Proceedings of IEEE International Conference on Intelligent Engineering Systems

17-17 Sept. 1997

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  • Proceedings of IEEE International Conference on Intelligent Engineering Systems

    Publication Year: 1997
    Cited by:  Papers (1)
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    Freely Available from IEEE
  • Using fuzzy logic to optimize genetic algorithm performance

    Publication Year: 1997, Page(s):271 - 275
    Cited by:  Papers (5)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (454 KB)

    This paper reviews current methods of integrating genetic algorithms with fuzzy logic control. A fuzzy logic controlled genetic algorithm (FLC-GA) is proposed where operator selection and parameter adjustment is carried out dynamically and automatically. The fuzzy logic controller facilitates this automated control by employing an associated rule base and inference engine. This decides, using feed... View full abstract»

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  • On the numerical speed control of electrical drive systems using stepping motors

    Publication Year: 1997, Page(s):357 - 360
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (381 KB)

    The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical control algorithm is implemented using an IBM PC together with a specialized interface for stepper motors. The solution was obtained in two steps: the first was a nonlinear control law an... View full abstract»

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  • Virtual Plant: a distributed environment for distance monitoring and control of industrial plants

    Publication Year: 1997, Page(s):445 - 449
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (478 KB)

    This paper proposes a Virtual Plant to access through the Internet (or Intranet) a remote industrial plant and interact with it from a distance. The aim is remote performance of the normal monitoring and control operations that are usually carried out locally, so that the technicians who evaluate the trend of the production cycle, or diagnose and possibly resolve any malfunctions that occur, do no... View full abstract»

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  • Author index

    Publication Year: 1997, Page(s):587 - 591
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    Freely Available from IEEE
  • Simulation of fuzzy motion controlled four-wheel steered mobile robot

    Publication Year: 1997, Page(s):89 - 94
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (496 KB)

    This paper contains a description of simulation software, which has two parts. The first part is about the simulation of physical object such as the four-wheel steered mobile robot. The second part is about the control algorithms. It also contains some results of the simulation and some developing consideration related to the software and positioning View full abstract»

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  • Some applications of soft computing methods in system modelling and control

    Publication Year: 1997, Page(s):469 - 474
    Cited by:  Patents (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (404 KB)

    The paper deals with the application of fuzzy systems, artificial neural networks (neural systems) and genetic algorithms to solve modelling and control problems in system engineering. The first part of the paper deals with the design of classical PID and fuzzy PID-type controllers for nonlinear systems with (approximately) known dynamic model. The optimal controllers are designed based on genetic... View full abstract»

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  • Vision based navigation for multi-agent mobile robot system in the transport domain

    Publication Year: 1997, Page(s):165 - 169
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (288 KB)

    In this paper we present the concept of a landmark-based navigation sensor structure in a mobile robot environment. The distance measurement unit is a robust active 3D measuring head containing a CCD camera and a laser with mechanical deflection. The sensor measures the position of some characteristic points located on the object to be measured. Special landmarks are placed on these characteristic... View full abstract»

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  • Error control navigation codes for autonomous mobile robots

    Publication Year: 1997, Page(s):141 - 146
    Cited by:  Papers (1)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (576 KB)

    The determination of the current absolute position provides the basis for any path planning and navigation purposes of mobile robots. Here, a navigation system is proposed which uses floor tiles that contain different deterministic or random patterns with encoded information for the determination of the robot's absolute position. This navigation code has powerful error control capabilities. Both t... View full abstract»

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  • Robust speed fuzzy logic controller for DC drive

    Publication Year: 1997, Page(s):385 - 389
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (344 KB)

    The robust fuzzy speed control for a DC drive is considered. On the basis of the heuristic reasoning the main features of the robust speed controller are considered and the fuzzy controller that provides robust control for the DC speed drive has been designed. Results of simulation and results of the experiment on the real plant demonstrate that the proposed fuzzy controller is able to overcome th... View full abstract»

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  • Implementation of neural network sliding-mode controller for DD robot

    Publication Year: 1997, Page(s):83 - 88
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (452 KB)

    The experimental development of a trajectory tracking neural network controller based on the theory of continuous sliding-mode controllers is shown in the paper. The neural network control law was verified on a real direct drive 3 DOF PUMA mechanism. The new neural network sliding-mode controller was successfully tested for trajectory tracking sudden changes in the manipulator dynamics (load). The... View full abstract»

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  • The state of tensions for screws with thread made up through plastic deformation

    Publication Year: 1997, Page(s):523 - 526
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (372 KB)

    In experiments which have been carried out it has been noticed that even non-ferrous alloys suffer considerable elastic deformations very close to those of steel. In this work, we present a series of diagrams of evolution for the internal tensions, as a function of the step of the thread, the attach angle of the screw tap and the threading rotation. We also present the state of tension from the th... View full abstract»

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  • Recovery and refinement of motion and structure from perspectively projected optical flow

    Publication Year: 1997, Page(s):439 - 444
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (508 KB)

    Determination of the 3D motion and structure of an object from its perspectively projected 2D image is one of the most important problems in computer vision. Previous works on shape and motion from optical flow have been unsatisfactory because they require solving nonlinear simultaneous equations using iterative search. In the present paper, we propose a method for the recovery of motion and struc... View full abstract»

