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Автор: Grafiati

Опубліковано: 8 червня 2024

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1

Macherki, Douha, Thierno M. L. Diallo, Jean-Yves Choley, Amir Guizani, Maher Barkallah, and Mohamed Haddar. "QHAR: Q-Holonic-Based ARchitecture for Self-Configuration of Cyber–Physical Production Systems." Applied Sciences 11, no. 19 (September 28, 2021): 9013. http://dx.doi.org/10.3390/app11199013.

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Production systems must be able to adapt to increasingly frequent internal and external changes. Cyber-Physical Production Systems (CPPS), thanks to their potential capacity for self-reconfiguration, can cope with this need for adaptation. To implement the self-reconfiguration functionality in economical and safe conditions, CPPS must have appropriate tools and contextualized information. This information can be organized in the form of an architecture. In this paper, after the analysis of several holonic and nonholonic architectures, we propose a holonic architecture that allows for reliable and efficient reconfiguration. We call this architecture QHAR (Q-Holonic-based ARchitecture). QHAR is constructed based on the idea of a Q-holon, which has four dimensions (physical, cyber, human, and energy) and can exchange three flows (energy, data, and materials). It is a generic Holon that can represent any entity or actor of the supply chain. The QHAR is structured in three levels: centralized control level, decentralized control level, and execution level. QHAR implements the principle of an oligarchical control architecture by deploying both hierarchical and heterarchical control approaches. This ensures the overall system performance and reactivity to hazards. The proposed architecture is tested and validated on a case study.

2

Chacón, Edgar, Luis Alberto Cruz Salazar, Juan Cardillo, and Yenny Alexandra Paredes Astudillo. "A control architecture for continuous production processes based on industry 4.0: water supply systems application." Journal of Intelligent Manufacturing 32, no. 7 (June 26, 2021): 2061–81. http://dx.doi.org/10.1007/s10845-021-01790-3.

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AbstractIndustry 4.0 (I4.0) brings together new disruptive technologies, increasing future factories’ productivity. Indeed, the control of production processes is fast becoming a key driver for manufacturing operations. Manufacturing control systems have recently been developed for distributed or semi-heterarchical architectures, e.g., holonic systems improving global efficiency and manufacturing operations’ reactiveness. So far, previous studies and applications have not dealt with continuous production processes, such as applications for Water Supply System (WSS), oil refining, or electric power plants. The complexity of continuous production is that a single fault can degrade extensively and even cause service disruption. Therefore, this paper proposes the Holonic Production Unit (HPU) architecture as a solution to control continuous production processes. An HPU is created as a holon unit depicting resources in a continuous process. This unit can detect events within the environment, evaluate several courses of action, and change the parameters aligned to a mission. The proposed approach was tested using a simulated model of WSS. The experiments described in this paper were conducted using a traditional WSS, where the communication and decision-making features allow the application of HPU. The results suggest that constructing a holarchy with different holons can fulfill I4.0 requirements for continuous production processes.

3

Overmars, Anthony H., and Dario J. Toncich. "Hybrid FMS control architectures based on holonic principles." International Journal of Flexible Manufacturing Systems 8, no. 3 (July 1996): 263–78. http://dx.doi.org/10.1007/bf00403128.

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4

Valette, Etienne, Guillaume Demesure, Hind Bril El-Haouzi, and Rémi Pannequin. "Formal and modelling frameworks for Social Holonic Control Architectures." Computers in Industry 132 (November 2021): 103521. http://dx.doi.org/10.1016/j.compind.2021.103521.

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5

Cardin, Olivier, William Derigent, and Damien Trentesaux. "Evolution of holonic control architectures towards Industry 4.0: A short overview." IFAC-PapersOnLine 51, no. 11 (2018): 1243–48. http://dx.doi.org/10.1016/j.ifacol.2018.08.420.

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6

Sadik, Ahmed, and Bodo Urban. "Combining Adaptive Holonic Control and ISA-95 Architectures to Self-Organize the Interaction in a Worker-Industrial Robot Cooperative Workcell." Future Internet 9, no. 3 (July 14, 2017): 35. http://dx.doi.org/10.3390/fi9030035.

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7

Khadiri, Hassan, Souhail Sekkat, and Brahim Herrou. "Digital Twin Based SUDIHA Architecture to Smart Shopfloor Scheduling." Journal of Manufacturing and Materials Processing 7, no. 3 (April 26, 2023): 84. http://dx.doi.org/10.3390/jmmp7030084.

