An Anticipatory Control for a Flexible Manufacturing System Based on the Perception of Mobile Units Using WSNs

Joaquin Alder Silva-Faundez, Cristian Duran-Faundez, Pedro Melin, Cristhian Aguilera


In this paper, we design and evaluate a control system which, by using as input RSSI measures, allows anticipatory movements of robotic arms decreasing idle times at the CIMUBB Laboratory. Classical Log-Normal model, which relates the strength of a signal received by a node with the distance at which the sender of the signal is, was adopted. The hidden state of the system is determined by the Extended Kalman filter which allows us to estimate the distance and the speed of pallets moving over a closed-loop conveyor belt. From these estimates, remaining time in which the pallet will get to a stopping point near the robot is determined. This information is finally processed by a controller to determine the instant at which the robot must operate and handle the pallet. Both, a Proportional-Integral and a Fuzzy controller, were implemented and evaluated. Results show the feasibility of using wireless signals to accomplish the described goal, with some practical restrictions.


Anticipatory control, intelligent manufacturing, wireless sensor networks, computer applications, localization

Full Text:



I.F. Akyildiz,W. Su, Y. Sankarasubramaniam, E. Cayirci (2002); Wireless Sensor Networks: A Survey, Computer Networks, 38(4), 393-422.

K.S. Low,W.N.N. Win, M.J. Er (2005); Wireless Sensor Networks for Industrial Environments, Computational Intelligence for Modelling, Control and Automation, 2005 and Int. Conf. on Intelligent Agents, Web Technologies and Internet Commerce, 2: 271-276.

V.C. Gungor, G.P. Hancke (2011); Industrial Wireless Sensor Networks, In Industrial Electronics Handbook, 2nd ed., CRC Press and IEEE Press.

L. Krishnamurthy et al. (2005); Design and deployment of industrial sensor networks: Experiences from a semiconductor plant and the North Sea, in 3rd Int. Conf. on Embedded Networked Sensor Systems, 64-75.

J. McCulloch, P. McCarthy, S.M. Guru, W. Peng, D. Hugo, A. Terhorst (2008); Wireless sensor network deployment for water use efficiency in irrigation, in REALWSN'08: Proc. of the workshop on Real-world wireless sensor networks, ACM, 46-50.

Z. Butler, P. Corke, R. Peterson, D. Rus (2006); From robots to animals: Virtual fences for controlling cattle, International Journal of Robotics Research, 25(5-6): 485-508.

A. Zouinkhi, A. Ltifi, M. Ben Gayed, N. Abdelkrim, E. Bajic, E. Rondeau (2010); Simulation of active products cooperation for active security management, 8th Conf. Int. de Modélisation et Simulation (MOSIM'10), Hammamet, Tunisie.

D. J. Cook, J. C. Augusto, V. R. Jakkula (2009); Review: Ambient intelligence: Technologies, applications, and opportunities, Pervasive Mob. Comput., DOI=10.1016/j.pmcj.2009.04.001, 5(4): 277-298.

D. Dobre, G. Morel, D. Gouyon (2010); Improving human-system digital interaction for industrial system control: some systems engineering issues, In: 10th IFAC Workshop on Intelligent Manufacturing Systems, IMS'10, Lisbone : Portugal, 1-7.

S. E. Taylor, T. P. McDonald, M. W. Veal, T. E. Grift (2001); Using GPS to evaluate productivity and performance of forest machine systems, First Int. Precision Forestry Symposium, 1-20.


C. Duran-Faundez, C. Aguilera-Carrasco, A. S. Norambuena, (2010); Experimenting with RSSI for the perception of moving units in intelligent flexible manufacturing systems, 2010 IEEE Int. Conf. on Industrial Technology, ICIT2010, 1400-1405.

Laboratorio de Sistemas Automatizados de Producción CIMUBB, Universidad del Bío-Bío,

L. Ljung System Identification Theory for the User. Prentice Hall PTR. 1999.

G. Welch, G. Bichop (2006); An introduction to the Kalman Filter. Reference Material, Univ. of North Carolina at Chapel Hill, Dept. of Computer Science, 1-16.

R. Grover Brown, P.Y. C. Hwang (1997); Introduction to random signals and applied Kalman Filtering with Matlab: exercises and solution, 3rd ed.. USA: John Wiley & Sons.

L.A. Zadeh (1965); Fuzzy sets, Information and Control, 8 (3): 338-353.

A. M. Ibrahim (1997); Introduction to Applied Fuzzy Electronics, Prentice Hall.

Digi International

T. H. Cormen, C. E. Leiserson, R.L. Rivest, C. Stein (2009); Introduction to Algorithms, (3a. Ed.) Massachusetts: Massachusetts Institute of Technology.


Copyright (c) 2017 Joaquin Alder Silva-Faundez, Cristian Duran-Faundez, Pedro Melin, Cristhian Aguilera

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2016: IF=1.374. .

IJCCC is indexed in Scopus from 2008 (CiteScore 2017 = 1.04; SNIP2017 = 0.616, SJR2017 =0.326):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.


 Impact Factor in JCR2017 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.29 (Q3). Scopus: CiteScore2017=1.04 (Q2); Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.