Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

Metodología dirigida por modelos para las pruebas de un sistema distribuido multiagente de fabricación

Las presiones del mercado han empujado a las empresas de fabricación a reducir costes a la vez que mejoran sus productos, especializándose en las actividades sobre las que pueden añadir valor y colaborando con especialistas de las otras áreas para el resto. Estos sistemas distribuidos de fabricación conllevan nuevos retos, dado que es difícil integrar los distintos sistemas de información y organizarlos de forma coherente. Esto ha llevado a los investigadores a proponer una variedad de abstracciones, arquitecturas y especificaciones que tratan de atacar esta complejidad. Entre ellas, los sistemas de fabricación holónicos han recibido una atención especial: ven las empresas como redes de holones, entidades que a la vez están formados y forman parte de varios otros holones. Hasta ahora, los holones se han implementado para control de fabricación como agentes inteligentes autoconscientes, pero su curva de aprendizaje y las dificultades a la hora de integrarlos con sistemas tradicionales han dificultado su adopción en la industria. Por otro lado, su comportamiento emergente puede que no sea deseable si se necesita que las tareas cumplan ciertas garantías, como ocurren en las relaciones de negocio a negocio o de negocio a cliente y en las operaciones de alto nivel de gestión de planta. Esta tesis propone una visión más flexible del concepto de holón, permitiendo que se sitúe en un espectro más amplio de niveles de inteligencia, y defiende que sea mejor implementar los holones de negocio como servicios, componentes software que pueden ser reutilizados a través de tecnologías estándar desde cualquier parte de la organización. Estos servicios suelen organizarse como catálogos coherentes, conocidos como Arquitecturas Orientadas a Servicios (‘Service Oriented Architectures’ o SOA). Una iniciativa SOA exitosa puede reportar importantes beneficios, pero no es una tarea trivial. Por este motivo, se han propuesto muchas metodologías SOA en la literatura, pero ninguna de ellas cubre explícitamente la necesidad de probar los servicios. Considerando que la meta de las SOA es incrementar la reutilización del software en la organización, es una carencia importante: tener servicios de alta calidad es crucial para una SOA exitosa. Por este motivo, el objetivo principal de la presente Tesis es definir una metodología extendida que ayude a los usuarios a probar los servicios que implementan a sus holones de negocio. Tras considerar las opciones disponibles, se tomó la metodología dirigida por modelos SODM como punto de partida y se reescribió en su mayor parte con el framework Epsilon de código abierto, permitiendo a los usuarios que modelen su conocimiento parcial sobre el rendimiento esperado de los servicios. Este conocimiento parcial es aprovechado por varios nuevos algoritmos de inferencia de requisitos de rendimiento, que extraen los requisitos específicos de cada servicio. Aunque el algoritmo de inferencia de peticiones por segundo es sencillo, el algoritmo de inferencia de tiempos límite pasó por numerosas revisiones hasta obtener el nivel deseado de funcionalidad y rendimiento. Tras una primera formulación basada en programación lineal, se reemplazó con un algoritmo sencillo ad-hoc que recorría el grafo y después con un algoritmo incremental mucho más rápido y avanzado. El algoritmo incremental produce resultados equivalentes y tarda mucho menos, incluso con modelos grandes. Para sacar más partidos de los modelos, esta Tesis también propone un enfoque general para generar artefactos de prueba para múltiples tecnologías a partir de los modelos anotados por los algoritmos. Para evaluar la viabilidad de este enfoque, se implementó para dos posibles usos: reutilizar pruebas unitarias escritas en Java como pruebas de rendimiento, y generar proyectos completos de prueba de rendimiento usando el framework The Grinder para cualquier Servicio Web que esté descrito usando el estándar Web Services Description Language. La metodología completa es finalmente aplicada con éxito a un caso de estudio basado en un área de fabricación de losas cerámicas rectificadas de un grupo de empresas español. En este caso de estudio se parte de una descripción de alto nivel del negocio y se termina con la implementación de parte de uno de los holones y la generación de pruebas de rendimiento para uno de sus Servicios Web. Con su soporte para tanto diseñar como implementar pruebas de rendimiento de los servicios, se puede concluir que SODM+T ayuda a que los usuarios tengan una mayor confianza en sus implementaciones de los holones de negocio observados en sus empresas

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man

Advances in Intelligent Robotics and Collaborative Automation

This book provides an overview of a series of advanced research lines in robotics as well as of design and development methodologies for intelligent robots and their intelligent components. It represents a selection of extended versions of the best papers presented at the Seventh IEEE International Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications IDAACS 2013 that were related to these topics. Its contents integrate state of the art computational intelligence based techniques for automatic robot control to novel distributed sensing and data integration methodologies that can be applied to intelligent robotics and automation systems. The objective of the text was to provide an overview of some of the problems in the field of robotic systems and intelligent automation and the approaches and techniques that relevant research groups within this area are employing to try to solve them.The contributions of the different authors have been grouped into four main sections:• Robots• Control and Intelligence• Sensing• Collaborative automationThe chapters have been structured to provide an easy to follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area

An exploration of executive coaching as an experiential learning process within the context of the integrated experiential coaching model.

