An intelligent robotic framework for automated assembly

Recent applications of robots for industrial automation have shown significant improvement in manufacturing processes in terms of reducing labor participation, enhancing flexibility, efficiency and quality of the products. However, most applications are limited to point-to-point and noninteractive operations in which the availability of a highly structured setup is a prerequisite. This prompts the vast emergency of researches on intelligent robotics that are aimed to improve the adaptability, flexibility and dexterity so as to enhance the intelligence of industrial robots. This paper investigates the designs of intelligent robotic systems and discusses the proposed criteria required to achieve an intelligent robotic system. A proposed conceptual framework for robotic assembly is then presented that contains two main parts, namely, a robotic state recognizer and a control strategy generator. In addition to these two components, the integration of compliant motion control into the framework will be described. An example of using the proposed framework to develop a robotic assembly system is given.published_or_final_versio

Detection of Anomalies in the Quality of Electricity Supply

From the last two decades, power quality is getting much attention. Proper functioning of the equipment depends upon the quality of power supplied. Every year, demand of electric power goes on increasing and the power system network is expanding and becoming more complex. On account of thrust on clean power supply, use of renewable sources has dramatically increased in grid but it simultaneously causes power quality problems. In this work, power quality disturbance detection in wind farm integrated with grid is presented. For disturbance detection, time-time transform has been employed. The disturbance signal for the detection purpose is generated in MATLAB/Simulink environment by using a Simulink model

Methodologies synthesis

This deliverable deals with the modelling and analysis of interdependencies between critical infrastructures, focussing attention on two interdependent infrastructures studied in the context of CRUTIAL: the electric power infrastructure and the information infrastructures supporting management, control and maintenance functionality. The main objectives are: 1) investigate the main challenges to be addressed for the analysis and modelling of interdependencies, 2) review the modelling methodologies and tools that can be used to address these challenges and support the evaluation of the impact of interdependencies on the dependability and resilience of the service delivered to the users, and 3) present the preliminary directions investigated so far by the CRUTIAL consortium for describing and modelling interdependencies

An Adaptive Simulation-based Decision-Making Framework for Small and Medium sized Enterprises

Abstract The rapid development of key mobile technology supporting the ‘Internet of Things’, such as 3G, Radio Frequency Identification (RFID), and Zigbee etc. and the advanced decision making methods have improved the Decision-Making System (DMS) significantly in the last decade. Advanced wireless technology can provide a real-time data collection to support DMS and the effective decision making techniques based on the real-time data can improve Supply Chain (SC) efficiency. However, it is difficult for Small and Medium sized Enterprises (SMEs) to effectively adopt this technology because of the complexity of technology and methods, and the limited resources of SMEs. Consequently, a suitable DMS which can support effective decision making is required in the operation of SMEs in SCs. This thesis conducts research on developing an adaptive simulation-based DMS for SMEs in the manufacturing sector. This research is to help and support SMEs to improve their competitiveness by reducing costs, and reacting responsively, rapidly and effectively to the demands of customers. An adaptive developed framework is able to answer flexible ‘what-if’ questions by finding, optimising and comparing solutions under the different scenarios for supporting SME-managers to make efficient and effective decisions and more customer-driven enterprises. The proposed framework consists of simulation blocks separated by data filter and convert layers. A simulation block may include cell simulators, optimisation blocks, and databases. A cell simulator is able to provide an initial solution under a special scenario. An optimisation block is able to output a group of optimum solutions based on the initial solution for decision makers. A two-phase optimisation algorithm integrated Conflicted Key Points Optimisation (CKPO) and Dispatching Optimisation Algorithm (DOA) is proposed for the condition of Jm|STsi,b with Lot-Streaming (LS). The feature of the integrated optimisation algorithm is demonstrated using a UK-based manufacture case study. Each simulation block is a relatively independent unit separated by the relevant data layers. Thus SMEs are able to design their simulation blocks according to their requirements and constraints, such as small budgets, limited professional staff, etc. A simulation block can communicate to the relative simulation block by the relevant data filter and convert layers and this constructs a communication and information network to support DMSs of Supply Chains (SCs). Two case studies have been conducted to validate the proposed simulation framework. An SME which produces gifts in a SC is adopted to validate the Make To Stock (MTS) production strategy by a developed stock-driven simulation-based DMS. A schedule-driven simulation-based DMS is implemented for a UK-based manufacturing case study using the Make To Order (MTO) production strategy. The two simulation-based DMSs are able to provide various data to support management decision making depending on different scenarios

