Integration of process planning, scheduling, and mobile robot navigation based on triz and multi-agent methodology

U radu je predstavljena metodologija za razvoj softverske aplikacije za integraciju projektovanja tehnološkog procesa, terminiranja proizvodnje i navigacije mobilnog robota u tehnološkom okruženju. Predložena metodologija je bazirana na primeni teorije inventivnog rešavanja problema i multiagentske metodologije. Matrica kontradikcije i inventivni principi su se pokazali kao efektivan alat za otklanjanje kontradiktornosti u koncepcijskoj fazi razvoja softvera. Predložena multiagentska arhitektura sadrži šest agenata: agent za delove, agent za mašine, agent za optimizaciju, agent za planiranje putanje, agent za mašinsko učenje i agent mobilni robot. Svi agenti zajedno učestvuju u optimizaciji tehnološkog procesa, optimizaciji planova terminiranja, generisanju optimalnih putanja koje mobilni robot prati i klasifikaciji objekata u tehnološkom okruženju. Eksperimentalni rezultati pokazuju da se razvijeni softver može koristiti za predloženu integraciju, a sve u cilju poboljšanja performansi inteligentnih tehnoloških sistema.This paper presents methodology for development of software application for integration of process planning, scheduling, and the mobile robot navigation in manufacturing environment. Proposed methodology is based on the Russian Theory of Inventive Problem Solving (TRIZ) and multiagent system (MAS). Contradiction matrix and inventive principles are proved as effective TRIZ tool to solve contradictions during conceptual phase of software development. The proposed MAS architecture consists of six intelligent agents: job agent, machine agent, optimization agent, path planning agent, machine learning agent and mobile robot agent. All agents work together to perform process plans optimization, schedule plans optimization, optimal path that mobile robot follows and classification of objects in a manufacturing environment. Experimental results show that developed software can be used for proposed integration in order to improve performance of intelligent manufacturing systems

Oxidative stress status in blood and lipoprotein fractions in patients with chronic kidney disease

