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The growing usage of ocean facilities and land constraints have necessitated transfers of equipment and cargos to and from support vessels, complex lifts and other stevedoring operations in open sea conditions. Recently, there has been increasing research interests in three-dimensional control and automation of offshore cranes. Suspended cargos in a ship-mounted crane system are caused to swing due...
In this paper we study the radiation treatment planning optimization for Volumetric-Modulated Arc Therapy (VMAT). A nonlinear mixed integer programming model is formulated considering dose rate change and MLC leaf speed constraints. Linearization technique is applied to this model, and the resulting mixed integer programming model is solved by heuristic approach based on Nested Partitions method....
In this paper, we present a robust and flexible vision system for 3D localization of planar parts for industrial robots. Our system is able to work with nearly any object with planar shape, randomly placed inside a standard industrial bin or on a conveyor belt. Differently from most systems based on 2D image analysis, which usually can manage parts disposed in single layers, our approach can estimate...
In today's digital and information-based manufacturing environment, data are basic elements for almost every production control and management activity. This paper focuses on production data processing based on attribute analysis. There are thousands of attributes in semiconductor manufacturing. However, some of them are irrelevant and/or redundant to some optimal production control and management...
The behavior of a system can be described by a set of operations — sometimes called activities or tasks. The process to specify these operation seems to be a real challenge in various situations, for example when designing automation systems or keeping track of the work at an emergency department. In practice, operation behavior specification is often quite inflexible because every possible execution...
In this work we study the problem of coordinating robot paths sharing a common environment in order to minimize cycle time, by avoiding their mutual collisions. This problem is particularly relevant in the automotive industry where several robots perform welding operations to assemble and join a car body. The main contributions of this article are: • to model the path coordination problem in a graph...
The reasoning process used by humans for fault diagnosis is very difficult to model due to the many factors used in developing a hypothesis. Some of these factors do not correspond to cognitive models. The diagnosis of faults in manufacturing systems is often plagued with human emotions and “gut feelings” which are difficult, if not impossible, to model. Many artificial intelligence approaches to...
Unreliable workstations or resources pose challenges in deadlock control for automated manufacturing system (AMS) since resources failures have negative impacts on system activities and make the situation more complex. There are two types of robust deadlock-free control policies, absorbing type and distributing type. Each of them has its advantage as well as its drawback. Based on two modified Banker's...
In this paper, we develop an online real-time system using Kinect and inertial measurement unit (IMU) to recognize and measure stairs for stair climbing tasks of erect mobile robots. This system combines the ideas of statistical characteristics of 3D point cloud data and adjustable geometric models for stair recognition tasks. Through this system, we not only verify the advantages of statistics methods...
One of the key challenges for industrial robotics is the high level of expertise and effort required to program a robust, production-quality robot system. In most cases, a highly trained specialist is required to setup a system, which drives up the installation costs. Standard text-based methods for programming robots oftentimes result in programs that are difficult to maintain due to their complex...
Deadlock avoidance policies (DAPs) are of vitally importance for system control in order that correct deadlock-free resource allocation decisions can be made and continuing system operations can be guaranteed. This paper aims to present a DAP for FASs with assembly processes as their most important operations. The DAP, which is based on a variant of the well-known Banker's approach in computer science...
Metrology, the theoretical and practical study of measurement, has applications in automated manufacturing, inspection, robotics, surveying, and healthcare. An important problem within metrology is how to interactively use a measuring device, or probe, to determine some geometric property of an unknown object; this problem is known as geometric probing. In this paper, we study a type of proximity...
Improving patient safety is the top priority for hospital management. On the hospital floor, an inpatient may experience clinical deterioration during his/her stay. Quick and appropriate treatment from the nurse, physician, and rapid response team (RRT) is essential to rescue the patient. In this paper, we introduce an analytical method to model and analyze the hospital inpatient rescue (HIR) process...
In this paper, a novel random matrix approach is utilized to characterize the uncertainty propagation in the articulated robotic systems. This method permits the probabilistic formulation to take into account the complexity and structural inter-dependencies of the kinematic manipulators. However, conventional random variable/vector based approaches are unable to address this issue. The kinematic Jacobian...
In this work we deal with a system of autonomous mobile vehicles with limited communication range and consider the problem of the formally correct distributed control, i.e., the design of the local control for each particular agent so that it ensures globally correct behavior of the system. A particular problem is the fact that the knowledge about the system state possessed by the agents is partial...
In this paper, we consider a customer order scheduling problem, in which there are n orders from n different customers, and each customer order consists of one or more jobs of different types, and each kind of jobs can be only processed on one machine. The objective is to minimize the total weighted completion time of the orders. We propose a novel quadratic formulation for this problem, then we transform...
Industrial robotic manipulators have successfully automated many stationary factory tasks, but there exist many other tasks which could be automated given a mobile platform. One such task is kitting, the process of gathering the constituent elements of a larger unit (the “kit”) from inventory. ABBY is a prototype of a low-price industrial mobile manipulator platform chiefly composed of an ABB IRB-120...
Production optimization of gas-lifted oil wells with routing and pressure constraints is a complex problem, which has attracted the interest of engineers and scientists alike. To this end, a mixed-integer nonlinear model is developed to automatically decide upon flowing well production to a single or multiple manifolds (in the paper referred to as automatic routing). To bypass the complexity of the...
Battery equalizers are widely used in multi-battery systems to maintain balanced charge among individual battery cells. While research on the hardware realization of battery equalizers has received significant attention, rigorous analysis of battery equalization process from the system's point of view remains largely unexplored. In this paper, we study two types of battery equalization system structures:...
This paper presents a decentralized model predictive control strategy for nonlinear network systems having multiple coupling delay elements. Linear interconnections, whose topologies are defined by an unweighted Laplacian matrix, and persistent input disturbances are considered in this development. On the ground of the incrementally accumulative quadratic constraint presented previously, the time-domain...
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