledge Engineering for Planning and Scheduling. This report describes the conference in more detail.  ...  An honorable mention was awarded to Fahiem Bacchus and Froduald Kabanza for their paper "Using Temporal Logic to Control Search in a Forward Chaining Planner," published in the Proceedings of the European  ... 
doi:10.1609/aimag.v29i3.2162 fatcat:gootkj3xqvfadceypalmxoy7oy

Model-based optimization of consolidation processing

Ravi Vancheeswaran, Haydn N.G. Wadley
1998 Materials Science & Engineering: A  
As an example, we explore the planning of process schedules that process failure surfaces for several TMC systems.  ...  We then introduce the idea of process failure surfaces and show how a model predictive control algorithm, is able to design 'locally' optimal process cycles that minimize fiber damage, reaction product  ...  Kosut for helpful discussions about this research and to D. Elzey for suggestions in implementing the models. This work has been funded by DARPA through a contract with Integrated Sys-  ... 
doi:10.1016/s0921-5093(97)00826-5 fatcat:oenxerp26zasvj76aob2pvm5mi

Optimizing Industrial Robots for Accurate High-Speed Applications

Hubert Gattringer, Roland Riepl, Matthias Neubauer
2013 Journal of Industrial Engineering  
Most importantly, all procedures are evaluated in practical experiments on a standard robot with industrial control hardware and the recorded measurements are presented, a step often missing in publications  ...  Therefore, this contribution introduces a step-by-step sequence of multiple nonlinear optimizations.  ...  However, the authors do not have a direct relation to any mentioned hardware and software products.  ... 
doi:10.1155/2013/625638 fatcat:khwe3tlmvnfqjgrjyxqp4m6siu

MPC Based Vehicular Trajectory Planning in Structured Environment

Qing Shi, Jin Zhao, Abdelkader El Kamel, Ismael Lopez-Juarez
2021 IEEE Access  
Firstly, a high-level planner formulates an optimal control problem to obtain an optimal trajectory while satisfying different constraints.  ...  Including a high-level planner ensures the feasibility of safe trajectory planning and the use of a low-level controller ensures tracking stability for safe driving, even under various collision constraints  ...  In [14] , a tracking control problem was solved by combining MPC with PID feedback control of yaw rate.  ... 
doi:10.1109/access.2021.3052720 fatcat:yfgqhz2rvrdafog6eur2ekzeee

Globally Optimal Inverse Kinematics Method for a Redundant Robot Manipulator with Linear and Nonlinear Constraints

Alessandro Tringali, Silvio Cocuzza
2020 Robotics  
Problems with a high number of parameters have been addressed providing a sequential version of the method based on successive stages of interpolation.  ...  Moreover, the effectiveness of the presented method has been shown when used to solve problems with constraints on joint displacement, velocity, torque, and power.  ...  In order to extend the method ability to solve problems with very high dimensionality, a sequential procedure is proposed, based on a relaxed problem with a limited number of end-effector path points.  ... 
doi:10.3390/robotics9030061 fatcat:4k4r5op2lna4via3rhgquceeae

Intelligent planning of Grafcet charts

L Castillo, J Fdez-Olivares, A González
2000 Robotics and Computer-Integrated Manufacturing  
This work provides a new e!ort in this direction and presents MACHINE, an arti"cial intelligence planner able to automatically obtain Grafcet charts for manufacturing systems.  ...  Manufacturing systems are entering a new age in which the demands of a market in continuous change impose their conditions on production processes.  ...  Fig. 3 . 3 A control sequence which solves the manufacturing problem stated in Example 2. Fig. 5 . 5 The "nal Grafcet chart for the manufacturing problem of Example 2.Fig. 6. Case 1.  ... 
doi:10.1016/s0736-5845(99)00059-9 fatcat:my2ithwufnfjjag4rrh37k5hla

The interaction between scheduling and control of semi-cyclic hybrid systems

Ton J.J. van den Boom, Hilco de Bruijn, Bart De Schutter, Leyla Özkan
2018 IFAC-PapersOnLine  
Traditionally scheduling and control problems are considered in a sequential way. First the scheduling problem is solved and subsequently the control problem.  ...  In this paper a new iterative approach is proposed for the design of a combined real-time scheduling and control algorithm that can be applied to industrial systems that are described by a hybrid model  ...  Traditionally scheduling and control problems are considered in a sequential way. First the scheduling problem is solved and subsequently the control problem.  ... 
doi:10.1016/j.ifacol.2018.06.303 fatcat:ytpgmgyx3bdhnisd57qu7opfky

Solution Methodology for Scheduling Problems in Batch Plants

Samuel Moniz, Ana Paula Barbosa-Póvoa, Jorge Pinho de Sousa, Pedro Duarte
2014 Industrial & Engineering Chemistry Research  
A problem representation and a mixed integer linear programing (MILP) model are developed and applied to solve a real world scheduling problem from the chemical−pharmaceutical industry.  ...  This paper proposes a solution methodology for the production scheduling of batch plants.  ...  ■ ACKNOWLEDGMENTS The authors gratefully acknowledge the financial support of Hovione FarmaCiencia SA, Fundacaõ para a Ciencia e Tecnologia, under Grant SFRH/BD/33970/2009, and the North Portugal Regional  ... 
doi:10.1021/ie403129y fatcat:vp3ggq5ihbhhzmvomtjfq7v62i

Decentralized Motion Planning and Scheduling of AGVs in an FMS

Guillaume Demesure, Michael Defoort, Abdelghani Bekrar, Damien Trentesaux, Mohamed Djemai
2018 IEEE Transactions on Industrial Informatics  
In this paper, decentralized motion planning and scheduling of automated guided vehicles (AGVs) in a flexible manufacturing system (FMS) is proposed.  ...  A motion planner is combined with a scheduler allowing each AGV to update its destination resource during navigation in order to complete the transported product.  ...  His research interests are mainly related to nonlinear control, observation, and fault detection theory including hybrid system control, sliding mode, and variable structure systems, with applications  ... 
doi:10.1109/tii.2017.2749520 fatcat:7xuu3dflkfexnioffronbcdbb4

The Review of Mark Planning Problem

Kritsada Puasakul, Paveena Chaovalitwongse
2016 Engineering Journal  
Therefore, key content summary of these papers are useful for researchers who are interested in this type of problem.  ...  For the academic point of view, mark planning has been of interests for more than 15 years. Many papers are published with various objective functions, problem scenarios, and constraints.  ...  To solve this problem, they use the sequential linear goal programming (SLGP) algorithm which sequentially solve each objective by their priorities.  ... 
doi:10.4186/ej.2016.20.3.91 fatcat:z2bkrnxjh5ac5oedxpraqqzbde
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