IEEE Trans. Robotics Autom.最新文献_第9页

Diagnosis of repeated/intermittent failures in discrete event systems 离散事件系统中重复/间歇故障的诊断

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809590

Shengbing Jiang, Ratnesh Kumar, H. Garcia

{"title":"Diagnosis of repeated/intermittent failures in discrete event systems","authors":"Shengbing Jiang, Ratnesh Kumar, H. Garcia","doi":"10.1109/TRA.2003.809590","DOIUrl":"https://doi.org/10.1109/TRA.2003.809590","url":null,"abstract":"We introduce the notion of repeated failure diagnosability for diagnosing the occurrence of a repeated number of failures in discrete event systems. This generalizes the earlier notion of diagnosability that was used to diagnose the occurrence of a failure, but from which the information regarding the multiplicity of the occurrence of the failure could not be obtained. It is possible that in some systems the same type of failure repeats a multiple number of times. It is desirable to have a diagnoser which not only diagnoses that such a failure has occurred, but also determines the number of times the failure has occurred. To aid such analysis we introduce the notions of K-diagnosability (K failures diagnosability), [1, K]-diagnosability (1 through K failures diagnosability), and [1, /spl infin/]-diagnosability (1 through /spl infin/ failures diagnosability). Here the first (resp., last) notion is the weakest (resp., strongest) of all three and the earlier notion of diagnosability is the same as that of K-diagnosability or that of [1, K]-diagnosability with K=1. We give polynomial algorithms for checking these various notions of repeated failure diagnosability and also present a procedure of polynomial complexity for the online diagnosis of repeated failures.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132837192","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}

引用次数: 118

Price-based approach for activity coordination in a supply network 供应网络中基于价格的活动协调方法

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.809589

P. Luh, Ming-Chuan Ni, Haoxun Chen, L. Thakur

{"title":"Price-based approach for activity coordination in a supply network","authors":"P. Luh, Ming-Chuan Ni, Haoxun Chen, L. Thakur","doi":"10.1109/TRA.2003.809589","DOIUrl":"https://doi.org/10.1109/TRA.2003.809589","url":null,"abstract":"Pressed by market globalization and concomitant competition, more and more manufacturers are relying on their suppliers to provide raw materials and component parts so as to focus on their core competence. As a result, the coordination of activities across a network of suppliers becomes critical to quickly respond to dynamic market conditions. In this paper, a novel framework combining mathematical optimization and the contract net protocol is presented for make-to-order supply network coordination. Interactions among organizations are modeled by a set of interorganizational precedence constraints and the objective is to achieve the organizations' individual and shared goals of fast product delivery and low inventory. These interorganizational constraints are relaxed by using a set of interorganizational prices that represent marginal costs per unit time for the violation of such constraints. The overall problem is thus decomposed into organizational subproblems, where individual organizations schedule their activities based on their internal situations and interorganizational prices. Coordination is achieved through an iterative price-updating process carried out in a distributed and asynchronous manner. With prices dynamically updated and schedules adjusted, this approach coordinates activities to fulfill existing commitments while maintaining agility to take on new orders. Numerical testing results show that interorganizational prices converge and prices may change as new orders arrive to reflect the new pressure on deliveries.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124852347","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}

引用次数: 58

A human-assisting manipulator teleoperated by EMG signals and arm motions 通过肌电图信号和手臂运动远程操作的人工辅助机械手

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808873

O. Fukuda, T. Tsuji, M. Kaneko, A. Otsuka

{"title":"A human-assisting manipulator teleoperated by EMG signals and arm motions","authors":"O. Fukuda, T. Tsuji, M. Kaneko, A. Otsuka","doi":"10.1109/TRA.2003.808873","DOIUrl":"https://doi.org/10.1109/TRA.2003.808873","url":null,"abstract":"This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master-slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part and an arm control part. The hand and wrist control part selects an active joint in the manipulator's end-effector and controls it based on EMG pattern discrimination. The arm control part measures the position of the operator's wrist joint or the amputated part using a three-dimensional position sensor, and the joint angles of the manipulator's arm, except for the end-effector part, are controlled according to this position, which, in turn, corresponds to the position of the manipulator's joint. These control parts enable the operator to control the manipulator intuitively. The distinctive feature of our system is to use a novel statistical neural network for EMG pattern discrimination. The system can adapt itself to changes of the EMG patterns according to the differences among individuals, different locations of the electrodes, and time variation caused by fatigue or sweat. Our experiments have shown that the developed system could learn and estimate the operator's intended motions with a high degree of accuracy using the EMG signals, and that the manipulator could be controlled smoothly. We also confirmed that our system could assist the amputee in performing desktop work.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126044164","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}

引用次数: 505

Time-scaling control for an underactuated biped robot 欠驱动双足机器人的时间尺度控制

IEEE Trans. Robotics Autom. Pub Date : 2003-04-08 DOI: 10.1109/TRA.2003.808863

C. Chevallereau

引用次数: 76

Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems 不确定非完整机械系统鲁棒自适应运动/力跟踪控制

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807528

M. Oya, C. Su, R. Katoh

引用次数: 126

Optimization of cyclic production systems: a heuristic approach 循环生产系统的优化:一种启发式方法

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807529

F. Chauvet, J. Herrmann, J. Proth

引用次数: 27

Design of a live and maximally permissive Petri net controller using the theory of regions 用区域理论设计一个活的和最大允许的Petri网控制器

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807555

A. Ghaffari, N. Rezg, Xiaolan Xie

引用次数: 352

A control switching theory for supervisory control of discrete event systems 离散事件系统监督控制的控制切换理论

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807551

H. Darabi, M. Jafari, A. Buczak

引用次数: 52

An assembly-oriented product family representation for integrated design 面向装配的集成设计产品族表示

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807550

P. D. Lit, J. Danloy, A. Delchambre, J. Henrioud

{"title":"An assembly-oriented product family representation for integrated design","authors":"P. D. Lit, J. Danloy, A. Delchambre, J. Henrioud","doi":"10.1109/TRA.2002.807550","DOIUrl":"https://doi.org/10.1109/TRA.2002.807550","url":null,"abstract":"This paper presents a product family representation model which was developed during a research project called CISAL, the purpose of which was to propose an integrated approach for the design of product families and their assembly system. This model is able to deal with partial information from the design of the product family, a situation that often occurs at early stages of the concurrent design of products and production means. The proposed model is assembly-oriented, because the project covered design for assembly, assembly planning, and line layout issues. In fact, it was developed on the basis of the design methodology itself. An originality of the design approach-which impacted the proposed model-is to decompose the product into so-called functional entities defined by the designer. The product family is then seen as an assembly of functional entities that can be analyzed, designed, and further assembled separately. Component variants are aggregated into generic components, and links between components become generic. The paper presents the essential concepts related to this product family representation, before showing their application to an illustrative industrial case study: a family of signaling relays.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2003-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114178435","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}

引用次数: 14

Jerk-bounded manipulator trajectory planning: design for real-time applications 机械臂轨迹规划:实时应用的设计

IEEE Trans. Robotics Autom. Pub Date : 2003-02-19 DOI: 10.1109/TRA.2002.807548

Sonja E. Macfarlane, E. Croft

引用次数: 392