Informatics in Control, Automation and Robotics I - Braz J.pdf

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INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS I
Informatics in Control, Automation
and Robotics I
Edited by
JOSÉ BRAZ
Escola Superior de Tecnologia de Setúbal, Portugal
HELDER ARAÚJO
University of Coimbra, Portugal
ALVES VIEIRA
Escola Superior de Tecnologia de Setúbal, Portugal
and
BRUNO ENCARNAÇÃO
INSTICC - Institute for Systems and Technologies of Information,
Control and Communication, Setúbal, Portugal
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A C.I.P. Catalogue record for this book is available from the Library of Congress.
ISBN-10 1-4020-4136-5 (HB)
ISBN-13 978-1-4020-4136-5 (HB)
ISBN-10 1-4020-4543-3 (e-books)
ISBN-13 978-1-4020-4543-1 (e-books)
Published by Springer,
P.O. Box 17, 3300 AA Dordrecht, The Netherlands.
www.springer.com
Printed on acid-free paper
All Rights Reserved
© 2006 Springer
No part of this work may be reproduced, stored in a retrieval system, or transmitted
in any form or by any means, electronic, mechanical, photocopying, microfilming, recording
or otherwise, without written permission from the Publisher, with the exception
of any material supplied specifically for the purpose of being entered
and executed on a computer system, for exclusive use by the purchaser of the work.
Printed in the Netherlands.
TABLE OF CONTENTS
Preface ................................................................................................................................................. ix
Conference Committee ....................................................................................................................... xi
INVITED SPEAKERS
Kevin Warwick............................................................................................................................................................... 3
INDUSTRIAL AND REAL WORLD APPLICATIONS OF ARTIFICIAL NEURAL
NETWORKS - Illusion or reality?
Kurosh Madani ............................................................................................................................................................ 11
THE DIGITAL FACTORY - Planning and simulation of production in automotive industry
F. Wolfgang Arndt....................................................................................................................................................... 27
WHAT'S REAL IN "REAL-TIME CONTROL SYSTEMS"? Applying formal verification
methods and real-time rule-based systems to control systems and robotics
Albert M. K. Cheng ..................................................................................................................................................... 31
SUFFICIENT CONDITIONS FOR THE STABILIZABILITY OF MULTI-STATE
UNCERTAIN SYSTEMS, UNDER INFORMATION CONSTRAINTS
Nuno C. Martins, Munther A. Dahleh and Nicola Elia............................................................................................. 37
PART 1 – INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION
DEVICE INTEGRATION INTO AUTOMATION SYSTEMS WITH CONFIGURABLE
DEVICE HANDLER
Anton Scheibelmasser, Udo Traussnigg, Georg Schindin and Ivo Derado...................................................................... 53
NON LINEAR SPECTRAL SDP METHOD FOR BMI-CONSTRAINED PROBLEMS:
APPLICATIONS TO CONTROL DESIGN
Jean-Baptiste Thevenet, Dominikus Noll and Pierre Apkarian .................................................................................... 61
A STOCHASTIC OFF LINE PLANNER OF OPTIMAL DYNAMIC MOTIONS FOR
ROBOTIC MANIPULATORS
ROBOT-HUMAN INTERACTION: Practical experiments with a cyborg
Taha Chettibi, Moussa Haddad, Samir Rebai and Abd Elfath Hentout .................................................................... 73
vi
Table of Contents
Paulo Jorge Sequeira Gonçalves, Luís F. Mendonça, João M. Sousa and João R. Caldas Pinto...................................... 81
AN EVOLUTIONARY APPROACH TO NONLINEAR DISCRETE - TIME OPTIMAL
CONTROL WITH TERMINAL CONSTRAINTS
Yechiel Crispin ............................................................................................................................................................. 89
A DISTURBANCE COMPENSATION CONTROL FOR AN ACTIVE MAGNETIC
BEARING SYSTEM BY A MULTIPLE FXLMS ALGORITHM
Min Sig Kang and Joon Lyou ....................................................................................................................................... 99
AN INTELLIGENT RECOMMENDATION SYSTEM BASED ON FUZZY LOGIC
Shi Xiaowei................................................................................................................................................................ 105
MODEL REFERENCE CONTROL IN INVENTORY AND SUPPLY CHAIN
MANAGEMENT - The implementation of a more suitable cost function
Heikki Rasku, Juuso Rantala and Hannu Koivisto................................................................................................... 111
AN LMI OPTIMIZATION APPROACH FOR GUARANTEED COST CONTROL OF
SYSTEMS WITH STATE AND INPUT DELAYS
Olga I. Kosmidou, Y. S. Boutalis and Ch. Hatzis...................................................................................................... 117
USING A DISCRETE-EVENT SYSTEM FORMALISM FOR THE MULTI-AGENT
CONTROL OF MANUFACTURING SYSTEMS
Guido Maione and David Naso ................................................................................................................................. 125
PART 2 – ROBOTICS AND AUTOMATION
FORCE RIPPLE COMPENSATOR FOR A VECTOR CONTROLLED PM LINEAR
SYNCHRONOUS MOTOR
Markus Hirvonen, Heikki Handroos and Olli Pyrhönen ........................................................................................... 135
HYBRID CONTROL DESIGN FOR A ROBOT MANIPULATOR IN A SHIELD
TUNNELING MACHINE
Jelmer Braaksma, Ben Klaassens, Robert Babu ka and Cees de Keizer....................................................................... 143
š
MOCONT LOCATION MODULE: A CONTAINER LOCATION SYSTEM BASED ON
DR/DGNSS INTEGRATION
Joseba Landaluze, Victoria del Río, Carlos F. Nicolás, José M. Ezkerra and Ana Martínez ................................... 151
PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL
COMPONENTS
Santiago Salamanca Miño, Carlos Cerrada Somolinos, Antonio Adán Oliver and Miguel Adán Oliver .................... 159
TOWARDS A CONCEPTUAL FRAMEWORK- BASED ARCHITECTURE FOR
UNMANNED SYSTEMS
Norbert Oswald.......................................................................................................................................................... 167
FUZZY MODEL BASED CONTROL APPLIED TO IMAGE-BASED VISUAL SERVOING

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