2. Integrated Control of Robotic Systems in Complex Environments
Grant No. 036-0363078-3017
Funding: Ministry of Science, Education and Sports, Republic of Croatia
Year: 2007 – 2009
Principal investigator: Zdenko Kovačić
Publications
Mutka, A.; Kovačić, Z., Adaptive Control of Quadruped Locomotion through Variable Compliance of Revolute Spiral Feet, submitted to Intech Journal, 2014.
Kočo, E.; Mutka, A.; Kovačić, Z., New Parameterized Foot Trajectory Shape for Multi-gait Quadruped Locomotion With State Machine-based Approach for Executing Gait Transitions, submitted to the 22nd Mediterranean Conference on Control and Automation, Palermo, Italy, 2014.
Kočo, E.; Glumac S.; Kovačić, Z., Multiobjective Optimization of a Quadrupped Robot Gait, submitted to the 22nd Mediterranean Conference on Control and Automation, Palermo, Italy, 2014.
Mutka, A.; Orsag, M.; Kovačić, Z., Stabilizing a Quadruped Robot Locomotion Using a Two Degree of Freedom Tail, Proceedings of the 21st Mediterranean Conference on Control and Automation, 1336-1342, Chania, Greece, 2013.
Mutka, A.; Petric, F.; Reichenbach, T.; Kovačić, Z., Elliptical Motion Method for Robust Quadrupedal Locomotion, 2012 IEEE International Conference on Control Applications (CCA), 1032-1038, Dubrovnik, Croatia, 2012.
3. Integrated Control of Robotized Plants
The rapid development of software tools and high-level languages which do not depend on the type of computer and the operating system has offered alternative approaches to solving development and implementation problems dealing with multilevel control of dynamically reconfigurable robotized plants. A basic aim of the research is the build-up of an integrated control system which would support intelligent processing of acquired sensor data, graphically oriented setup of robotized plant and dynamically linked automated multilevel control of such a plant. Within the proposed project, the following goals are set: Development and work out of modular software for dynamically reconfigurable control systems based on information from mounted sensors. Automatic integration of software modules for the user-defined configuration of a robotized plant. Work out of a graphical user interface which would at higher level allow integration of developed software modules. Development and implementation of algorithms for automatic solving of direct and inverse kinematics and dynamics problems for the user-defined type of an industrial robot. Development and work out of algorithms for analysis of robot motion in the workspace and for dynamic collision avoidance. Development and application of intelligent control algorithms for multilevel control of robotized plants: control of robot joint servo systems, task planning and control of a robotized plant treated as a discrete event system. Development and work out of software for off-line display (e.g. during simulations) and online display of movements of movable elements of the plant by using 3-D graphics and animation based on usage of virtual reality elements. The final result of this research is expected to be an integrated control system, which would enable fully automated reconfiguration of control algorithms in accordance with the selected structure of a robotized plant. The integrated control system would be tested on laboratory models of robotized plants, and if possible, on some industrial plant too. Within the framework of proposed research activities, particular contributions are expected in the fields of robotics and flexible manufacturing systems, automatics and computing in robotics and automation.
Grant No. 0036044
Funding: Ministry of Science, Education and Sports, Republic of Croatia
Year: 2002 – 2006
Principal investigator: Zdenko Kovačić
Project results:
- Library of Inverse Kinematics and Robot Dynamics solvers for standard robot configurations
- Dynamically reconfigurable software for robot description and parameterization
- Fuzzy logic and neural network-based servo controllers for robot servo loops
- Task planning procedures and control of a robotized plant as a discrete event system
- Powerful 3-D graphics and animation features
- Advanced trajectory planning algorithms
- Interaction among all software modules providing vertical and horizontal flexibility
Project references:
List of references related to the old project code 036042 (all you need is to write a project code)
List of references related to the new project code 0036044 (all you need is to write a project code)
4. Information Technology-based System for Guidance of Autonomous Intelligent Robot
The goal of the project is to develop a program (by using an OOP technique) which would recognize spoken commands intended for the guidance of an autonomous intelligent robot (a mobile robot platform carrying a 5 DOF educational robot). For the interpretation of spoken commands, a language for robot guidance ( Robot Programming Language or RPL) must be developed. With other SW parts developed for processing of acquired sensor data (e.g. stereo vision) and for execution of spoken commands, autonomous motion and manipulation of objects in the surroundings of the autonomous intelligent robot should be achieved.
