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

  • Joaquin Alder Silva-Faundez Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
  • Cristian Duran-Faundez Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
  • Pedro Melin Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
  • Cristhian Aguilera Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile

Abstract

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.

Author Biographies

Joaquin Alder Silva-Faundez, Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
Graduated Student.
Cristian Duran-Faundez, Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
Department of Electrical and Electronic Engineering. Assistant Professor.
Pedro Melin, Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
Department of Electrical and Electronic Engineering. Instructor.
Cristhian Aguilera, Departamento de Ingeniería Eléctrica y Electrónica, Universidad del Bío-Bío Avda. Collao 1202, Casilla 5-C, Concepción, Chile
Department of Electrical and Electronic Engineering. Professor.

References

[1] I.F. Akyildiz,W. Su, Y. Sankarasubramaniam, E. Cayirci (2002); Wireless Sensor Networks: A Survey, Computer Networks, 38(4), 393-422.
http://dx.doi.org/10.1016/S1389-1286(01)00302-4

[2] 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.

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

[4] 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.
http://dx.doi.org/10.1145/1098918.1098926

[5] 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.

[6] 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.
http://dx.doi.org/10.1177/0278364906065375

[7] 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.

[8] 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.

[9] 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.

[10] 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.

[11] Ubisense. http://www.ubisense.net/

[12] 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.
http://dx.doi.org/10.1109/ICIT.2010.5472506

[13] Laboratorio de Sistemas Automatizados de Producción CIMUBB, Universidad del Bío-Bío, http://www.ubiobio.cl/cimubb/

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

[15] 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.

[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.

[17] L.A. Zadeh (1965); Fuzzy sets, Information and Control, 8 (3): 338-353.
http://dx.doi.org/10.1016/S0019-9958(65)90241-X

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

[19] Digi International http://www.digi.com/

[20] T. H. Cormen, C. E. Leiserson, R.L. Rivest, C. Stein (2009); Introduction to Algorithms, (3a. Ed.) Massachusetts: Massachusetts Institute of Technology.
Published
2015-07-24
How to Cite
SILVA-FAUNDEZ, Joaquin Alder et al. An Anticipatory Control for a Flexible Manufacturing System Based on the Perception of Mobile Units Using WSNs. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 10, n. 5, p. 702-717, july 2015. ISSN 1841-9844. Available at: <http://univagora.ro/jour/index.php/ijccc/article/view/634>. Date accessed: 13 july 2020. doi: https://doi.org/10.15837/ijccc.2015.5.634.

Keywords

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