Simulation and Selection Schemes in Machine Self-Awareness, a Position Control Case Study
2004 (English)In: Power Transmission and Motion Control. PTMC 2004 / [ed] C R Burrows, K A Edge, D N Johnston, London, Bury St Edmunds, UK: Professional Engineering Publishing , 2004, 307-318 p.Conference paper (Other academic)
Simulation techniques for numerical prediction of dynamic behaviour of a sub-system may be combined with different types of selection schemes at a controller loop level. This constitutes a way of using physical simulation models as a prediction scheme for machine control. This is similar to model-based control techniques but introduces the flexibility of switching control objectives and limitations on the fly. Such a control strategy may be of interest in applications where the environment is not fully identified or may change in an unpredictable way. A sudden change in working conditions due to a failure in the system or component itself is an example. The machine then needs to have some degree of readiness for unforeseen conditions. This is a typical scenario in remote mobile robotics and machinery in hazardous environments. Some level of self-awareness in the controller of the machine is desirable.
This paper describes a case study of techniques suitable for such machine self awareness. Simulation techniques are used in this project to predict the dynamic behaviour of a rod-less pneumatic cylinder in real-time. This forms a controller for position control of the cylinder using selection and optimisation methods based on simulation results. Previous work has shown that the method works when using grid selection schemes of a reduced set of control signals. In this paper this is further extended using genetic algorithm selection schemes.
Possible applications for the proposed scheme are discussed and a simple selection scheme based upon genetic algorithms is proposed.
Place, publisher, year, edition, pages
London, Bury St Edmunds, UK: Professional Engineering Publishing , 2004. 307-318 p.
Machine Self-Awareness, simulation
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-23249Local ID: 2666ISBN: 9781860584664OAI: oai:DiVA.org:liu-23249DiVA: diva2:243563
The Bath Workshop on Power Transmission & Motion Control, PTMC' 04, Bath, United Kingdom, 1st-3rd September, 2004