Physical resource coordination in manufacturing systems

This paper focuses on the physical resource coordination problem for reconfigurable manufacturing systems. It establishes requirements for physical resource coordination to support highly reconfigurable manufacturing systems, and uses two illustrative examples to illustrate critical issues that must be considered. Finally, an approach to part of the physical resource coordination mechanism for reconfigurable systems is presented. Copyright © 2006 IFAC.

Fixed-lag blind equalization and sequence estimation in digital communications systems using sequential importance sampling

We present methods for fixed-lag smoothing using Sequential Importance sampling (SIS) on a discrete non-linear, non-Gaussian state space system with unknown parameters. Our particular application is in the field of digital communication systems. Each input data point is taken from a finite set of symbols. We represent transmission media as a fixed filter with a finite impulse response (FIR), hence a discrete state-space system is formed. Conventional Markov chain Monte Carlo (MCMC) techniques such as the Gibbs sampler are unsuitable for this task because they can only perform processing on a batch of data. Data arrives sequentially, so it would seem sensible to process it in this way. In addition, many communication systems are interactive, so there is a maximum level of latency that can be tolerated before a symbol is decoded. We will demonstrate this method by simulation and compare its performance to existing techniques.

Reconfigurable predictive control for redundantly actuated systems with parameterised input constraints

A method is proposed for on-line reconfiguration of the terminal constraint used to provide theoretical nominal stability guarantees in linear model predictive control (MPC). By parameterising the terminal constraint, its complete reconstruction is avoided when input constraints are modified to accommodate faults. To enlarge the region of feasibility of the terminal control law for a certain class of input faults with redundantly actuated plants, the linear terminal controller is defined in terms of virtual commands. A suitable terminal cost weighting for the reconfigurable MPC is obtained by means of an upper bound on the cost for all feasible realisations of the virtual commands from the terminal controller. Conditions are proposed that guarantee feasibility recovery for a defined subset of faults. The proposed method is demonstrated by means of a numerical example. © 2013 Elsevier B.V. All rights reserved.

High-current adaptive impedance matching in narrowband power-line communication systems

This paper proposes a high current impedance matching method for narrowband power-line communication (NPLC) systems. The impedance of the power-line channel is time and location variant; therefore, coupling circuitry and the channel are not usually matched. This not only results in poor signal integrity at the receiving end, but also leads to a higher transmission power requirement to secure the communication process. To offset this negative effect, a high-current adaptive impedance circuit to enable impedance matching in power-line networks is reported. The approach taken is to match the channel impedance of N-PLC systems is based on the General Impedance Converter (GIC). In order to achieve high current a special coupler in which the inductive impedance can be altered by adjusting a microcontroller controlled digital resistor is demonstrated. It is shown that the coupler works well with heavy load current in power line networks. It works in both low and high transmitting current modes, a current as high as 760 mA has been obtained. Besides, compared with other adaptive impedance couplers, the advantages include higher matching resolution and a simple control interface. Experimental results are presented to demonstrate the operation of the coupler. © 2011 IEEE.

A tool for assessing reconfigurability of distributed manufacturing systems

In recent years, a large number of approaches to developing distributed manufacturing systems has been proposed. One of the principles reasons for these development has been to enhance the reconfigurability of a manufacturing operation; allowing it to readily adapt to changes over time. However, to date, there has only been a limited assessment of the resulting reconfigurability properties and hence it remains inconclusive as to whether a distributed manufacturing system design approach does in fact improve reconfigurability. This paper represents part of a study which investigates this issue. It proposes an assessment tool - the so called "Design Structure Matrix" as a means of assessing the modularity of elements in a manufacturing system. (Modularity has been shown to be a key characteristic of a reconfigurable manufacturing system.) The use of the Design Structure Matrix is illustrated in assessing a robot assembly cell designed on distributed manufacturing system principles. Copyright © 2006 IFAC.

Digital elevation models and GIS for watershed modelling and flood prediction-A case study of Accra Ghana

Geographical Information Systems (GIS) and Digital Elevation Models (DEM) can be used to perform many geospatial and hydrological modelling including drainage and watershed delineation, flood prediction and physical development studies of urban and rural settlements. This paper explores the use of contour data and planimetric features extracted from topographic maps to derive digital elevation models (DEMs) for watershed delineation and flood impact analysis (for emergency preparedness) of part of Accra, Ghana in a GIS environment. In the study two categories of DEMs were developed with 5 m contour and planimetric topographic data; bare earth DEM and built environment DEM. These derived DEMs were used as terrain inputs for performing spatial analysis and obtaining derivative products. The generated DEMs were used to delineate drainage patterns and watershed of the study area using ArcGIS desktop and its ArcHydro extension tool from Environmental Systems Research Institute (ESRI). A vector-based approach was used to derive inundation areas at various flood levels. The DEM of built-up areas was used as inputs for determining properties which will be inundated in a flood event and subsequently generating flood inundation maps. The resulting inundation maps show that about 80% areas which have perennially experienced extensive flooding in the city falls within the predicted flood extent. This approach can therefore provide a simplified means of predicting the extent of inundation during flood events for emergency action especially in less developed economies where sophisticated technologies and expertise are hard to come by. © 2009 Springer Netherlands.

Digital Elevation Models and GIS for watershed modelling and flood prediction - A case study of Accra Ghana

Geographical Information Systems (GIS) and Digital Elevation Models (DEM) can be used to perform many geospatial and hydrological modelling including drainage and watershed delineation, flood prediction and physical development studies of urban and rural settlements. This paper explores the use of contour data and planimetric features extracted from topographic maps to derive digital elevation models (DEMs) for watershed delineation and flood impact analysis (for emergency preparedness) of part of Accra, Ghana in a GIS environment. In the study two categories of DEMs were developed with 5 m contour and planimetric topographic data; bare earth DEM and built environment DEM. These derived DEMs were used as terrain inputs for performing spatial analysis and obtaining derivative products. The generated DEMs were used to delineate drainage patterns and watershed of the study area using ArcGIS desktop and its ArcHydro extension tool from Environmental Systems Research Institute (ESRI). A vector-based approach was used to derive inundation areas at various flood levels. The DEM of built-up areas was used as inputs for determining properties which will be inundated in a flood event and subsequently generating flood inundation maps. The resulting inundation maps show that about 80% areas which have perennially experienced extensive flooding in the city falls within the predicted flood extent. This approach can therefore provide a simplified means of predicting the extent of inundation during flood events for emergency action especially in less developed economies where sophisticated technologies and expertise are hard to come by. © Springer Science + Business Media B.V. 2009.

Towards soft self-reconfigurable robots

Modular self-reconfigurable robots have previously demonstrated that automatic control of their own body shapes enriches their behavioural functions. However, having predefined rigid modules technically limits real-world systems from being hyper-redundant and compliant. Encouraged by recent progress using elastically deformable material for robots, we propose the concept of soft self-reconfigurable robots which may become hyper-flexible during interaction with the environment. As the first attempt towards this goal, the paper proposes a novel approach using viscoelastic material Hot-Melt Adhesives (HMAs): for physical connection and disconnection control between bodies that are not necessarily predefined rigid modules. We present a model that characterizes the temperature dependency of the strength of HMA bonds, which is then validated and used in a feedback controller for automatic connection and disconnection. Using a minimalistic robot platform that is equipped with two devices handling HMAs, the performance of this method is evaluated in a pick-and-place experiment with aluminium and wooden parts. © 2012 IEEE.