Hronična bolest bubrega (HBB) predstavlja stanje koje se karakteriše brojnim tradicionalnim i netradicionalnim faktorima rizika za razvoj kardiovaskularnih bolesti (KVB). Dislipidemija, oksidativni stres i inflamacija zahvaljujući međusobnim interakcijama predstavljaju faktore koji značajno doprinose patogenezi i progresiji ateroskleroze kod bolesnika sa HBB. Paraoksonaza 1 (PON1) je glavni antioksidativni enzim na HDL česticama, koji svoj antiaterogeni potencijal ostvaruje mehanizmima koji sprečavaju oksidaciju lipoproteina niske gustine (LDL). Prema in vitro studijama u reverznom transportu holesterola mogu učestvovati i membrane eritrocita koje razmenjuju holesterol (RBC-Mh) sa drugim lipoproteinima, kao i hemoglobin koji privremeno uklanja višak holesterola tako što gradi Hb-holesterol kompleks (Hb-h). Brojne studije su pokazale da inflamacija ima važnu ulogu u inicijaciji i progresiji ateroskleroze. Takođe, remodelovanje ekstracelularnog matriksa (ECM) i neadekvatna aktivnost matriks metaloproteinaza (MMP) i tkivnih inhibitora matriks metaloproteinaza (TIMP), kao i galektin-3 doprinose napredovanju hronične bolesti bubrega i razvoju ateroskleroze kod ovih bolesnika. Cilj ove studije je bio ispitivanje parametara dislipidemije, oksidativnog stresa i inflamacije u krvi bolesnika sa HBB, bolesnika na hemodijalizi i zdravih ispitanika. Takođe, ova studija je imala za cilj i ispitivanje uticaja pomenutih faktora rizika na redoks status u glavnim lipoproteinskim frakcijama i na remodelovanje ECM. Cilj je bio i izračunati odgovarajuće skorove dislipidemije, oksidativnog stresa i inflamacije kako bi se procenio sinergistički efekat ovih procesa kao i efekat koji zajedno ostvaruju na oksidativno-stresni status u lipoproteinskim frakcijama kod bolesnika sa različitim stepenom bubrežnog oštećenja. U istraživanju je učestvovalo 77 bolesnika sa različitim stepenom oštećenja funkcije bubrega i 40 zdravih ispitanika. Istraživanje je planirano i sprovedeno prema etičkim principima u skladu sa Helsinškom deklaracijom. Svi parametri oksidativnog stresa, totalni oksidativni status (p<0,01), uznapredovali produkti oksidacije proteina (AOPP) (p<0,01) i tiobarbiturna kiselina reagujuće supstance (p<0,05) su bili značajno viši kod bolesnika sa oštećenom funkcijom bubrega u odnosu na zdrave ispitanike. Vrednosti Hb-h u obe grupe bolesnika su bile niže u odnosu na kontrolnu grupu (p<0,001), dok je s druge strane RBC-Mh bio povišen kod bolesnika na hemodijalizi u poređenju sa kontrolnom grupom (p<0,01). Zdravi ispitanici su imali značajno viši relativni udeo HDL2 subfrakcija u odnosu na bubrežne bolesnike (p<0,05). Koncentracija i aktivnost PON1 u serumu su bile značajno niže u obe grupe bolesnika u odnosu na zdrave ispitanike (p<0,001)...Chronic kidney disease (CKD) presents condition that is characterized by numerous traditional and non-traditional risk factors for developing cardiovascular disease (CVD). Dyslipidemia, oxidative stress and inflammation due to mutual interaction are factors that significantly contribute to the pathogenesis and progression of atherosclerosis in patients with CKD. Paraoxonase 1 (PON1) is the main antioxidant enzyme on HDL particles, which has antiatherogenic potential by mechanisms that inhibit oxidation of low density lipoprotein particles (LDL). In accordance to in vitro studies reverse cholesterol transport could involve erythrocyte membranes that exchange free cholesterol (RBC-Mc) with other lipoproteins, as well as hemoglobin that temporarily removes excess of cholesterol by building Hbcholesterol complex (Hb-c). Numerous studies have shown that inflammation plays an important role in initiation and progression of atherosclerosis. Also, extracellular matrix (ECM) remodeling and inadequate activity of matrix metalloproteinase (MMP) and tissue matrix metalloproteinase inhibitors (TIMP) as well as galectin-3 also contribute to the progression of chronic kidney disease and atherosclerosis in these patients. The aim of this study was to examine the parameters of dyslipidemia, oxidative stress and inflammation in serum of patients with CKD, dialysis patients and healthy subjects. Also, this study was aimed at examining the influence of the mentioned risk factors on redox status in major lipoprotein fractions and on ECM remodeling. The aim was to calculate summary score of dyslipidemia, oxidative stress and inflammation to evaluate the synergistic effect of these processes as well as the effect on oxidative stress status in lipoprotein fractions in patients with different degrees of renal impairment. The study included 77 patients with different stage of renal function impairment and 40 healthy subjects. The research is planned and implemented according to ethical principles in accordance with the Helsinki Declaration. Healthy subjects had a significantly higher percentage of HDL2 subfractions compared to renal patients (p <0.05). The values of Hb-c in both patients groups were lower than in control group (p <0.001), while values of RBC-Mc were elevated in dialysis patients compared to the control group (p <0.01). All parameters of oxidative stress, total oxidative status (p <0.01), advanced oxidation protein products (AOPP) (p <0.01) and thiobarbituric acid reactive substances (p <0.05) were significantly higher in patients with impaired renal function compared to healthy subjects. Concentration and activity of PON1 in serum were significantly lower in both groups of patients compared to healthy subjects (p <0.001). Arylesterase activity of PON1 was significantly lower in renal patients on HDL2 and HDL3 subclasses (p <0.001). It was found that after hemodialysis there was a significant increase in paraoxonase activity of PON1 (p <0.01), while arylesterase activity of PON1 was lower after dialysis (p <0.01)..

DETERMINATION OF CONTENT AND ANTIOXIDANT CAPACITY OF NATURAL FOOD COLORS E160A AND E160D IN KETCHUP

After potato, tomato (Solanum lycopersicum) is the world’s second-largest vegetable crop. More than 80% of tomato consumption comes from processed products such as ketchup, tomato juice, pickled tomatoes, sauces, paste, purée. Samples of mild ketchup from two different manufacturers (A and B) were selected for the analysis of the content of natural food colors E160a and E160d. Using a UV-Vis spectrophotometric method and Lambert-Beer law, a system of two linear equations with two unknowns was set up, which was used to determine the concentrations of colors E160a and E160d. The antioxidant capacity of the two selected samples was determined using the DPPH assay. The obtained results indicated that the content of colors E160a and E160d was higher in the sample of ketchup B. Also, the DPPH assay showed that the sample of ketchup B had a higher antioxidant capacity