Funding: Ministry of Science and Technology, Republic of Croatia
Year: 2002 – 2003
Principal investigator: Zdenko Kovačić
Project results:
- Ivan Ljubić, “Mobile robot Xena”, student work that received the Rector Award of the University in Zagreb for 2002. Mobile robot Xena has been demonstrated at the University of Zagreb Fair in 2001.
- A pure pursuit path planning algorithm has been implemented and tested on the mobile platform Xena
- A stereo-vision algorithm for 3D localization of an object in the organized environment has been implemented and tested in laboratory conditions (see figure below). Two analog cameras are mounted on the gripper side of the 5 DOF educational robot arm Mentor.
- Four sonars and digital compass have been tested and put in function.
- A teleoperation interface for control of a 5-DOF robot arm Mentor has been implemented on the Pocket PC
- A base of spoken commands has been defined as a part of the RPL (Robot Programming Language) command list.
- A concept of speech recognition has been worked out and its implementation is going on. Due to the complexity of the problem, in parallel, a Microsoft Speech SDK has been successfully used for control of the autonomous intelligent manipulator.
- During the project, new ideas have been formulated such as Petri-net based coordination of control actions (the whole system is treated as a hybrid system), the usage of a laser scanner for space mapping and obstacle avoidance.
- Some of the project results have been presented at the international conference and some diploma works have been finished, too.
- The project activities will continue until all prerequisites for the fully autonomous operation of the intelligent manipulator are met.
Project references:
K. Petrinec, Z. Kovačić, A. Marozin, “Simulator of multi-AGV Robotic Industrial Environments”, IEEE ICIT 2003 Proceedings – International Conference on Industrial Technology, Maribor, 2003, pp. 979-983.
S. Bogdan, M. Punčec, Z. Kovačić, “The shortest path determination in AGV systems by using String composition”, IEEE ICIT 2003 Proceedings – International Conference on Industrial Technology, Maribor, 2003, pp. 984-989.
5. Information Technology-based System for Supervised Fish-farming via Internet (2001-020)
By taking an insight into the procedures being applied in practice in the fresh-water fish-farming industry, it may be noticed that the whole process is usually depending on the on-site personnel skills, experience, and subjective decisions. The goal of the project is to build an information technology-based system that would take advantage of using the Internet and an accompanying expert system created by top experts in the fish-farming field and thus enable optimal supervision of the production process governed by objective information collected from the technical equipment installed in the field. Such a concept will elegantly overcome the problem of controlling distant fish farms which are located far from each other. By using new technologies for the acquisition of data such as physical and chemical parameters of the fishpond water or parameters of biocenosis, it would be possible to accomplish expert system-based feedback as an online service for the field personnel issuing relevant recipes for the type of food and amount of food to be given to the fish population. This would also provide conditions for long-term scientific observation and investigation of the fishpond process behavior in a real-time by watching events as they are registered with the installed measurement equipment. The developed expert system will be completely open to the expert giving him the opportunity to change or add new expert rules in accordance with newly acquired expert knowledge. This will provide the possibility of an immediate real-time intervention into the system and achievement of further improvements in production.
Funding: Ministry of Science and Technology, Republic of Croatia
Year: 2001- 2002
Principal investigators: Zdenko Kovačić, Zdravko Petrinec
Project results:
1ST PHASE
- The concept of the expert system was elaborated and transfer of knowledge about intensive fish farming was initiated
- The concept of Internet-based access through server-client communication was elaborated
- Measurement equipment (Thermo Orion 1230 meter) was purchased and tested in laboratory conditions
- Belje d.d., Mirkovac – Fish farm Podunavlje has offered experimental fishponds for installation of measurement equipment
2ND PHASE
- Measurement equipment and computer equipment were installed and tested at the experimental fishpond
- A program for server-client communication via the Internet was implemented (successfully tested on Windows 95/98/ME/NT/2000/XP)
- A program for statistical analysis of relevant fish farming parameters (water temperature, water pH, dissolved oxygen, fish food)
- A program interface to the expert system was made to enable recording of on-site feeding actions for the monitoring purpose
3RD PHASE
- Installation and functional tests of all equipment were completed (namely, Belje d.d. purchased one extra set of equipment to support the project).