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Standing on the brink of the fourth industrial revolution, Cyber Physical Systems (CPS) are considered the basic components of the Smart Factory. One important challenge in cyber physical production systems is dynamic scheduling that can handle random disruptions such as failures, raw material shortages and quality defects. To achieve dynamic scheduling, we have proposed a Supervised and Distributed Holonic architecture we called SUDIHA. This architecture incorporates three Holons: Product Holon, Resource Holon and Order Holon and combines global supervision, achieved by Product Holon, with dynamic local control, achieved by Resource Holon. The Digital Twin (DT) concept is generally used to design CPS; it is virtual copies of the system that can interact with the physical counterparts in a bi-directional way. It seems to be promising to tackle the complexity and increase manufacturing system flexibility. In this paper, we use a DT Model to improve the SUDIHA architecture. We propose a Digital Twin based SUDIHA architecture (DT-SUDIHA). The paper will describe Digital Twins’ configuration of each Holon of the SUDIHA Architecture, and the intelligent and real time data driven operation control of this architecture. A case study is carried out at the ENSAM-Meknes flexible workshop to prove the effectiveness of the proposed approach.

8

Chao, Yan, Qiong Hong Lei, Dan Dan Fu, and Li Qun Wu. "A Study on Holonic Control in Intelligent Car." Applied Mechanics and Materials 37-38 (November 2010): 55–58. http://dx.doi.org/10.4028/www.scientific.net/amm.37-38.55.

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Traffic incident influences the security of people in the popularity of navigation. It is urgently necessary to develop intelligent vehicles by using new technologies and advanced methodologies. In this paper, a new approach based on holonic conception is presented to study the intelligent control in vehicle tool. The control structure in car is divided into three levels and is defined three holonary, the function of every holon level is discussed, then a distributed multilevel intelligent control architecture in car based on holon is developed. The cooperation relation is analyzed between different levels; the cooperative model is established to study cooperation mechanisms among different holon level, which will help to improve the intelligent control and vehicle security for car.

9

Egert, Rolf, Tim Grube, Florian Volk, and Max Mühlhäuser. "Holonic System Model for Resilient Energy Grid Operation." Energies 14, no. 14 (July 8, 2021): 4120. http://dx.doi.org/10.3390/en14144120.

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The transformation of energy grids towards smart grids is driven by numerous political, economic, and ecological goals. As part of this process, the centralized top-down architecture of energy grids changes towards increasingly decentralized structures. It is widely accepted that the challenges emerging from this transition threaten the resilient operation of energy grids. For instance, the volatility of renewable energy sources challenges the required balance between demand and supply; their distribution in the energy grid likewise complicates their coordination. Holarchies are a promising (systems-of-systems) architectural pattern for smart grids fostering fast isolation and self-sustained operation of subparts (so-called holons), as well as supporting dynamic reconfigurations of the grid’s structure. To leverage these properties to increase the resilience of smart grids, we propose a system model that combines a holonic architecture and locally available resources offered by prosumers. Our model organizes the participants in the grid as holarchy and enables the application of fine-grained control mechanisms. We show the capabilities of the model by resolving an overproduction situation and a situation of severe electricity scarcity using a modified binary ant colony optimization approach. Our evaluation with the simulation environment HOLEG shows that the system model and the proposed algorithm can quickly mitigate balancing problems in holonic energy grids.

10

Valckenaers, Paul, Hendrik Van Brossel, Luc Bongaerts, Jo Wyns, and Patrick Peelers. "Holonic Manufacturing Control Systems: Architecture and Methodology." IFAC Proceedings Volumes 31, no. 31 (November 1998): 55–60. http://dx.doi.org/10.1016/s1474-6670(17)41004-4.

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11

Valckenaers, Paul, Hendrik Van Brussel, Jo Wyns, Patrick Peeters, and Luc Bongaerts. "Multi-agent manufacturing control in holonic manufacturing systems." Human Systems Management 18, no. 3-4 (December 29, 1999): 233–43. http://dx.doi.org/10.3233/hsm-1999-183-408.

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This article presents research results on multi-agent manufacturing control in holonic manufacturing systems. After a short introduction to holonic systems, the PROSA reference architecture is discussed. PROSA has gained already significant maturity through its application to a number of test cases. Next, manufacturing control based on emergent behavior and ant-like communication and coordination are discussed. This paragraph on emergent control discusses early results of research efforts that aim at a complete manufacturing control solution coping with change and disturbances. Finally, the role of agents in manufacturing control is addressed.

12

Van Brussel, Hendrik, Luc Bongaerts, Jo Wyns, Paul Valckenaers, and Tony Van Ginderachter. "A conceptual framework for holonic manufacturing: Identification of manufacturing holons." Journal of Manufacturing Systems 18, no. 1 (January 1999): 35–52. http://dx.doi.org/10.1016/s0278-6125(99)80011-9.