This research project involved a phenomenological exploration of executive coaching as an experiential learning process within the context of the Integrated Experiential Coaching Model. This model proposes that executive coaching is about facilitating integrated experiential learning in individuals in order to facilitate personal growth and development with the aim of improving individual and organizational performance. It is not therapy. It is integrated in that it caters for Schumacher’s Four Fields of Knowledge and Wilber’s Integral Model which caters for personal development through various levels of consciousness, especially in the personal and transpersonal levels. It is experiential in that it uses Kolb’s Experiential Learning model as the injunction and uses Harri-Augstein and Thomas’s concept of Learning Conversations as the primary learning tool. An adapted version of the Transcendental Phenomenological Methodology of Moustakas was chosen to explore and discover the meaning and essence of the learning experience while being coached within the context of the Integrated Experiential Coaching Model. It was hypothesised that the Integrated Experiential Coaching Model facilitated both the prehension and transformational dimensions of Experiential Learning in individuals. The co-researchers understood and owned some significant behavioural dynamics inside of themselves, as well as between themselves and other significant colleagues. This underlines the possibilities of coaching as a staff development intervention to facilitate self-authorisation by working through one’s own unconscious and dynamic behavioural issues. It was hypothesised that coaching presented from this model empowers individual employees to work towards their own cognitive insight, the experience of emotional meaningfulness and taking of responsibility for their own growth and career development

Fractal architecture for 'leagile' networked enterprises.

The manufacturing environment and markets in recent times are becoming increasingly dynamic, diverse and unpredictable, due mainly to fast evolution of products and technology, erratic customer behaviour and high consumerism and an increasingly shorter lead-time. The burden of the impact falls on organisational structures built on centralized, rigid manufacturing architecture, because they cannot cope or adapt to the highly uncertain or unpredictable nature of the market. Enterprises who wish to survive these challenges need to rethink their business and manufacturing models, and most importantly reinvent their tactical, operational and organizational formulas to leverage their strategic long term visions.Newer manufacturing systems to curb the effects of this upheaval have to promote an entirely decentralised, flexible, distributed, configurable and adaptable architecture to ameliorate this condition. Many philosophies are proposed and studied towards planning, monitoring, and controlling the 21st century manufacturing system. These include - Bionic manufacturing system (BMS), Holonic manufacturing system (HMS), Fractal manufacturing system (FrMS), Responsive manufacturing etc.This research program focuses on the FrMS, which has vast conceptual advantageous features among these new philosophies, but its implementation has proved very difficult. FrMS is based on autonomous, cooperating, self-similar agent called fractal that has the capability of perceiving, adapting and evolving with respect to its partners and environment. The fractal manufacturing configuration uses self regulating, organisational work groups, each with identical goals and within its own area of competence to build up an integrated, holistic network system of companies. This network yields constant improvement as well as continuous checks and balances through self-organising control loops. The study investigates and identifies the nature, characteristic features and feasibility of this system in comparison to traditional approaches with a detailed view to maximising the logistical attribute of lean manufacturing system and building a framework for 'leagile' (an integration of lean and agile solutions) networked capabilities. It explores and establishes the structural characteristic potentials of Fractal Manufacturing Partnership (FMP), a hands-on collaboration between enterprises and their key suppliers, where the latter become assemblers of their components while co-owning the enterprise's facility, to create and achieve high level of responsiveness. It is hoped that this architecture will drive and harness the evolution from a vertically integrated company, to a network of integrated, leaner core competencies needed to tackle and weather the storm of the 21st century manufacturing system

Thermal Aware Design Automation of the Electronic Control System for Autonomous Vehicles