- Integration and testing of software (together with installed measurement system) were completed. Fish-farm Belje provided access to the Internet thus enabling tests of multi client-server communication via the Internet (each fish-pond was treated as a separate client)
- A program tool for connection with a supervisory expert system was finished. A program for continuous insertion of actions taken at the fish-pond was completed for the purpose of “on-line” production observation.
- After successful tests, the whole system was put in experimental work on two selected fish-ponds of the Fish-farm Podunavlje, Belje d.d., Mirkovec
- Check-point fish extraction was made for control of fish condition (e.g. weight, growth, diseases). Based on the results obtained the knowledge base was extended.
- Two papers were written on the subject of the project and were accepted for presentation at the international conferences (see below).
END PHASE
- Continuous observation of information technology-based system and analysis of results for comparison with the results obtained without the usage of the system
- Continuous modifications and improvements of software based on experience gained during experimental work of the system
- Project documentation was written and project web page was created. A photo gallery with a lot of photos showing the equipment and the experimental environment can be seen here.
- Two papers were presented at the international conferences (see below).
POST PROJECT ACTIVITIES
- The first-year analysis of achieved field results has been made and it has been proven that the expert system ensured the smoother growth of fish (see figure below – in the middle) while spending less fish food.
- It has been found that as the fish-farming process is progressing, the supervised food/weight ratio becomes almost constant compared to the heavily deviating food/weight ratio in the unsupervised case.
- One of the most illustrative parameters of expert system efficacy is the average food/weight coefficient, which is equal to 2,4 in the supervised case, and 3,71 in the unsupervised case. In other words, the introduction of the expert system saved 35,3% off food for reaching the same fish weight. Since these experiments are the very first ones, there is still enough room for further improvements.
- The first installation of the expert system on the fish-farm is planned in 2003 at the fish-farm “Riba” d.d., Garesnica, Croatia. There are some other fish-farms interested in installation of the expert system for the purpose of monitoring the fish-pond water quality.
Project references:
PETRINEC K., PETRINEC Z., KOVAČIĆ Z., “An Expert System for Freshwater Fish-Farming Industry”, CD-ROM Proceedings of the IFAC World Congress 2002, 21-26. 07. 2002., Barcelona.
PETRINEC K., PETRINEC Z., KOVAČIĆ Z., “Multivariable Measurements and Observations in the Freshwater Fish-farming Industry: An Internet-based Expert System”, CD-ROM Proceedings of the 12th IMEKO TC 4 International Symposium “Electrical Measurements and Instrumentation, pp. 473-477, 25-27. 09.2002., Zagreb.
6. Design of FMS by Using Virtual Models and Internet (Grant No. 00-2)
By taking insight in procedures for FMS design and analysis that are currently in use by industry and academic community, one can notice a lack of tools which enable simple and fast system configuration and investigation of the influence of various dispatching policies on a system behavior. Today’s tools require the long and complex procedure of system description and parameters determination. Furthermore, they do not support the 3D graphical interpretation of results. The evolution of the Internet and the development of virtual reality technologies have set conditions for a new approach to design and analysis of industrial processes. The aim of the proposed project is to implement this new approach to the field of FMS control. By using software tools developed within the project a user would be able to choose 3D objects -parts of FMS and position them on a shop floor. In that way, the user can build a virtual model of a desired flexible manufacturing system. Once having a virtual model the user will determine parameters related to every object placed on the shop floor and by choosing appropriate dispatching logic an investigation of a system behavior in a real-time by watching events in a 3D virtual world will be possible. The software tool will give the user an opportunity to change parameters and/or positions of the objects in a simple way, thus providing immediate insight into the system functioning under various manufacturing conditions.
Funding: Ministry of Science and Technology, Republic of Croatia
Year: 2000-2001
Principal investigator: Zdenko Kovačić
Project results:
- Library of virtual models created in VRML (standard robot configurations, conveyors, tables, palettes, security fences etc.)
- User-friendly software for reconfigurable FMS description and parameterization (Java applet connected with the VRML viewer)
- A software tool implemented for conversion of data describing the FMS structure into a matrix form for MATLAB™ application
- Dynamic simulation of the FMS as a discrete event system under matrix model-based FMS control strategies
- Powerful 3-D graphics and animation features
- Interaction among all software modules providing vertical and horizontal flexibility
- Usage of XML for textual FMS description
- Open to different applications
- Appropriate for hybrid systems
Project references:
Smolić-Ročak N., Bogdan S., Petrinec K., Kovačiž Z., “Object-oriented programming approach to dynamic simulation of flexible manufacturing systems”, CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.