Grey Wolf Optimization Algorithm for Single Mobile Robot Scheduling

Development of reliable and efficient material transport system is one of the basic requirements for creating an intelligent manufacturing environment. Nowadays, intelligent mobile robots have been widely used as one of the components to satisfy this requirement. In this paper, a methodology based on Grey Wolf Optimization (GWO) algorithm is proposed in order to find the optimal solution of the nondeterministic polynomial-hard (NP-hard) single mobile robot scheduling problem. The performance criterion is to minimize total transportation time of the mobile robot while it performs internal transport of raw materials, goods, and parts in manufacturing system. The scheduling plans are obtained in Matlab environment and tested by Khepera II mobile robot system within a static laboratory model of manufacturing environment. Experimental results show the applicability and effectiveness of the developed intelligent approach in real world conditions

INTELLIGENT MANUFACTURING SYSTEMS – with robotics and artificial intelligence backgrounds

Овај основни уџбеник обухвата вишедеценијска искуства аутора остварена како кроз реализацију докторских дисертација, магистарских и мастер теза, као и при реализацији активности научно-истраживачких пројеката у домену развоја интелигентних технолошких система, тако и током образовног процеса и рада са бројним студентима на обавезним предметима мастер академских студија Катедре за производно машинство под називом Интелигентни технолошки системи, Индустријски роботи и Методе одлучивања, а од 2020. године и на новоуспостављеном Студијском програму мастер академских студија Индустрија 4.0, у оквиру обавезних предмета Роботика и вештачка интелигенција, Машинско учење интелигентних роботских система и изборног предмета Терминирање технолошких система и процеса. У овом капиталном уџбенику, поред детаљно обрађених наставних целина и брижљиво одабраних примера за набројане предмете, дате су и одговарајуће корисне дискусије аутора у домену производно оријентисаних напредних технологија, роботике и вештачке интелигенције, као и биолошки инспирисаних алгоритама оптимизације. Аутори очекују да, осим студентима, ова књига може корисно послужити мастер, односно дипломираним машинским инжењерима, а посебно докторандима који се баве истраживањем, развојем и увођењем интелигентних технолошких система и концепта Индустрија 4.0 у савремене производно оријентисане тзв. дигиталне фабрике.UNIVERZITET U BEOGRADU - MAŠINSKI FAKULTET (COBISS.SR-ID - 39849737

A Survey of Swarm Intelligence-based Optimization Algorithms for Tuning of Cascade Control Systems: Concepts, Models and Applications

Nowadays, cascade control is still one of the most used control strategies in the manufacturing and process industries. The new requirements of precision and robustness of position and trajectory tracking in control systems for manufacturing components at micro-scale, influenced by hard nonlinearities such as friction and backlash, have motivated the effort toward the development of algorithms for optimal tuning of control parameters. This paper presents a literature review of the algorithms and methods used to solve this problem. Swarm intelligence inspired optimization algorithms, namely particle swarm optimization algorithm (PSO) and grey wolf optimization algorithm (GWO), are applied for tuning of P-PI cascade controllers of CNC machine tool servo system in the presence of friction and backlash. The objective of the optimization is to minimize the maximum position error during the reversal of the axes. A comparative analysis of proposed algorithms with a standard industry-based fine tune (FT) method is also provided. Simulation study as well as real-world experiments carried out on a CNC machine tool controller show a remarkable improvement in the performance of the cascade control system using the proposed swarm intelligence-based strategy

Integrated process planning and scheduling in dynamic environment: The state-of-the-art