Tools for Nonlinear Control Systems Design

This is a brief statement of the research progress made on Grant NAG2-243 titled "Tools for Nonlinear Control Systems Design", which ran from 1983 till December 1996. The initial set of PIs on the grant were C. A. Desoer, E. L. Polak and myself (for 1983). From 1984 till 1991 Desoer and I were the Pls and finally I was the sole PI from 1991 till the end of 1996. The project has been an unusually longstanding and extremely fruitful partnership, with many technical exchanges, visits, workshops and new avenues of investigation begun on this grant. There were student visits, long term.visitors on the grant and many interesting joint projects. In this final report I will only give a cursory description of the technical work done on the grant, since there was a tradition of annual progress reports and a proposal for the succeeding year. These progress reports cum proposals are attached as Appendix A to this report. Appendix B consists of papers by me and my students as co-authors sorted chronologically. When there are multiple related versions of a paper, such as a conference version and journal version they are listed together. Appendix C consists of papers by Desoer and his students as well as 'solo' publications by other researchers supported on this grant similarly chronologically sorted

Proposal of a complementary method of data compression by discrete event methodology applied at a low level of abstraction

Orientadores: Edson Moschim, Yuzo IanoDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de ComputaçãoResumo: O presente trabalho implementa um modelo baseado em eventos discretos aplicados em um baixo nível de abstração em um sistema de telecomunicações chamado método híbrido, sendo usado o ambiente de simulação Simulink® do software Matlab®. Com o objetivo de melhorar a transmissão da informação em sistemas de telecomunicações e contribuir para a área de estudo, em ambiente de simulação é proposto um processo de pré-codificação de bits baseada na aplicação de eventos discretos no sinal antes do processo de modulação. A proposta traz uma abordagem diferente do que se é usualmente feito, na qual a transmissão de sinal no canal é realizada no domínio discreto com a implementação de entidades discretas no processo de geração de bits, tendo como ênfase o bit zero. Na simulação são considerados formatos de modulação avançada para transmissão de sinal em um canal AWGN. Os resultados mostram melhorias na utilização da memória e no desempenho computacional, sendo de 9 a 34%, assim como também ao tempo de simulação. Sendo assim, a extensão desses resultados, tem um forte impacto no melhoramento de métodos realizados em camadas mais altas, já que a proposta atua na camada físicaAbstract: The present work implements a model based on discrete events applied at a low level of abstraction in a telecommunication system named hybrid method, being used the Simulink® simulation environment of the Matlab® software. With the objective of improving the transmission of information in telecommunication systems and contribute to the study area, in simulation environment is proposed a pre-coding process of bits based in the application of discrete events in the signal before of the modulation process. The proposal brings a different approach of usual technical, in which the signal transmission on the channel is realized in the discrete domain with the implementation of discrete entities in the process of bit generation having as emphasis the zero bit. In the simulation are considered advanced modulation formats for signal transmission in an AWGN channel. The results show improvements in memory utilization and computational performance, from 9 to 34%, as well as simulation time. Thus, the extension of these results has a strong impact on the improvement of methods performed in higher layers, since the proposal acts on the physical layerMestradoEletrônica, Microeletrônica e OptoeletrônicaMestre em Engenharia Elétrica132495/2016-3CNP

Discrete Event Simulations

Considered by many authors as a technique for modelling stochastic, dynamic and discretely evolving systems, this technique has gained widespread acceptance among the practitioners who want to represent and improve complex systems. Since DES is a technique applied in incredibly different areas, this book reflects many different points of view about DES, thus, all authors describe how it is understood and applied within their context of work, providing an extensive understanding of what DES is. It can be said that the name of the book itself reflects the plurality that these points of view represent. The book embraces a number of topics covering theory, methods and applications to a wide range of sectors and problem areas that have been categorised into five groups. As well as the previously explained variety of points of view concerning DES, there is one additional thing to remark about this book: its richness when talking about actual data or actual data based analysis. When most academic areas are lacking application cases, roughly the half part of the chapters included in this book deal with actual problems or at least are based on actual data. Thus, the editor firmly believes that this book will be interesting for both beginners and practitioners in the area of DES

Tools and Algorithms for the Construction and Analysis of Systems

This book is Open Access under a CC BY licence. The LNCS 11427 and 11428 proceedings set constitutes the proceedings of the 25th International Conference on Tools and Algorithms for the Construction and Analysis of Systems, TACAS 2019, which took place in Prague, Czech Republic, in April 2019, held as part of the European Joint Conferences on Theory and Practice of Software, ETAPS 2019. The total of 42 full and 8 short tool demo papers presented in these volumes was carefully reviewed and selected from 164 submissions. The papers are organized in topical sections as follows: Part I: SAT and SMT, SAT solving and theorem proving; verification and analysis; model checking; tool demo; and machine learning. Part II: concurrent and distributed systems; monitoring and runtime verification; hybrid and stochastic systems; synthesis; symbolic verification; and safety and fault-tolerant systems