scholarly journals Preliminary Development of Subsumption Architecture Control for Automated Guided Vehicle

ROTASI ◽  
2019 ◽  
Vol 21 (4) ◽  
pp. 200
Author(s):  
Prianggada Indra Tanaya
Keyword(s):  
Operating System ◽  
Decision Making ◽  
Control System ◽  
Manufacturing System ◽  
Object Oriented ◽  
Control Architecture ◽  
Automated Guided Vehicle ◽  
Subsumption Architecture ◽  
Object Oriented Technology ◽  
System Input

Subsumption control architecture is an control architecture based on parallel system. Input of information of sensors is directly connected through modules in the control system, and further the decision making is connected to actuators. Automated Guided Vehicle or AGV is an automated component within integrated manufacturing system. In this article, this control architecture will be designed and implemented to an AGV. Commands are designed based on Object-Oriented technology. The commands are arranged in subsumption, where a command higher subsumed other command of its lower level. GPFO (Greater Priority First Out) technique is implemed for executing the commands by using multi-threading. Experimentation is performed to have the characteristics of commands being executed. This work introduce our effort to design an operating system for an AGV.

Towards Unambiguous Specifications: Five Alternative Job Control Models for an Object-Oriented, Hierarchical Shop Control System

1999 ◽  
Author(s):  
David Flater ◽  
Edward Barkmeyer ◽  
Evan Wallace
Keyword(s):  
Control System ◽  
Manufacturing System ◽  
Object Oriented ◽  
Control Model ◽  
Job Control ◽  
Distributed Object ◽  
Control Models ◽  
Levels Of Control

Abstract In a distributed, object-oriented, hierarchical shop control system, there are many ways of organizing the interactions between supervisory controllers and subordinate controllers. Depending on what model of job control is used, objects will be allocated differently among the levels of control, and the interactions between controllers will vary considerably. This paper describes five models of job control that are equally functional, but use different paradigms for managing jobs. Although each is attempting to serve the same purpose in the same context, the five ways of viewing the system lead to distinct implementations that cannot interoperate. This demonstrates the importance of specifying the control model when designing an object-oriented manufacturing system.

Decision Making for a Mobile Robot Using Potential Function

2007 ◽  
Vol 19 (3) ◽  
pp. 298-307 ◽  
Author(s):  
Kazumi Oikawa ◽  
◽  
Hidenori Takauji ◽  
Takanori Emaru ◽  
Takeshi Tsuchiya ◽  
...  
Keyword(s):  
Decision Making ◽  
Mobile Robot ◽  
Potential Function ◽  
State Transition ◽  
Lower Layer ◽  
Object Oriented ◽  
Subsumption Architecture ◽  
Object Oriented Design ◽  
Event Driven ◽  
Simulation Results

We discuss decision making for a behavior-based robot with modules which determining robot action. The subsumption architecture (SA) arranges modules in layers, giving upper-layer module action priority over lower-layer modules. Although implementation is easy, results in many inefficient actions because upper-layer module are used regardless of other modules. We solve this problem by representing actions by Potential Function (PF), in which maximum votes are collected from modules. Using event-driven state transition, the robot decides its action with appropriate sets of modules changed based on the situation. We apply this to navigation tasks in a corridor and show simulation results. When we give a map and path designation to the robot, we use a handwriting map interface. We compare object-oriented design SA and PMF with our proposal and show how inefficient actions are reduced using our proposal.

Using UML as Front-End for PLC Program Design

2011 ◽  
Vol 267 ◽  
pp. 521-524
Author(s):  
Chong Ming Zhang ◽  
Zu Hua Fang ◽  
Chun Mei Wang ◽  
Ji Feng Ni
Keyword(s):  
Control System ◽  
Unified Modeling Language ◽  
Object Oriented ◽  
State Machine ◽  
Design Tool ◽  
Static Structure ◽  
Object Oriented Design ◽  
Object Oriented Technology ◽  
Plc Program ◽  
State Machine Diagram

To minimize the influence of experiential factor and guarantee the software quality from the design phase, with the aid of unified modeling language (UML), an object-oriented design method for PLC program is presented. With UML as design tool, class diagram and state machine diagram are chosen respectively to describe the static structure and dynamic behavior of the PLC based control system, and PLC ladder diagram is acquired from state machine diagram subsequently. With the combination of object-oriented technology, UML and classic PLC design technology, the software reliability of PLC based control system is promoted, and the application area of object-oriented technology and UML is extended.

An Implementation of Teaching Process Control System Based on Java

2013 ◽  
Vol 717 ◽  
pp. 644-648
Author(s):  
Shan Ping Qiao ◽  
Peng Wu ◽  
Ling Zhao
Keyword(s):  
Control System ◽  
Process Control ◽  
Object Oriented ◽  
Process Control System ◽  
Good Effect ◽  
Teaching Process ◽  
Teaching Tools ◽  
Time Control ◽  
Java Language ◽  
Object Oriented Technology

Teaching process for a course is very important. How to improve the effect is closely related to the teacher and his/her teaching approach. Specially, the computer aided measures are also necessary. This paper introduces a teaching process control system which was implemented using object oriented technology. The aim of this system is to help teachers to enhance their teaching effect in the classroom. On the base of the system analyses, a teaching process control system was developed in Java language. This system has time control, time configure, teaching tools and other functions. The good effect has been received after this system was used in the real teaching process by some users. However, some functions about this system even need to be enhanced much in the future.

Research on sports aided teaching and training decision system oriented to deep convolutional neural network

2021 ◽  
pp. 1-15
Author(s):  
Qinyu Mei ◽  
Ming Li
Keyword(s):  
Neural Network ◽  
Decision Making ◽  
Control System ◽  
Convolutional Neural Network ◽  
Force Control ◽  
Control Experiment ◽  
Deep Convolutional Neural Network ◽  
Flexible Cable ◽  
Cable Force ◽  
And Training

Aiming at the construction of the decision-making system for sports-assisted teaching and training, this article first gives a deep convolutional neural network model for sports-assisted teaching and training decision-making. Subsequently, In order to meet the needs of athletes to assist in physical exercise, a squat training robot is built using a self-developed modular flexible cable drive unit, and its control system is designed to assist athletes in squatting training in sports. First, the human squat training mechanism is analyzed, and the overall structure of the robot is determined; second, the robot force servo control strategy is designed, including the flexible cable traction force planning link, the lateral force compensation link and the establishment of a single flexible cable passive force controller; In order to verify the effect of robot training, a single flexible cable force control experiment and a man-machine squat training experiment were carried out. In the single flexible cable force control experiment, the suppression effect of excess force reached more than 50%. In the squat experiment under 200 N, the standard deviation of the system loading force is 7.52 N, and the dynamic accuracy is above 90.2%. Experimental results show that the robot has a reasonable configuration, small footprint, stable control system, high loading accuracy, and can assist in squat training in physical education.

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