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The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video...
This work extends the hybrid Petri net (HPN) methodology to study multi-operational production systems, by adding two level supervisory control. In the controller implemented, the first control level refers to the internal function of the models of the fundamental subsystems while the second one describes the interaction between them while forming the overall system model. The supervisory control...
Fuzzy logic is widely used for mobile robot navigation. The main draw back of this approach is the ad hoc design of the controllers used. A popular method for the optimization of fuzzy logic controllers for the navigation of mobile robots is the use of genetic algorithms. An issue, in this procedure is the selection of the fitness function for the improvement of the behavior of a pre-designed controller...
This paper presents an evolutionary algorithm (EA) strategy for the optimization of generic work-in-process (WIP) scheduling fuzzy controllers. The EA strategy is used to tune a set of distributed fuzzy control modules that are responsible for WIP scheduling. The objective is to control the production rate in each processing stage in a way that satisfies the demand for final products, while reducing...
Timed Petri nets are used to model operational and routing flexibility in production systems. A generalized multi-productive machine module is defined, adapted to system features, repeated and connected to compose the TPN models of production systems with different levels of routing and operation flexibility. The models obtained are used to study system parameters under different conditions. Applicability...
We consider single and multiple part type production lines and networks with finite buffers and unreliable machines. Three fuzzy control modules, namely, line, assembly, and disassembly controller, are developed. The objective is to keep the work-in-process (WIP) inventory and cycle time at low levels, along with high machine utilization and throughput. This is achieved by adjusting the processing...
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