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13

Chiu, Christopher, Zenon Chaczko, and Perez Moses. "Sensor Actor Network Modeling utilizing the Holonic Architectural Framework." International Journal of Electronics and Telecommunications 56, no. 1 (March 1, 2010): 49–54. http://dx.doi.org/10.2478/v10177-010-0006-3.

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Sensor Actor Network Modeling utilizing the Holonic Architectural FrameworkThis paper discusses the results of utilizing advanced EKM modeling techniques to manage Sensor-Actor networks (SANETs) based upon the Holonic Architectural Framework. EKMs allow a quantitative analysis of an algorithmic artificial neural network process by using an indirect-mapping EKM to self-organize from a given input space to administer SANET routing and clustering functions with a control parameter space. Results demonstrate that in comparison to linear approximation techniques, indirect mapping with EKMs provide fluid control and feedback mechanisms by operating in a continuous sensory control space - thus enabling interactive detection and optimization of events in real-time environments.

14

Sørensen, Christian, Gilad Langer, and Leo Alting. "Developing a System Architecture for Holonic Shop Floor Control." IFAC Proceedings Volumes 31, no. 31 (November 1998): 47–53. http://dx.doi.org/10.1016/s1474-6670(17)41003-2.

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15

Indriago, Carlos, Olivier Cardin, Naly Rakoto, Pierre Castagna, and Edgar Chacòn. "H2CM: A holonic architecture for flexible hybrid control systems." Computers in Industry 77 (April 2016): 15–28. http://dx.doi.org/10.1016/j.compind.2015.12.005.

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16

Balasubramanian, Sivaram, Robert W. Brennan, and Douglas H. Norrie. "An architecture for metamorphic control of holonic manufacturing systems." Computers in Industry 46, no. 1 (August 2001): 13–31. http://dx.doi.org/10.1016/s0166-3615(01)00101-4.

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17

Wullink, G., M. M. T. Giebels, and H. J. J. Kals. "A system architecture for holonic manufacturing planning and control (EtoPlan)." Robotics and Computer-Integrated Manufacturing 18, no. 3-4 (June 2002): 313–18. http://dx.doi.org/10.1016/s0736-5845(02)00023-6.

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18

Leitão, Paulo, and Francisco Restivo. "ADACOR: A holonic architecture for agile and adaptive manufacturing control." Computers in Industry 57, no. 2 (February 2006): 121–30. http://dx.doi.org/10.1016/j.compind.2005.05.005.

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19

Li, Xiu Lin, Jian Sha Lu, Guo Zhong Chai, and Hong Tao Tang. "Design of Holonic Manufacturing Execution System with Control Mechanism Based Stigmergy." Advanced Materials Research 102-104 (March 2010): 776–80. http://dx.doi.org/10.4028/www.scientific.net/amr.102-104.776.

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To deal with problem of manufacturing system stability caused by uncertain factors in discrete production process, holon was introduced to manufacturing execution system (MES). A distributed manufacturing control architecture based on holon was established. This architecture using cooperation mechanism based stigmergy to realize agility, autonomy and intelligence of system control. Based on the architecture, holon driven agents to visit production elements, acquiring dynamic information of production process. Model design of production factors as order, resource, raw material, product and management factors as optimize, execution was described amply. Finally, workflow of this system was depicted with an example of uncertain order factor.

20

Messi, Leonardo, Alessandro Carbonari, Carlos Franco, Francesco Spegni, Massimo Vaccarini, and Berardo Naticchia. "A Holonic Construction Management System for the Efficient Implementation of Building Energy Renovation Actions." Sustainability 16, no. 5 (February 22, 2024): 1824. http://dx.doi.org/10.3390/su16051824.

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In the architecture, engineering and construction (AEC) industry, many efforts have provided remarkable contributions to construction planning and control processes during work execution. Nevertheless, frequent coordination issues among stakeholders and difficulties in dealing with unexpected events can be explained by the complexity featuring the construction sector. Several approaches to deal with this issue were investigated in the manufacturing area, among which this paper looks at the holonic approach as one of the most promising strategies. This study first analyzes the more fragmented and dynamic nature of the construction industry as compared with the manufacturing one. Secondly, it suggests developing a process-based holonic construction management system based on building information modeling (BIM) and a conceptual architecture for manufacturing control called Product Resource Order Staff Architecture (PROSA). The process-based paradigm ensures exploiting the benefits of BIM towards the development of sustainable and efficient regeneration methods of the built environment. Subsequently, a first management system prototype was developed and tested for the purpose of renovation works management. For the first time, results from an actual implementation of PROSA were applied to a real construction site, and its feasibility was assessed using the data on the field. Key performance indicators (KPIs) evaluated during the onsite demonstration confirmed a good performance of PROSA and the presented holonic approach, which contributed to the overall success of the energy efficient refurbishment project.