The autonomous vehicle (AV) technology, due to its tremendous social and economical benefits, is transforming the entire world in the coming decades. However, significant technical challenges still need to be overcome until AVs can be safely, reliably, and massively deployed. Temperature plays a key role in the safety and reliability of an AV, not only because a vehicle is subjected to extreme operating temperatures but also because the increasing computations demand more powerful IC chips, which can lead to higher operating temperature and large thermal gradient. In particular, as the underpinning technology for AV, artificial intelligence (AI) requires substantially increased computation and memory resources, which have been growing exponentially through recent years and further exacerbated the thermal problems. High operating temperature and large thermal gradient can reduce the performance, degrade the reliability, and even cause an IC to fail catastrophically. We believe that dealing with thermal issues must be coupled closely in the design phase of the AVs’ electronic control system (ECS). To this end, first, we study how to map vehicle applications to ECS with heterogeneous architecture to satisfy peak temperature constraints and optimize latency and system-level reliability. We present a mathematical programming model to bound the peak temperature for the ECS. We also develop an approach based on the genetic algorithm to bound the peak temperature under varying execution time scenarios and optimize the system-level reliability of the ECS. We present several computationally efficient techniques for system-level mean-time-to-failure (MTTF) computation, which show several orders-of-magnitude speed-up over the state-of-the-art method. Second, we focus on studying the thermal impacts of AI techniques. Specifically, we study how the thermal impacts for the memory bit flipping can affect the prediction accuracy of a deep neural network (DNN). We develop a neuron-level analytical sensitivity estimation framework to quantify this impact and study its effectiveness with popular DNN architectures. Third, we study the problem of incorporating thermal impacts into mapping the parameters for DNN neurons to memory banks to improve prediction accuracy. Based on our developed sensitivity metric, we develop a bin-packing-based approach to map DNN neuron parameters to memory banks with different temperature profiles. We also study the problem of identifying the optimal temperature profiles for memory systems that can minimize the thermal impacts. We show that the thermal aware mapping of DNN neuron parameters on memory banks can significantly improve the prediction accuracy at a high-temperature range than the thermal ignorant for state-of-the-art DNNs

Navigating the gap between purposeful action and a Serving Information System

Thesis from De Montfort University, Milton KeynesThis work has been directed at the problem of developing practical means of supporting those involved in a problem situation, in designing their own information systems. The research is underpinned by an interpretive stance, and assumes that information systems are created to support purposeful action in continuously socially constructed organizational settings. It is argued that the initial phase of information system design necessitates undertaking sense making to create a shared appreciation of the situation amongst those involved. One of the main difficulties of designing technology-based information systems is that the methods suited to sense making in social situations are entirely different to the methods and techniques that have been employed to marshall knowledge into a suitable format to facilitate software design. The work offers the notion of navigating an inquiry process from a focus on creating ideas for purposeful action, to creating a logical specification for a technology-based information system. To facilitate this shift in focus, some explicit intellectual devices, or navigational devices, are offered, to structure and support further debate. These navigational devices enable those involved in the situation of concern, the clients, to conceptualise how purposeful action might unfold in the real world, so that some ideas for a serving system can be considered. Previous work addressing this problem area has been criticised for failing to provide a coherent movement from any ideas for purposeful action, to a logical specification for a supporting technology-based information system. By regarding the process of Client Led information system design as a collaborative sense making effort, the design process can be regarded as a learning system, or an appreciative system in Vickers' sense. By employing the same principles of inquiry throughout the design process and by using devices that maintain a similar view of any potential action, it is argued that a sense of coherence can be maintained and this is supported by experiences from practice.Engineering and Physical Sciences Research Council (EPSRC) within the second round of the programme: Systems Engineering for Business Process Change (SEBPC, 1996

Coalition based approach for shop floor agility – a multiagent approach

Dissertation submitted for a PhD degree in Electrical Engineering, speciality of Robotics and Integrated Manufacturing from the Universidade Nova de Lisboa, Faculdade de Ciências e TecnologiaThis thesis addresses the problem of shop floor agility. In order to cope with the disturbances and uncertainties that characterise the current business scenarios faced by manufacturing companies, the capability of their shop floors needs to be improved quickly, such that these shop floors may be adapted, changed or become easily modifiable (shop floor reengineering). One of the critical elements in any shop floor reengineering process is the way the control/supervision architecture is changed or modified to accommodate for the new processes and equipment. This thesis, therefore, proposes an architecture to support the fast adaptation or changes in the control/supervision architecture. This architecture postulates that manufacturing systems are no more than compositions of modularised manufacturing components whose interactions when aggregated are governed by contractual mechanisms that favour configuration over reprogramming. A multiagent based reference architecture called Coalition Based Approach for Shop floor Agility – CoBASA, was created to support fast adaptation and changes of shop floor control architectures with minimal effort. The coalitions are composed of agentified manufacturing components (modules), whose relationships within the coalitions are governed by contracts that are configured whenever a coalition is established. Creating and changing a coalition do not involve programming effort because it only requires changes to the contract that regulates it