U ovom radu je dat detaljan pregled stanja u oblasti istraživanja jedne od funkcija inteligentnih tehnoloških sistema (ITS) - integrisano planiranje i terminiranje tehnoloških procesa u dinamičkim uslovima (DIPPS). U tom smislu, datje opis DIPPSproblema, razmatrani su kriterijumi na osnovu kojih se vrši odabir optimalanog plana terminiranja, definisane su usvojene pretpostavke i predstavljen je matematički model ovog problema. Takođe, detaljno su razmatrani i sledeći poremećajni faktori koji se mogu javiti u okviru tehnoloških sistema: (i) prestanak rada mašine alatke, (ii) dolazak novog dela u sistem i (iii) otkaz obrade dela. Analizirani su pristupi za rešavanje DIPPS problema bazirani na multiagentnim sistemima, kao i pristupi bazirani na algoritmima. Kada su u pitanju pristupi bazirani na algoritmima, fokus u ovom radu je na biološki inspirisanim algoritmima optimizacije i to: evolucionim algoritmima, algoritmima baziranim na inteligenciji roja, kao i hibridnim pristupima. Kritičkom analizom stanja u ovoj oblasti istraživanja može se zaključiti da biološki inspirisane tehnike veštačke inteligencije imaju veliki potencijal u optimizaciji pomenute funkcije ITS-a.This paper gives a detailed state-of-the art in the research area o f the important function o f Intelligent Manufacturing Systems (IMS) - integrated process planning and scheduling o f manufacturing systems in dynamic environment (DIPPS). Referring to this, description o f the DIPPS problem is given, the criteria on the basis o f which the optimal rescheduling plan are formulated and considered, the adopted assumptions are defined and the mathematical model o f this problem is presented. Furthermore, the disturbances that occur in manufacturing systems are considered in detail: (i) machine breakdown, (ii) arrival of a new job and (iii) job cancellation. Approaches for solving DIPPS problems based on multiagent systems as well as approaches based on algorithms are analyzed. When it comes to approaches based on algorithms, the focus of this paper is on biologically inspired optimization algorithms: evolutionary algorithms, swarm intelligence based algorithms as well as hybrid approaches. The critical analysis within this research area is shown in order to conclude that biologically inspired artificial intelligence techniques have great potential in optimizing the considered IMS function

Biological and chemical diversity of Angelica archangelica L. — case study of essential oil and its biological activity

Garden angelica (Angelica archangelica L.), native to the northern temperate region, is widespread in Europe and Asia. Since the middle ages, it has been used for healing and as a vegetable in traditional dishes. In the modern era, it has been proven that A. archangelica has a complex chemical composition. The main derivatives that contribute to the plant’s biological activities are essential oil and coumarins. In this review, the focus is on the cross-analysis of the taxonomy of A. archangelica, and its distribution in different regions, with the presentation of the richness of its biochemical composition, which overall contributes to the widespread use of the roots of this plant in folk medicine. It belongs to the plants that were introduced to the wider area of Central, Eastern, and Southern Europe; as a medicinal plant, it represents a significant part of the medical flora of many areas. Cluster analysis of pooled data indicates a clear differentiation of chemotypes

Integrated process planning and scheduling in dynamic environment: The state-of-the-art

U ovom radu je dat detaljan pregled stanja u oblasti istraživanja jedne od funkcija inteligentnih tehnoloških sistema (ITS) - integrisano planiranje i terminiranje tehnoloških procesa u dinamičkim uslovima (DIPPS). U tom smislu, datje opis DIPPSproblema, razmatrani su kriterijumi na osnovu kojih se vrši odabir optimalanog plana terminiranja, definisane su usvojene pretpostavke i predstavljen je matematički model ovog problema. Takođe, detaljno su razmatrani i sledeći poremećajni faktori koji se mogu javiti u okviru tehnoloških sistema: (i) prestanak rada mašine alatke, (ii) dolazak novog dela u sistem i (iii) otkaz obrade dela. Analizirani su pristupi za rešavanje DIPPS problema bazirani na multiagentnim sistemima, kao i pristupi bazirani na algoritmima. Kada su u pitanju pristupi bazirani na algoritmima, fokus u ovom radu je na biološki inspirisanim algoritmima optimizacije i to: evolucionim algoritmima, algoritmima baziranim na inteligenciji roja, kao i hibridnim pristupima. Kritičkom analizom stanja u ovoj oblasti istraživanja može se zaključiti da biološki inspirisane tehnike veštačke inteligencije imaju veliki potencijal u optimizaciji pomenute funkcije ITS-a.This paper gives a detailed state-of-the art in the research area o f the important function o f Intelligent Manufacturing Systems (IMS) - integrated process planning and scheduling o f manufacturing systems in dynamic environment (DIPPS). Referring to this, description o f the DIPPS problem is given, the criteria on the basis o f which the optimal rescheduling plan are formulated and considered, the adopted assumptions are defined and the mathematical model o f this problem is presented. Furthermore, the disturbances that occur in manufacturing systems are considered in detail: (i) machine breakdown, (ii) arrival of a new job and (iii) job cancellation. Approaches for solving DIPPS problems based on multiagent systems as well as approaches based on algorithms are analyzed. When it comes to approaches based on algorithms, the focus of this paper is on biologically inspired optimization algorithms: evolutionary algorithms, swarm intelligence based algorithms as well as hybrid approaches. The critical analysis within this research area is shown in order to conclude that biologically inspired artificial intelligence techniques have great potential in optimizing the considered IMS function