21

Tharumarajah, A. "Application of holonic part-oriented control architecture to a machining line." Integrated Computer-Aided Engineering 9, no. 3 (July 2, 2002): 219–33. http://dx.doi.org/10.3233/ica-2002-9303.

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22

Sugi, M., Y. Maeda, Y. Aiyama, T. Harada, and T. Arai. "A holonic architecture for easy reconfiguration of robotic assembly systems." IEEE Transactions on Robotics and Automation 19, no. 3 (June 2003): 457–64. http://dx.doi.org/10.1109/tra.2003.810241.

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23

Covanich, Wutthiphat, and Duncan McFarlane. "Comparing the Control Structures of ISA S88- and Holonic Component-Based Architecture." IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews) 41, no. 1 (January 2011): 4–13. http://dx.doi.org/10.1109/tsmcc.2010.2060190.

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24

Frey, Sylvain, Ada Diaconescu, David Menga, and Isabelle Demeure. "A Generic Holonic Control Architecture for Heterogeneous Multiscale and Multiobjective Smart Microgrids." ACM Transactions on Autonomous and Adaptive Systems 10, no. 2 (June 9, 2015): 1–21. http://dx.doi.org/10.1145/2700326.

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25

Khalid, HEFIED Yacine, VALETTE Etienne, BRIL EL-HAOUZI Hind, and DEMESURE Guillaume. "Social Holonic control architecture: A comparative study through tangibility and complexity prisms." IFAC-PapersOnLine 56, no. 2 (2023): 11088–93. http://dx.doi.org/10.1016/j.ifacol.2023.10.816.

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26

Dehimi, Nour El Houda, Stéphane Galland, Zakaria Tolba, Nora Allaoua, and Mouhamed Ferkani. "Distributed, Dynamic and Recursive Planning for Holonic Multi-Agent Systems: A Behavioural Model-Based Approach." Electronics 12, no. 23 (November 27, 2023): 4797. http://dx.doi.org/10.3390/electronics12234797.

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In this work, we propose a new distributed, dynamic, and recursive planning approach able to consider the hierarchical nature of the holonic agent and the unpredictable evolution of its behaviour. For each new version of the holonic agent, introduced because of the agent members obtaining new roles to achieve new goals and adapt to the changing environment, the approach generates a new plan that can solve the new planning problem associated with this new version against which the plans, executed by the holonic agent, become obsolete. To do this, the approach starts by generating sub-plans capable of solving the planning subproblems associated with the groups of the holonic agent at its different levels. It then recursively links the sub-plans, according to their hierarchical and behavioural dependency, to obtain a global plan. To generate the sub-plans, the approach exploits the behavioural model of the holonic agent’s groups, thereby minimising the computation rate imposed by other multi-agent planning methods. In our work, we have used a concrete case to show and illustrate the usefulness of our approach.

27

ANSARI, Javad, Mehdi GHAZAVI DOZEIN, and Ahad KAZEMI. "A novel voltage control strategy in collaboration with information technology domains through the holonic architecture." TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES 24 (2016): 4242–53. http://dx.doi.org/10.3906/elk-1412-146.

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28

Feili Yu, Fang Tu, and K. R. Pattipati. "Integration of a Holonic Organizational Control Architecture and Multiobjective Evolutionary Algorithm for Flexible Distributed Scheduling." IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 38, no. 5 (September 2008): 1001–17. http://dx.doi.org/10.1109/tsmca.2008.923082.

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29

Fernandes, Nuno, João-Paulo Barros, and Rogerio Campos-Rebelo. "Graphic Model for Shop Floor Simulation and Control in the Context of Industry 5.0." Applied Sciences 13, no. 2 (January 10, 2023): 930. http://dx.doi.org/10.3390/app13020930.

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Industry 5.0 changes the paradigm of the current production model, with repercussions throughout the value chain, and opens up opportunities for new approaches that include reducing waste to optimize the use of the planet’s resources. This paper proposes a functional and executable model that implements a Holonic Manufacturing System (HMS) architecture inspired by the I5.0 guidelines. This architecture presents the factory floor as a service provider for the product to be built, intending to make the manufacturing process adaptable to changes. The model uses Reference nets as the modeling language, a high-level class of Petri nets, Java programming language as the annotation language, and free tool support. The model can be used to perform software-level simulations and can also be interconnected to existing physical devices using Internet of things technologies, enabling interactions between Cyber–Physical Systems (CPSs). It thus allows for the control of the shop floor and the reuse of the current machine park to make its adoption more sustainable. The model was used to generate several simulation results, which are presented and analyzed, thus demonstrating the model’s usefulness.

