Computational tasks in robotics and factory automation

The design of Manufacturing Planning and Control Systems (MPCSs) — systems that negotiate with Customers and Suppliers to exchange products in return for money in order to generate profit, is discussed.\ud \ud The computational task of MPCS components are systematically specified as a starting point for the development of computational engines, as computer systems and programs, that execute the specified computation. Key issues are the overwhelming complexity and frequently changing application of MPCSs

Route Tracking Control of Tractor-Trailer Vehicles based on Fuzzy Controller

Recently, Factory Automation is actively been carried out in industry. Usually, a single AGV is used to transport products for factory automation. While, a Tractor-Trailer Vehicle can load much more products compared with a single AGV. Addition to this, transportation time can be shortened by separating containers. But, it is not so easy to drive the trailer according to the orbit during running of the Tractor-Trailer Vehicle. In this study, fuzzy control scheme is studied to support satisfactory route tracing of a tractor-trailer vehicle. To extruct the control rules, a fuzzy control system is developed

Comparison between Different Channel Coding Techniques for IEEE 802.11be within Factory Automation Scenarios

This paper presents improvements in the physical layer reliability of the IEEE 802.11be standard. Most wireless system proposals do not fulfill the stringent requirements of Factory Automation use cases. The harsh propagation features of industrial environments usually require time retransmission techniques to guarantee link reliability. At the same time, retransmissions compromise latency. IEEE 802.11be, the upcoming WLAN standard, is being considered for Factory Automation (FA) communications. 802.11be addresses specifically latency and reliability difficulties, typical in the previous 802.11 standards. This paper evaluates different channel coding techniques potentially applicable in IEEE 802.11be. The methods suggested here are the following: WLAN LDPC, WLAN Convolutional Codes (CC), New Radio (NR) Polar, and Long Term Evolution (LTE)-based Turbo Codes. The tests consider an IEEE 802.11be prototype under the Additive White Gaussian Noise (AWGN) channel and industrial channel models. The results suggest that the best performing codes in factory automation cases are the WLAN LDPCs and New Radio Polar Codes.This work was supported in part by the Basque Government under Grant IT1234-19, in part by the PREDOC under Grant PRE2019_099407, and in part by the Spanish Government through project PHANTOM (MCIU/AEI/FEDER, UE) under Grant RTI2018-099162-B-I00

Reactive with tags classifier system applied to real robot navigation

7th IEEE International Conference on Emerging Technologies and Factory Automation. Barcelona, 18-21 October 1999.A reactive with tags classifier system (RTCS) is a special classifier system. This system combines the execution capabilities of symbolic systems and the learning capabilities of genetic algorithms. A RTCS is able to learn symbolic rules that allow to generate sequence of actions, chaining rules among different time instants, and react to new environmental situations, considering the last environmental situation to take a decision. The capacity of RTCS to learn good rules has been prove in robotics navigation problem. Results show the suitability of this approximation to the navigation problem and the coherence of extracted rules

Consensus in multi-agent systems with second-order dynamics and non-periodic sampled-data exchange

In this paper consensus in second-order multi-agent systems with a non-periodic sampled-data exchange among agents is investigated. The sampling is random with bounded inter-sampling intervals. It is assumed that each agent has exact knowledge of its own state at all times. The considered local interaction rule is PD-type. The characterization of the convergence properties exploits a Lyapunov-Krasovskii functional method, sufficient conditions for stability of the consensus protocol to a time-invariant value are derived. Numerical simulations are presented to corroborate the theoretical results.Comment: The 19th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA'2014), Barcelona (Spain

Towards a foundation for holistic power system validation and testing

Renewable energy sources and further electrificationof energy consumption are key enablers for decreasing green-house gas emissions, but also introduce increased complexitywithin the electric power system. The increased availability ofautomation, information and communication technology, andintelligent solutions for system operation have transformed thepower system into a smart grid. In order to support thedevelopment process of smart grid solutions on the system level,testing has to be done in a holistic manner, covering the multi-domain aspect of such complex systems. This paper introducesthe concept of holistic power system testing and discuss first stepstowards a corresponding methodology that is being developed inthe European ERIGrid research infrastructure project.Comment: 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA