Grid graph planning and control method applied to equipment maintenance in the chemical industry

1967 ◽  
Vol 3 (3) ◽  
pp. 231-234 ◽  
Author(s):  
E. K. Sashina ◽  
�. I. Shklovskii ◽  
A. B. Miller ◽  
Yu. S. Chentsov
Keyword(s):  
Chemical Industry ◽  
Control Method ◽  
Equipment Maintenance ◽  
Grid Graph ◽  
Planning And Control ◽  
And Control ◽  
Graph Planning

A Practical Path Planning and Control Method for Move-to-Move Attitude Maneuvers

2021 ◽  
Author(s):  
Yongjun Lei ◽  
Dongning Lu ◽  
Lijiao Wang
Keyword(s):  
Path Planning ◽  
Control Method ◽  
Planning And Control ◽  
And Control

Intelligent Motion Planning and Control for Robotic Joints Using Bio-Inspired Spiking Neural Networks

2019 ◽  
Vol 16 (04) ◽  
pp. 1950012 ◽  
Author(s):  
Mircea Hulea ◽  
Adrian Burlacu ◽  
Constantin-Florin Caruntu
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Motion Planning ◽  
Control Method ◽  
Inhibitory Neurons ◽  
Robotic Arm ◽  
Control Approach ◽  
Planning And Control ◽  
Robotic Joints ◽  
And Control

This paper details an intelligent motion planning and control approach for a one-degree of freedom joint of a robotic arm that can be used to implement anthropomorphic robotic hands. This intelligent control method is based on bio-inspired electronic neural networks and contractile artificial muscles implemented with shape memory alloy (SMA) actuators. The spiking neural network (SNN) includes several excitatory neurons that naturally determine the contraction force of the actuators, and unevenly distributed inhibitory neurons that regulate the excitatory activity. To validate the proposed concept, the experiments highlight the motion planning and control of a single-joint robotic arm. The results show that the electronic neural network is able to intelligently activate motion and hold with high precision the mobile link to the target positions even if the arm is slightly loaded. These results are encouraging for the development of improved biologically plausible neural structures that are able to control simultaneously multiple muscles.

scholarly journals Development of a Pull Production Control Method for ETO Companies and Simulation for the Metallurgical Industry

2019 ◽  
Vol 10 (1) ◽  
pp. 274 ◽  
Author(s):  
Javier Gejo García ◽  
Sergio Gallego-García ◽  
Manuel García-García
Keyword(s):  
Production Control ◽  
Control Method ◽  
Metallurgical Industry ◽  
Lead Times ◽  
Customer Requirements ◽  
Planning And Control ◽  
Engineer To Order ◽  
The Moment ◽  
And Control

At the moment, many engineer-to-order manufacturers are under pressure, the overcapacity in many sectors erodes prices and many companies, especially in Europe have gone into recent years in bankruptcy. Due to the increasing competition as well as the new customer requirements, the internal processes of an ETO company play an essential role in order to achieve a unique selling proposition (USP). Therefore this paper exposes how the production planning and control of an engineer-to-order manufacturer can be designed in order to increase its OTD (order-to-delivery) rate as well as decrease the WIP (work-in-progress) and the production lead times. To prove the optimized planning logic, it was applied in a simulation case study and based on the results; the conclusions about its potential are derived.

scholarly journals Versatile Locomotion Planning and Control for Humanoid Robots

2021 ◽  
Vol 8 ◽  
Author(s):  
Junhyeok Ahn ◽  
Steven Jens Jorgensen ◽  
Seung Hyeon Bang ◽  
Luis Sentis
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
Biped Robot ◽  
Humanoid Robots ◽  
Integer Program ◽  
Whole Body ◽  
Walking Robots ◽  
Planning And Control ◽  
Floating Base ◽  
And Control

We propose a locomotion framework for bipedal robots consisting of a new motion planning method, dubbed trajectory optimization for walking robots plus (TOWR+), and a new whole-body control method, dubbed implicit hierarchical whole-body controller (IHWBC). For versatility, we consider the use of a composite rigid body (CRB) model to optimize the robot’s walking behavior. The proposed CRB model considers the floating base dynamics while accounting for the effects of the heavy distal mass of humanoids using a pre-trained centroidal inertia network. TOWR+ leverages the phase-based parameterization of its precursor, TOWR, and optimizes for base and end-effectors motions, feet contact wrenches, as well as contact timing and locations without the need to solve a complementary problem or integer program. The use of IHWBC enforces unilateral contact constraints (i.e., non-slip and non-penetration constraints) and a task hierarchy through the cost function, relaxing contact constraints and providing an implicit hierarchy between tasks. This controller provides additional flexibility and smooth task and contact transitions as applied to our 10 degree-of-freedom, line-feet biped robot DRACO. In addition, we introduce a new open-source and light-weight software architecture, dubbed planning and control (PnC), that implements and combines TOWR+ and IHWBC. PnC provides modularity, versatility, and scalability so that the provided modules can be interchanged with other motion planners and whole-body controllers and tested in an end-to-end manner. In the experimental section, we first analyze the performance of TOWR+ using various bipeds. We then demonstrate balancing behaviors on the DRACO hardware using the proposed IHWBC method. Finally, we integrate TOWR+ and IHWBC and demonstrate step-and-stop behaviors on the DRACO hardware.

Gait planning and control method for humanoid robot using improved target positioning

2020 ◽  
Vol 63 (7) ◽  
Author(s):  
Lei Zhang ◽  
Huayan Zhang ◽  
Ning Xiao ◽  
Tianwei Zhang ◽  
Gui-Bin Bian
Keyword(s):  
Humanoid Robot ◽  
Control Method ◽  
Gait Planning ◽  
Planning And Control ◽  
And Control

Implementing a material planning and control method for special nutrition in a Brazilian public hospital

2021 ◽  
Author(s):  
Najla Alemsan ◽  
Guilherme Luz Tortorella ◽  
Alejandro Francisco Mac Cawley Vergara ◽  
Carlos Manuel Taboada Rodriguez ◽  
Alberto Portioli Staudacher
Keyword(s):  
Public Hospital ◽  
Control Method ◽  
Planning And Control ◽  
And Control
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