30

Djebrani, Salima, Abderraouf Benali, and Foudil Abdessemed. "Modelling and control of an omnidirectional mobile manipulator." International Journal of Applied Mathematics and Computer Science 22, no. 3 (September 1, 2012): 601–16. http://dx.doi.org/10.2478/v10006-012-0046-1.

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AbstractA new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.

31

Jafari, D., S. M. Moattar Husseini, M. H. Fazel Zarandi, and R. Zanjirani Farahani. "Coordination of order and production policy in buyer–vendor chain using PROSA Holonic architecture." International Journal of Advanced Manufacturing Technology 45, no. 9-10 (May 9, 2009): 1033–50. http://dx.doi.org/10.1007/s00170-009-2039-2.

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32

Mondel, Samrat, and M. K. Tiwari. "Application of an Autonomous Agent Network to Support the Architecture of a Holonic Manufacturing System." International Journal of Advanced Manufacturing Technology 20, no. 12 (November 29, 2002): 931–42. http://dx.doi.org/10.1007/s001700200217.

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33

Querol, Esteban, Fernando Romero Subirón, Antonio Manuel Estruch, Julio Serrano Mira, and Julio Ariel Romero Pérez. "Design and implementation of a function block-based holonic control architecture for a new generation flexible manufacturing system." International Journal of Mechatronics and Manufacturing Systems 10, no. 1 (2017): 84. http://dx.doi.org/10.1504/ijmms.2017.084409.

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34

Pérez, Julio Ariel Romero, Julio Serrano Mira, Esteban Querol, Fernando Romero Subirón, and Antonio Manuel Estruch. "Design and implementation of a function block-based holonic control architecture for a new generation flexible manufacturing system." International Journal of Mechatronics and Manufacturing Systems 10, no. 1 (2017): 84. http://dx.doi.org/10.1504/ijmms.2017.10005294.

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35

Defoort, Michael, Jorge Palos, Annemarie Kokosy, Thierry Floquet, and Wilfrid Perruquetti. "Performance-based reactive navigation for non-holonomic mobile robots." Robotica 27, no. 2 (March 2009): 281–90. http://dx.doi.org/10.1017/s0263574708004700.

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SUMMARYThis paper presents an architecture for the navigation of an autonomous mobile robot evolving in environments with obstacles. Instead of addressing the motion planning and control problems in different contexts, these issues are described in connected modules with performance requirement considerations. The path planning problem is formulated as a constrained receding horizon planning problem and is solved in real time with an efficient computational method that combines non-linear control theory, B-spline basis function and non-linear programming. An integral sliding mode controller is used for trajectory tracking. The closed-loop stability of the tracking errors is guaranteed in spite of unknown disturbances. It is also shown that this strategy is particularly useful if integral sliding mode control is combined with other methods to further robustify against perturbations. The effectiveness, perfect performance of obstacle avoidance, real time and high robustness properties are demonstrated by experimental results.

36

Ansari, Javad, Ahad Kazemi, and Amin Gholami. "Holonic structure: a state-of-the-art control architecture based on multi-agent systems for optimal reactive power dispatch in smart grids." IET Generation, Transmission & Distribution 9, no. 14 (November 5, 2015): 1922–34. http://dx.doi.org/10.1049/iet-gtd.2014.1183.

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37

Tsiakas, Kosmas, Alexios Papadimitriou, Eleftheria Maria Pechlivani, Dimitrios Giakoumis, Nikolaos Frangakis, Antonios Gasteratos, and Dimitrios Tzovaras. "An Autonomous Navigation Framework for Holonomic Mobile Robots in Confined Agricultural Environments." Robotics 12, no. 6 (October 28, 2023): 146. http://dx.doi.org/10.3390/robotics12060146.

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Due to the accelerated growth of the world’s population, food security and sustainable agricultural practices have become essential. The incorporation of Artificial Intelligence (AI)-enabled robotic systems in cultivation, especially in greenhouse environments, represents a promising solution, where the utilization of the confined infrastructure improves the efficacy and accuracy of numerous agricultural duties. In this paper, we present a comprehensive autonomous navigation architecture for holonomic mobile robots in greenhouses. Our approach utilizes the heating system rails to navigate through the crop rows using a single stereo camera for perception and a LiDAR sensor for accurate distance measurements. A finite state machine orchestrates the sequence of required actions, enabling fully automated task execution, while semantic segmentation provides essential cognition to the robot. Our approach has been evaluated in a real-world greenhouse using a custom-made robotic platform, showing its overall efficacy for automated inspection tasks in greenhouses.

