Nonlinear models for control of manufacturing systems

Current literature on modeling and control of manufacturing systems can roughly be divided into three groups: flow/fluid models, queueing theory, and discrete event models. Most fluid models describe linear time-invariant controllable systems without any dynamics. These models mainly focus on throughput and are not concerned with cycle time. Queuing theory deals with relationships between throughput and cycle time, but is mainly concerned with steady-state analysis. In addition, queueing models are not suitable for control theory. Discrete event models suffer from ``state-explosion''. Simple models of manufacturing systems can be studied and analyzed, but for larger problems the dimension of the state grows exponentially. In addition, most control problems studied are supervisory control problems: the avoidance of undesired states. An important class of interesting manufacturing control problems asks for proper balancing of both throughput and cycle time for a large nonlinear dynamical system that never is in steady state. None of the mentioned models is able to deal with these kind of control problems. In this paper, models are presented with are suitable for addressing this important class of interesting manufacturing control problems

An example of a bounded tracking controller

A prototype example for designing a globally bounded tracking controller is presented. The solution is obtained by using composite or switching controllers. First, the system is steered `close' to the desired trajectory, after which a local tracking controller is applied. For the considered system, both controllers are bounded and therefore boundedness of the composite controller follows. A simulation illustrates the idea

Integral fixed-time schedules for traffic light control

In this paper we consider the optimization of integral fixed-time (traffic light) schedules for isolated intersections. Such integral schedule has an integral period duration and, moreover, for this schedule all switches to green, yellow and red are scheduled at an integral second. These schedules are desired in practice because they are clear, presentable and easy to work with. Much research has been devoted to the optimization of fixed-time (traffic light) schedules for isolated intersection. However, these methods optimize over all fixed-time schedules and do not necessarily return an integral one. One can simply obtain an integral schedule from any fixed-time schedule by rounding the period duration and the switching times to the nearest integer. However, such an approach might result in an integral schedule that is infeasible. In this paper we give a more rigourous approach to find the optimal integral fixed-time schedule that minimizes the average delay that road users experience at the intersection

Bounded global tracking of rigid robot manipulators using composite controllers

In this paper we address the problem of designing bounded global tracking controllers for rigid robot manipulators. A solution to the problem is obtained by using composite controllers. In the first part, the system is steered 'close' to the desired trajectory, after which a local tracking controller is applied. Both controllers are bounded and yield boundedness of the composite controller. The use of bounded composite controllers is shown to be effective for state feedback controllers, output (position) feedback controllers and adaptive controllers. Simulations illustrate the developed controllers

Bounded tracking controllers for the chaotic (forced) Duffing equation

This letter deals with the design of feedback controllers for a chaotic dynamical system like the Duffing equation. Lyapunov theory is used to show that the proposed bounded controllers achieve global convergence for any desired trajectory. Some simulation examples illustrate the presented ideas

Real-life data for the optimization of the geometric layout of an intersection

This document contains the data of ten real-life intersections. This data can be used for the optimization of the geometric layout of the intersection, e.g., optimizing the arrival lanes, departure lanes and lane markings at the intersection

Optimizing intersection layout using a cycle periodicity formulation

INTRODUCCIÓN El derecho Penal Indiano.- Es la intención de hacer comparación, con el derecho actual a través del tiempo y a las necesidades que ha pedido la sociedad, el hombre; es necesario los cambios que hoy existe, o sea las penalidades más severas, crueles por el comportamiento del hombre en sociedad. Muchas veces influye la situación económica que se encuentra nuestro país, por tal motivo se ven en la necesidad de robar, secuestrar y ser cómplices, no por eso tengo que justificarlos, pero se debe impartir el gobierno más empleos, para que ellos no tengan que pensar en cosas peligrosas que afecta su integridad familiar. Es por ello que existen nuevas organizaciones tratados, acuerdos dirigidos a la protección de los pueblos indígenas; así como también a la agricultura, programas de alimentación, salud y seguridad social. Además el gobierno debe implantar desarrollo de programas y proyectos que beneficien a los pueblos en relación con la pobreza externa y el desempleo, proporcionar programas de artesanías, industria dentro de los límites presupuéstales. Cabe señalar que el Derecho Penal Indiano que obviamente su mismo nombre lo menciona para los indios que estos estuvieron 6 dominados por españoles, aunque ellos trataban o querían dejar de ser esclavos no podían por que ellos tenían fuerte capacidad intelectual y liberalismo, es por ello que tenían gran dominio así a los indios. O sea para los indios no existía ningún derecho, eran tratados como objetos y no como personas; pero gracias a la constitución de 1812, fue que algunas garantías tuvieron de valor para los indios. No quedando conforme, porque era necesario e importante los estudiantes indígenas establecieron principios y derechos del ser humano, tiene para acudir y formarse en las instituciones de educación, acertando y valorando el lenguaje p ´urhepecha. Pues, simplemente como mencionaremos el Derecho Natural; todos los hombres, los indios, tienen derecho por el simple hecho de nacer, de respirar, o sea sobre todas las cosas, no aceptando al particular. Por lo que mi modesta investigación la someto a consideración y sano juicio de los catedráticos que me practicaran mi examen recepcional para tener derecho de obtener el Titulo de Licenciado en Derecho

Modeling and analysis of manufacturing systems

The dynamics of manufacturing systems has been a subject of study for several decades. Over the last years, manufacturing systems have become more and more complex. A good understanding of the dynamics of manufacturing systems has therefore become even more important. The goal of this report is to introduce a large variety of models that have been used for modeling manufacturing systems. By means of examples it is illustrated how certain modeling techniques can be used to derive models that can be used for analysis and/or control. Also, references are provided that can be used as a starting point for getting more details. Furthermore, recent developments in the modeling, analysis and control of manufacturing systems are presented

Bounded tracking control of a wheeled mobile robot

Abstract onl