170,414 research outputs found
A practical approach to object-oriented modeling of logic control systems for industrial applications
No full textThe paper presents the results of an applicationof object-oriented modeling techniques to design manufacturingsystems logic controllers. In particular, the semanticalaspects of specification languages like UML and Statecharts,widely used in many Software Engineering methods, areanalysed and discussed, with regard to their adequacy forthe industrial domain and their verification with formalmethods. The paper ends with the description of a practicalcase of study, which shows that the proposed design andverification techniques can be successfully adopted in a realindustrial framework, given domain-specific adaptation ofobject-oriented modeling languages
A Coordination Technique for Automatic Guided Vehicles in an Industrial Environment
No full text{One of the most challenging steps of a simulation study is the experiments analysis since it provides the information necessary to make decision regarding project objectives. As a matter of fact, a very common practice is to carry out an arbitrary number of simulation runs of arbitrary length and then to perform inference on the simulation results, treating them as the ``true'' model output. The aim of this paper is to propose an innovative methodology to investigate simulation outputs in order to identify ``sustainable target'' for the system and express it as a point value rather than as a confidence interval. For this purpose, a decision support tool is then proposed, it takes as input the process output data of observed samples and provides as result the achievable targets for each couple of replication number and replication length by using the classical statistical concepts of type-I and type-II erro
Supervisory system of myoelectric prostheses
No full textThis paper concerns with the use of a supervisory expert system to parameter adjusting of myoelectric prostheses. The prosthesis system is an artificial arm produced by INAIL in Vigorso (Bologna, Italy), which is equipped by on-board actuation system. The expert system, which is developed using a fuzzy logic algorithm, guides the patients through an interactive session aiming to test the prosthesis functionality and, when necessary, to self-adjust the parameters. The prosthesis control system is connected through a RS232 communication link to a Personal Computer running the expert system. A teleconference service is included in the package, which permits the technicians to monitor remotely the tuning session. The paper presents the overall characteristics of auto-tuning system, detailing particularly the fuzzy logic algorithm which is the core of the expert system. Some preliminary experimental results on the application of the system to patients are reported as well
Multiple-layer variable structure controller with parameter adaptation.
No full textThis paper deals with the design procedure of aMultiple Layer Variable Structure Controller (ML-VSC) with on-lineparameter adaptation.The ML-VSC is obtained by non-linear interpolation of the control lawsof a set of VSC with sliding mode dynamics, each of them designed onthe basis of progressively pessimistic estimates of the parametricuncertainty and disturbance input of the plant.This new structure improves both the robustness and controlperformance of the single VS controller when poor knowledge on plantparameters and disturbance bounds is available.The control algorithm is completed by an on-line adaptation mechanismaiming to achieve fine tuning of the parameters. This mechanism isbased on the trade-off between the ``chattering'' effect and thetracking error. This heuristics, formulated in terms of ``if--then''linguistic rules, is implemented by a Fuzzy Logic (FL) algorithm.The paper also addresses the stability issue of the closed loopsystem, giving sufficient conditions for global stability in thepresence of bounded disturbance and modeling uncertainties. Finally, asimple simulation example illustrates the main design steps of thecontrol approach propose
Showcase of a Fuzzy Logic Controller Design
No full textIn this paper a method developed by the authors for defining a Sugeno--Takagi Fuzzy Logic Controller parameters is illustrated. The procedure, based on the Variable Structure System approach, defines an adaptive fuzzy control structure. In order to show the effectiveness of the proposed solution, the controller is applied to a known benchmark control problem and the obtained simulation results are discussed
Application of object-oriented modeling tools to design the logic control system of a packaging machine
No full textThe paper presents the results of an application of object-oriented modeling techniques to design manufacturing systems logic controllers. In particular, the semantical aspects of specification languages like UML and Statecharts, widely used in many Software Engineering methods, are analysed and discussed, with regard to their adequacy for the industrial domain and their verification with formal methods. The paper ends with the description of a practical case of study, which shows that the proposed design and verification techniques can be successfully adopted in a real industrial framework, given domain-specific adaptation of object-oriented modeling languages
Design and Verification of Industrial Logic Controllers with UML and Statecharts
No full textThe paper describes a methodological framework that aims to apply formal design and verification techniques to the domain of Logic Control and Supervision for Manufacturing Systems. The methodology is based on a Object-Oriented approach, supported by a syntactical and semantical adaptation of the semi-formal software specification languages UML and Statecharts. The modeling languages has been subsequently formalized, according to a semantics that take into account the concepts described in the IEC 61131-3 Standard for industrial controllers programming, in order to prove correctness properties expressed in the temporal logic CTL. The verification process is performed by means of the model checking tool SMV
A nonlinear proportional controller for motion control application
No full textThis paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller performs better in terms of reference trajectory tracking compared with standard proportional control. © 2010 IEEE
Compensation of position errors in passivity based teleoperation over packet switched communication networks
No full textInvited paper nella sessione intitolata “Putting Energy back in Robotics”
Object-oriented modeling of logic control systems for industrial applications
No full textThe paper presents the results of an application ofobject-oriented modeling techniques to design manufacturing systemslogic controllers. In particular,the semantical aspects ofspecification languages like UML and Statecharts,widely used in manySoftware Engineering methods, are analysed and discussed,with regardto their adequacy for the industrial domain and their verificationwith formal methods.The paper ends with the description of a practicalcase of study, which shows that the proposed design and verificationtechniques can be successfully adopted in a real industrial framework,given domain-specific adaptation of object-oriented modelinglanguage
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