38

CHUGO, Daisuke, Hajime ASAMA, Hayato KAETSU, Kuniaki KAWABATA, Tsuyoshi SUZUKI, and Eiichi INAGAKI. "Development of Holonomic Omni-Directional Mobile Robot with Step-Climbing Ability : 3rd report : Development of Control System Architecture." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2002 (2002): 50. http://dx.doi.org/10.1299/jsmermd.2002.50_5.

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39

Micieta, Branislav, Vladimira Binasova, Peter Marcan, and Martin Gaso. "Interfacing the Control Systems of Enterprise-Level Process Equipment with a Robot Operating System." Electronics 12, no. 18 (September 13, 2023): 3871. http://dx.doi.org/10.3390/electronics12183871.

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The analytical section of this paper deals with theoretical knowledge, considering the latest trends in the subject area. To achieve the successful implementation of cobots based on operating systems in manufacturing systems, it is necessary to pay attention specifically to the interfacing of Robot Operating Systems with the control systems of manufacturing systems at the process level of an enterprise. In the practical section, an algorithm with well-defined steps towards the successful implementation of cobots in holonic manufacturing processes is proposed. By setting up an experimental workstation in a laboratory, the proposed procedures are verified at the end of the paper. The creation of a design for the implementation of a collaborative robot with a human represents the missing link in the whole chain of commercial applications of the latest trends from the field of robotic systems in the industrial sphere. The main contributions of this study include the establishment of a communication channel between cobots and programmable logic PLCs (Programmable logic controllers), and an experimental verification of the proposed solution for the implementation of a cooperating robot with a human in a manufacturing system in the laboratory. Another advantage of this paper is the creation of a new procedure for conducting a risk analysis of cooperating robots and multipurpose autonomous devices.

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Herrero-Pérez, D., and H. Martínez-Barberá. "Decentralized Traffic Control for Non-Holonomic Flexible Automated Guided Vehicles in Industrial Environments." Advanced Robotics 25, no. 6-7 (January 2011): 739–63. http://dx.doi.org/10.1163/016918611x563283.

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41

Popov, Vasil, Andon V. Topalov, Tihomir Stoyanov, and Sevil Ahmed-Shieva. "Kinematic Modeling with Experimental Validation of a KUKA®–Kinova® Holonomic Mobile Manipulator." Electronics 13, no. 8 (April 17, 2024): 1534. http://dx.doi.org/10.3390/electronics13081534.

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We have proposed an open-source holonomic mobile manipulator composed of the KUKA youBot holonomic mobile platform with four Swedish wheels and a stationary aboard six-degrees-of-freedom Kinova Jaco Gen 2H manipulator, and we have developed corresponding kinematic problems. We have defined forward and inverse analytic Jacobians and designed Jacobian algorithms of forward and inverse mobile manipulator kinematics. An experimental test conducted with the designed laboratory prototype of the investigated mobile manipulator with the described kinematics was used to verify the obtained theoretical results. The goal of the test was to keep constant the position of the gripper in 3D space while the mobile platform is moving to some extend in the 2D workspace.

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Faulring, Eric L., Kevin M. Lynch, J. Edward Colgate, and Michael A. Peshkin. "Haptic Display of Constrained Dynamic Systems via Admittance Displays." IEEE Transactions on Robotics 23, no. 1 (February 2007): 101–11. http://dx.doi.org/10.1109/tro.2006.886837.

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In the Cobotic Hand Controller, we have introduced an admittance display that can render very high impedances (up to its own structural stiffness). This is due to its use of infinitely variable transmissions. While admittance displays typically excel at rendering high impedances, the incorporation of infinitely variable transmissions in the Cobotic Hand Controller allows the stable display of a wide dynamic range, including low impedances. The existence of a display that excels at rendering high-impedance constraints, but has high-fidelity control of low impedances tangent to those constraints, has led us to describe an admittance control architecture not often examined in the haptics community. In this paper, we develop a comprehensive approach that enables rendering of rigid motion constraints while simultaneously preserving the physical integrity of the intended inertial dynamics tangent to those constraints. This is in contrast to conventional impedance-control algorithms that focus primarily on rendering reaction forces along contact normals with constraints. We present this algorithm here, which is general to all admittance displays, and report on its implementation with the Cobotic Hand Controller. We offer examples of rigid bodies and linkages subject to holonomic and/or nonholonomic constraints

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Jose, Antresa, Kripa Elizabeth Cherian, Munaf Babajan Nandyal, Stephen A. Jiwanmall, Dheeraj Kattula, Thomas V. Paul, and Nitin Kapoor. "Trabecular Bone Score and Bone Mineral Density in Postmenopausal Women with Morbid Obesity—A Clinical Paradox." Medical Sciences 9, no. 4 (November 9, 2021): 69. http://dx.doi.org/10.3390/medsci9040069.