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  • Fuzzy inversion and rule base reduction

    Publication Year: 1997, Page(s):301 - 306
    Cited by:  Papers (21)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (488 KB)

    This paper proposes a new design method based on linguistic model inversion and fuzzy rule reduction using singular value decomposition. Firstly, a piecewise linear fuzzy approximation of the controlled plant is identified by measurement. Secondly, the linear cells of the fuzzy model is inverted to achieve a controller. The inversion increases the fuzzy rule base. Thirdly, the redundant or small w... View full abstract»

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  • Mobile agents and remote operation

    Publication Year: 1997, Page(s):463 - 468
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (568 KB)

    The Internet has been opening new opportunities for remote operation. In fact its universal infrastructure of communications allows an easy and economic way of interaction between different sites despite the distance separating them. However, the traditional client-server architecture is becoming a drawback for those applications which require the processing of large amounts of data coming from on... View full abstract»

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  • Locomotion simulation of a quadruped robot on general level terrain

    Publication Year: 1997, Page(s):159 - 164
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (472 KB)

    To design a quadruped mobile robot that has a capability to move on a general terrain, its motion on a specific terrain should be studied carefully. The level terrain is classified into three classes, horizontal, inclined and vertical terrain. Kinematics algorithms for modelling and simulating the robot locomotion on these three terrain classes are presented. The walking stable wave and the wall c... View full abstract»

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  • Inverse modelling of the kinematical errors of industrial robots

    Publication Year: 1997, Page(s):135 - 140
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (408 KB)

    For the relative positioning of the elements in the mechanical structure of the robots, DH type (Denavit-Hartenberg) parameters are used. They are characterised by certain geometrical errors which affect the robot kinematic and dynamic structure. The paper presents both the mathematical model for the DH type of geometrical errors calculus and the matrix equations typical of the direct and inverse ... View full abstract»

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  • Testing of intelligent robots, development and experience

    Publication Year: 1997, Page(s):119 - 121
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (220 KB)

    Industrial Robots (IR) has dominant functional position in the Robotized Manufacturing Systems (RMS). Knowing the features of IR determines success and effectivity of work RMS. The working reliability of IR explains in complex the quality of function of IR in the concrete working conditions. For testing IR, the standard ISO 9283 was made, the standard has positive results in praxis. Our experience... View full abstract»

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  • Kinematic analysis of artificial biped locomotion systems

    Publication Year: 1997, Page(s):345 - 350
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (528 KB)

    This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this w... View full abstract»

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  • Fuzzy logic controllers design: a case study

    Publication Year: 1997, Page(s):233 - 238
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (516 KB)

    An approach to designing fuzzy logic controllers based on the knowledge about how to control a process and the experience of operators working with the process is presented. The fuzzy control goals are to reach the best transient and steady state performances. To obtain these performances, the rule base and fuzzy set membership functions of the fuzzy logic controllers must be adjusted. Two approac... View full abstract»

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  • History and recent trends in soft computing: research and application aspects in Japan

    Publication Year: 1997, Page(s):31 - 37
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (628 KB)

    Japanese industrial research and applications in the field of soft computing that covers fuzzy logic, neurocomputing and chaos have been surveyed. In the middle of the 1980's in Japan fuzzy technology became a central issue for mainly process control and the year 1990 became a so called “fuzzy-home electronics year.” These technologies are mainly based on if-then rule based fuzzy infer... View full abstract»

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  • Adaptive control for position DC drive on the basis of self-tuning P-controller

    Publication Year: 1997, Page(s):379 - 383
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (372 KB)

    Adaptive control for a servo DC drive is considered. For the drive with variable parameters a new adaptive control algorithm that provides transient response without overshoot and with minimum process time, is proposed. The basis of the control is a cascade structure with a self-tuning P-controller in the position loop. The algorithm is examined for a position reference signal of the step input ty... View full abstract»

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  • Robust sliding mode based impedance control

    Publication Year: 1997, Page(s):77 - 82
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (444 KB)

    Industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and force control ability appears. Many algorithms have been proposed which deal with robot motion and force control. They could be mainly separated into two classes, namely: hybrid control, where constrained and unconstra... View full abstract»

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  • Product modeling methods in collaborative engineering environments

    Publication Year: 1997, Page(s):517 - 522
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (564 KB)

    Thousands of advanced modeling tools have been developed for design and planning environments. Computer procedures and engineers work together in a comprehensive system where advanced tools are available for communication between procedures and humans. In recent years these software tools are continuously getting into the every day work of engineers. This paper focuses on the relations amongst the... View full abstract»

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  • Forecasting system on Lotus 1-2-3 for industry

    Publication Year: 1997, Page(s):433 - 438
    Request permission for commercial reuse | Click to expandAbstract |PDF file iconPDF (808 KB)

    Currently, there are many available software packages for forecasting in manufacturing firms. Some packages are fairly simple and easy to use but they do not cover the full range of forecasting methods. Some packages are more advanced with a large capacity for graphics and graphical interface designed especially for commercial environments. However, they cannot be used with personal computers (PCs... View full abstract»

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