FUZZY SET THEORY Classical Set Theory Fuzzy Set Theory Interval Arithmetic Operations on Fuzzy Sets FUZZY LOGIC THEORY Classical Logic Theory The Boolean Algebra Multi-Valued Logic Fuzzy Logic and Approximate Reasoning Fuzzy Relations Fuzzy Logic Rule Base FUZZY SYSTEM MODELING Modeling of the Static Fuzzy Systems Stability Analysis of Discrete-Time Dynamic Fuzzy Systems Modeling of Continuous-Time Dynamic Fuzzy Systems Stability Analysis of Continuous-Time Fuzzy Systems Controllability Analysis of Continuous-Time Dynamic Fuzzy Systems Analysis of Nonlinear Continuous-Time Dynamic Fuzzy Systems FUZZY CONTROL SYSTEMS Classical Programmable Logic Control Fuzzy Logic Control I: A General Model-Free Approach Fuzzy Logic Control II: A General Model-Based Approach FUZZY PID CONTROLLERS Conventional PID Controllers Fuzzy PID Controllers Fuzzy PID Controllers: Stability Analysis ADAPTIVE FUZZY CONTROL Fundamental Adaptive Fuzzy Control Concept Gain Scheduling Fuzzy Self-Tuning Regulator Model Reference Adaptive Fuzzy Systems Dual Control Sub-Optimal Fuzzy Control APPLICATIONS IN FUZZY CONTROL Health Monitoring Fuzzy Diagnostic Systems Fuzzy Control of Image sharpness for Auto-focus Cameras Fuzzy Control for Servo Mechanic Systems Fuzzy PID Controllers for Servo Mechanic Systems Fuzzy Controllers for Robotic Manipulator Note: Each chapter also contains Problems and References

Introduction to Fuzzy Sets, Fuzzy Logic, and Fuzzy Control Systems

This paper presents a methodology and algorithms of optimizing and smoothing the tool orientation control for 5-axis sculptured surface machining. A searching method in the machining configuration space (C-space) is proposed to find the optimal tool orientation by considering the local gouging, rear gouging and global tool collision in machining. Based on the machined surface error analysis, a boundary search method is developed first to find a set of feasible tool orientations in the C-space to eliminate gouging and collision. By using the minimum cusp height as the objective function, we first determine the locally optimal tool orientation in the C-space to minimize the machined surface error. Considering the adjacent part geometry and the alternative feasible tool orientations in the C-space, tool orientations are then globally optimized and smoothed to minimize the dramatic change of tool orientation during machining. The developed method can be used to automate the planning and programming of tool path generation for high performance 5-axis sculptured surface machining. Computer implementation and examples are also provided in the paper.

Optimizing tool orientations for 5-axis machining by configuration-space search method

A great deal of work has been done to analyze the problem of robot move sequencing and part scheduling in robotic flowshop cells. We examine the recent developments in this literature. A robotic flowshop cell consists of a number of processing stages served by one or more robots. Each stage has one or more machines that perform that stage's processing. Types of robotic cells are differentiated from one another by certain characteristics, including robot type, robot travel-time, number of robots, types of parts processed, and use of parallel machines within stages. We focus on cyclic production of parts. A cycle is specified by a repeatable sequence of robot moves designed to transfer a set of parts between the machines for their processing.

We start by providing a classification scheme for robotic cell scheduling problems that is based on three characteristics: machine environment, processing restrictions, and objective function, and discuss the influence of these characteristics on the methods of analysis employed. In addition to reporting recent results on classical robotic cell scheduling problems, we include results on robotic cells with advanced features such as dual gripper robots, parallel machines, and multiple robots. Next, we examine implementation issues that have been addressed in the practice-oriented literature and detail the optimal policies to use under various combinations of conditions. We conclude by describing some important open problems in the field.

/pdf/sequencing-and-scheduling-in-robotic-cells-recent-554zpql4t3.pdf

Sequencing and Scheduling in Robotic Cells: Recent Developments

Operating system command languages assist the user in executing commands for a significant number of common everyday tasks. On the other hand, the introduction of textual command languages for robots has provided the opportunity to perform some important functions that leadthrough programming cannot readily accomplish. However, such command languages assume the user to be expert enough to carry out a specific task in these application domains. On the contrary, a natural language interface to such command languages, apart from being able to be integrated into a future speech interface, can facilitate and broaden the use of these command languages to a larger audience. In this paper, advanced techniques are presented for an adaptive natural language interface that can (a) be portable to a large range of command languages, (b) handle even complex commands thanks to an embedded linguistic parser, and (c) be expandable and customizable by providing the casual user with the opportunity to specify some types of new words as well as the system developer with the ability to introduce new tasks in these application domains. Finally, to demonstrate the above techniques in practice, an example of their application to a Greek natural language interface to the MS-DOS operating system is given.

Towards an adaptive natural language interface to command languages

Physical embodiment is a required component for robots that are structurally coupled with their real-world environments. However, most socially interactive robots do not need to physically interact with their environments in order to perform their tasks. When and why should embodied robots be used instead of simpler and cheaper virtual agents? This paper reviews the existing work that explores the role of physical embodiment in socially interactive robots. This class consists of robots that are not only capable of engaging in social interaction with humans, but are using primarily their social capabilities to perform their desired functions. Socially interactive robots provide entertainment, information, and/or assistance; this last category is typically encompassed by socially assistive robotics. In all cases, such robots can achieve their primary functions without performing functional physical work. To comprehensively evaluate the existing body of work on embodiment, we first review work from established related fields including psychology, philosophy, and sociology. We then systematically review 65 studies evaluating aspects of embodiment published from 2003 to 2017 in major peer-reviewed robotics publication venues. We examine relevant aspects of the selected studies, focusing on the embodiments compared, tasks evaluated, social roles of robots, and measurements. We introduce three taxonomies for the types of robot embodiment, robot social roles, and human-robot tasks. These taxonomies are used to deconstruct the design and interaction spaces of socially interactive robots and facilitate analysis and discussion of the reviewed studies. We use this newly-defined methodology to critically discuss existing works, revealing topics within embodiment research for social interaction, assistive robotics, and service robotics.

Embodiment in Socially Interactive Robots.

From the Publisher:
Surveys the wide spectrum of automated systems available to improve manufacturing productivity including robots, numerical control machines, programmable controllers, computer controllers and microprocessor-based automated systems. Completely updated, it features industry case studies, revised and expanded problem sections and new material on product design, CAD, Karnaugh Maps and CIM.

Robots and manufacturing automation

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Robots and manufacturing automation