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Obesity has long been considered to have a protective effect on bone, but specific complications in those with morbid obesity are known to have a detrimental impact on bone architecture. We aimed to study the bone microarchitecture (TBS—trabecular bone score) and bone mineral density (BMD) in postmenopausal women with morbid obesity compared to obese and non-obese age-matched women. Eighty-five consecutive postmenopausal women with morbid obesity (body mass index (BMI) ≥ 35 kg/m2) were enrolled and compared to age-matched obese (n = 80) and non-obese postmenopausal controls (n = 85). The BMD and TBS were assessed in all subjects using a Hologic-QDR 4500-W Discovery-A DXA scanner. The mean BMD (gm/cm2) at the femoral neck in women with morbid obesity was found to be significantly lower as compared to the age-matched postmenopausal obese controls (0.723 versus 0.762, p-value = 0.002). The BMD at the lumbar spine and hip showed similar trends but were not statistically significant. The bone microarchitecture was found to be significantly lower in those with morbid obesity (1.205) as compared to the other two groups (obesity 1.244; non-obese 1.228) (p < 0.013). Though obesity was associated with a better bone density and bone microarchitecture in postmenopausal women, a paradoxical lower value was seen in those with morbid obesity.

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Zeng, Junjie, Rusheng Ju, Long Qin, Yue Hu, Quanjun Yin, and Cong Hu. "Navigation in Unknown Dynamic Environments Based on Deep Reinforcement Learning." Sensors 19, no. 18 (September 5, 2019): 3837. http://dx.doi.org/10.3390/s19183837.

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In this paper, we propose a novel Deep Reinforcement Learning (DRL) algorithm which can navigate non-holonomic robots with continuous control in an unknown dynamic environment with moving obstacles. We call the approach MK-A3C (Memory and Knowledge-based Asynchronous Advantage Actor-Critic) for short. As its first component, MK-A3C builds a GRU-based memory neural network to enhance the robot’s capability for temporal reasoning. Robots without it tend to suffer from a lack of rationality in face of incomplete and noisy estimations for complex environments. Additionally, robots with certain memory ability endowed by MK-A3C can avoid local minima traps by estimating the environmental model. Secondly, MK-A3C combines the domain knowledge-based reward function and the transfer learning-based training task architecture, which can solve the non-convergence policies problems caused by sparse reward. These improvements of MK-A3C can efficiently navigate robots in unknown dynamic environments, and satisfy kinetic constraints while handling moving objects. Simulation experiments show that compared with existing methods, MK-A3C can realize successful robotic navigation in unknown and challenging environments by outputting continuous acceleration commands.

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Holland, J. B., M. J. D. Hayes, and R. G. Langlois. "A SLIP MODEL FOR THE SPHERICAL ACTUATION OF THE ATLAS MOTION PLATFORM." Transactions of the Canadian Society for Mechanical Engineering 29, no. 4 (December 2005): 711–20. http://dx.doi.org/10.1139/tcsme-2005-0048.

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The Atlas platform represents a novel six degree-of-freedom motion platform architecture. Orienting is decoupled from positioning, and unlimited rotations are possible about every axis. The decoupling is accomplished by fixing a three degree-of-freedom spherical orienting device, called the Atlas sphere, on a gantry with three orthogonal linear axes. The key to the design is three omni-directional wheels in an equilateral arrangement, which impart angular displacement to a sphere, providing rotational actuation. The free-spinning castor rollers provide virtually friction-free motion parallel to each omni-wheel rotation axis creating the potential for unconstrained angular motion. Since the sphere directly contacts the omni-wheels, there are no joints or links interfering with its motion, allowing full 360° motion about all axes. However, the kinematic constraints are non-holonomic. This paper explores the slip at the interface between each omni-wheel and the Atlas sphere. A kinematic slip model is presented, introducing the slip ratio, which is the ratio of the kth omni-wheel’s transverse velocity component, S⊥k, which is perpendicular to the free-spinning castor wheel axis, and the tangential velocity component, Stank, which is perpendicular to the omni-wheel driving axis, parallel to the tangential velocity vector, Vk. The long-term goal is to incorporate the slip model into a control law for position level control of the sphere. Two illustrative examples are given.