Bogdan S., Smolić-Ročak N., Kovačić Z., “Dynamic Simulation of Flexible Manufacturing Systems by Using SIMULINK™”, The 3rd World Manufacturing Congress WMC 2002, Rochester Institute of Technology, Rochester, 2002.
Kovačić Z., Bogdan S., Reichenbach T., Smolić-Ročak N., Birgmajer B., “FlexMan – A Computer-integrated Tool for Design and Simulation of Flexible Manufacturing Systems”, CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.
Kovačić Z., Bogdan S., Smolić-Ročak N., Reichenbach T., Birgmajer B., “Virtual Reality Modeling of Flexible Manufacturing Systems”, 6th International Conference on Telecommunications ConTEL 2001, pp. 255-260, Zagreb, 2001.
7. Integrated Control of Robotized Plants
Grant No. 036042
The rapid development of software tools and high-level languages which do not depend on the type of computer and the operating system has offered alternate approaches to solving development and implementation problems dealing with multilevel control of dynamically reconfigurable robotized plants. A basic aim of the research is the build-up of an integrated control system which would support intelligent processing of acquired sensor data, graphically oriented setup of robotized plant and dynamically linked automated multilevel control of such a plant. Within the proposed project, the following goals are set: Development and work out of modular software for dynamically reconfigurable control systems based on information from mounted sensors. Automatic integration of software modules for the user-defined configuration of a robotized plant. Work out of a graphical user interface which would at higher level allow integration of developed software modules. Development and implementation of algorithms for automatic solving of direct and inverse kinematics and dynamics problems for the user-defined type of an industrial robot. Development and application of intelligent control algorithms for multilevel control of robotized plants: control of robot joint servo systems, task planning and control of a robotized plant treated as a discrete event system. Development and work out of software for off-line display (e.g. during simulations) and online display of movements of movable elements of the plant by using 3-D graphics and animation, as a basis for the introduction of basic virtual reality elements. The final result of this research is expected to be an integrated control system, which would enable fully automated reconfiguration of control algorithms in accordance with the selected structure of a robotized plant. The integrated control system would be tested on laboratory models of robotized plants, and if possible, on some industrial plant too. Within the framework of proposed research activities, particular contributions are expected in the fields of robotics and flexible manufacturing systems, automatics and computing in robotics and automation.
Funding: Ministry of Science and Technology, Republic of Croatia
Year: 1999-2002
Principal investigator: Zdenko Kovačić
Project results:
- Library of Inverse Kinematics and Robot Dynamics solvers for standard robot configurations
- Dynamically reconfigurable software for robot description and parameterization
- Fuzzy logic and neural network-based servo controllers for robot servo loops
- Task planning procedures and control of a robotized plant as a discrete event system
- Powerful 3-D graphics and animation features
- Advanced trajectory planning algorithms
- Interaction among all software modules providing vertical and horizontal flexibility
Project references:
SMOLIĆ-ROČAK N., BOGDAN S., PETRINEC K., KOVAČIĆ Z., “Object-oriented programming approach to dynamic simulation of flexible manufacturing systems”, CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.
BOGDAN S., SMOLIĆ-ROČAK N., KOVAČIĆ Z., “Dynamic Simulation of Flexible Manufacturing Systems by Using SIMULINK™”, The 3rd World Manufacturing Congress WMC 2001, Rochester Institute of Technology, Rochester, 2001 (accepted).
KOVAČIĆ Z., BOGDAN S., REICHENBACH T., SMOLIC-ROČAK N., BIRGMAJER B., “FlexMan – A Computer-integrated Tool for Design and Simulation of Flexible Manufacturing Systems”, CD-ROM Proceedings of the 9th Mediterranean Conference on Control and Automation Control, Dubrovnik, 2001.
KOVAČIĆ Z., R. ČUPEC, BOGDAN S., “A servo positioning by using model reference adaptive fuzzy controller”, IFAC Symposium on System Structure and Control, Prague, 2001 (accepted).
List of references related to the project (all you need is to write a project code 036042)
