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In this paper, we deal with a product mix optimization problem in production planning, and formulate the problem into two kinds of mathematical programming models, both of which are to obtain the optimal solution of large scale problems. In additional to the linear programming model, a mixed-integer programming model, in which another practical constraint is considered, is introduced. Moreover, through...
The paper describes the control architecture and the motion strategy of a five degrees of freedom robotic leg. The prototype realized is pneumatically actuated, so the control strategy is specifically designed in order to ensure a proper stability during the motion. The control architecture is composed of a three level feedback loop that allows a three dimensional trajectory generation, directly in...
The paper presents an approach to obtain a closed-loop model of controlled manufacturing systems. The major obstacle in applying such models to formal verification of real systems is the effort that is needed to design a formal model of the plant behavior. We show in this contribution how a semi-formal description of the plant, called pneumatic equipment plan, can be used to reduce the effort to design...
The use of distributed computing architectures has become commonplace in complex embedded systems with potential advantages, for example, in terms of scalability, dependability and maintainability. One particular area in which that trend can be witnessed is mobile autonomous robotics in which several sensors and actuators are interconnected by means of a control network. In this paper we address one...
Current situation in industry is characterized by a strong trend towards distributed automation systems based on intelligent devices and intelligent decision making. This affects on the one hand the hardware components and on the other hand the approaches of software development and processing. In addition to this, Ethernet technologies are penetrating more and more the field device level applying...
Traceability in food chains is now mandatory for companies interested in food processing. Every food chain is made up of a variable number of companies which cooperate through the exchange of materials and services. Since the guarantee about a product doesn't depend on a single company, but it depends on all the factories of the food chain, a traceability system can provide information useful to reconstruct...
The target of this research is to address scheduling problems in order to ship multi-item orders in a rice milling process on the same day the order is placed. Milled rice can be stored as stock for some days and can be shipped from stock to satisfy orders. The setup time for switching milled items are needed and work hours in a day are given in the process. Scheduling is generated from the producers'...
The paper presents two new target platforms for the C-code generated by the Simulink/RTW toolboxes: the iFIX SCADA system and the GE Fanuc Series 90 PLCs. The presented solutions build interfaces to the C-code generated by the RTW toolbox and allow building the executable files that are functionally equivalent to the source Simulink diagrams. The executables are executed outside the Simulink directly...
The interest of the creation of robots with emotions has been growing for the last years mainly in the topic of human-robot interaction. This paper focuses in the emotion as a mechanism for the organisation of the robot behaviour. An emotional robot should be adapted in real-time to the conditions of the environment based on its physical (actuators) and on its mental (processes) capabilities. A real-time...
Fractional order systems are receiving more and more attention from the scientific literature as many real systems showed behavior which can be represented by fractional order differential equations. Besides many control design methods are being investigated since fractional order controllers guarantee robust stability in wide frequency ranges. This paper uses generalized Laguerre orthogonal functions...
Autonomous mobile robots typically interact with unknown environments and are subject to many kinds of faults. Adaptive fault tolerance is the dynamic adjustment of behavior of a system, as a consequence of variation of external or internal conditions or changes in immediate goals. This work presents a methodology for the design of robot control including adaptive fault tolerance. We use the hybrid...
Key replacement in cryptographic building blocks (algorithms and protocols) is a required operation in order to meet the security requirements. The common practice is to have only one cryptographic key valid for any given time moment and periodically change this key. We propose a scheme that allows multiple keys to be valid at any moment and describe a method that allows the receiver to identify the...
Power awareness and quality of service (QoS) integration in wireless systems are two of the main research activities in wireless systems today. As frameworks are developed to handle dynamic reconfiguration, the need for a power optimization methodology to investigate alternative cross-layer configurations is imposed as critical. However, as networks become more complex and energy savings become critical,...
The object of this research is to design and prototype a linear/rotary ultrasonic motor based upon multi-mode resonance behaviors for a piezoelectrically excited driver structure system. The whole ultrasonic motor system includes a pair of piezoactuator-equipped driver rods, a linear/rotary driven shaft, and a set of high-voltage power stages for energizing the piezoelectric stacks. The linear/rotary...
This paper presents the implementation of two digital sinusoidal PWMs (DSPWMs) using a low-cost 8-bit micro-controller. Each DSPWM is implemented using two different PWM hardware modes on the micro-controller. The benefits and limitations of each DSPWM are investigated in relation to the switching frequency and micro-controller performance from experimental verification using a 2 kVA single-phase...
Hierarchical communicating real-time state machines (H-CRSM) is a formal modelling language for the modular development of distributed real-time systems. The formalism is characterized by the use of state transitions with guarded commands and timing constraints, the adoption of a few distilled statecharts constructs, and the modular specification of timing constraints along a state hierarchy. This...
At present, a number of platforms are becoming available for the implementation of intelligent field devices, which are based on low-cost microcontrollers and open-source real-time operating systems. To take full benefit from these platforms and to ease the task of developing and porting the application software, a standard interface has to be provided to cope with communication facilities. In this...
Recent developments in signal processing, pattern recognition, neural networks and powerful (low-cost) embedded processors allow including speech processing for human-machine interaction in consumer equipment. In this paper we present a compact system for vowels and small vocabulary recognition, its orientation being consumer applications, where cost is of paramount importance. In this case, the speech...
In the last years, in the area of bio-inspired robotics, the research activity has been directed to high level aspects that includes psychological theories and behavioral approaches. In this paper a new simulation tool for perceptive system based on the sensing-perception-action loop is proposed. The framework has been designed to evaluate the performance of control strategies applied to the navigation...
Creating budgets for making mechanized pieces, requires specific knowledge of this work which few people have in a factory. To solve the problem that can cause the lack of specialized personnel, this paper shows the creation of an expert system built using the tool ClonEx. The expert system behaves like an expert in budgeting with deep technical knowledge. The system makes budgets based on concrete...
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