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Xu, Wenfu, Yu Liu, Bin Liang, Yangsheng Xu, Cheng Li, and Wenyi Qiang. "Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms." Advanced Robotics 22, no. 4 (January 2008): 451–76. http://dx.doi.org/10.1163/156855308x294680.

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Xu, Wenfu, Cheng Li, Xueqian Wang, Yu Liu, Bin Liang, and Yangsheng Xu. "Study on Non-holonomic Cartesian Path Planning of a Free-Floating Space Robotic System." Advanced Robotics 23, no. 1-2 (January 2009): 113–43. http://dx.doi.org/10.1163/156855308x392708.

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48

Yang, Kwangjin, Daehan Jung, and Salah Sukkarieh. "Continuous curvature path-smoothing algorithm using cubic B zier spiral curves for non-holonomic robots." Advanced Robotics 27, no. 4 (March 2013): 247–58. http://dx.doi.org/10.1080/01691864.2013.755246.

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Lv, Zhen, Guochen Wang, Zicheng Wang, Huachuan Zhao, and Wei Gao. "Application of Weld Scar Recognition in Small-Diameter Transportation Pipeline Positioning System." Electronics 11, no. 7 (March 31, 2022): 1100. http://dx.doi.org/10.3390/electronics11071100.

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In order to improve the positioning accuracy of the pipeline inspection gauge (PIG), a pipeline positioning method, based on weld location, is proposed. The position of the welding scar is recognized by wavelet transform modulus maxima (WTMM). Equidistant welding scars provide positioning references to the strap-down inertial navigation system (SINS)/dead reckoning (DR) navigation system, which is the positioning algorithm in PIG. The following improvements have been made in relation to prior research. First, we suggest a selection strategy for the optimal mother wavelet and decomposition level; based on the strategy, WTMM can recognize the collision response between the PIG and submerged weld in the burst noise for the inertial measurement unit (IMU) output. Then, characteristic position (CP), which is the site of the weld scar, and non-holonomic constraints are utilized to decrease the position and the attitude error. By doing such, the SINS/DR/CP algorithm is proposed. The positioning error of the modified algorithm is 0.129% in the experiment, which performs better than other algorithms.

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Huang, Y. E., S. Tsai, H. Y. Liu, K. W. Chiang, M. L. Tsai, P. L. Lee, and N. El-Sheimy. "THE DEVELOPMENT AND VALIDATION OF A NAVIGATION GRADE EGI SYSTEM FOR LAND VEHICULAR NAVIGATION APPLICATIONS." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLVIII-1/W1-2023 (May 25, 2023): 191–97. http://dx.doi.org/10.5194/isprs-archives-xlviii-1-w1-2023-191-2023.

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Abstract. In recent years, most people use commercial integrated navigation systems to develop navigation algorithms. However, due to the different levels of sensors on the market, it is difficult to customize commercial systems and leads to limited development of navigation algorithms. Therefore, the purpose of this research is to develop a real-time integrated navigation system EGI-1000 (Embedded GNSS and INS) including software and hardware, and effectively reduce the cost with the commercial price. The real-time integrated navigation system EGI-1000 contains a navigation-grade IMU, IMU1000 and NovAtel OEM 7720 GNSS receiver module. In this research, the integration process can be divided into three parts. The first part is the integration of hardware, and the architecture diagram of the real-time integrated navigation system will be displayed. The second part is the pre-processing of data. In the multi-sensor time synchronization problem, this research will propose a method about cross-correlation to validate whether the timestamp of IMU data is delay. The last part is algorithm about fusing data from multiple sensors and motion constraints. Extended Kaman Filter (EKF) will be the core and motion constraints including Zero Velocity Update (ZUPT) and Non-Holonomic Constraints (NHC) are integrated in the Loosely Coupled (LC) scheme. The calibration of Inertial navigation Measurement Unit (IMU) will also be conducted to determine the parameter in algorithm. The results of the experiments will be shown in this paper. Both of hardware and navigation algorithm in the integrated navigation system of this research are used to conduct multiple experiment including open sky environments, GNSS challenging environments, and GNSS denied environment. In comparison with the reference data, the navigation accuracy of the developed integrated navigation system can achieve centimeter-level accuracy (“Active Control” level and “Where in lane” level) in open sky and GNSS challenging environments. According to the propagation error theory, the result in GNSS denied environment also meet the expected value. The navigation algorithm is also feasible for the commercial integrated navigation system.