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Automation and Robotics Automation and Robotics Edited by Juan Manuel Ramos Arreguin I-Tech Published by I-Tech Education and Publishing I-Tech Education and Publishing Vienna Austria Abstracting and non-profit use of the material is permitted with credit to the source. Statements and opinions expressed in the chapters are these of the individual contributors and not necessarily those of the editors or publisher. No responsibility is accepted for the accuracy of information contained in the published articles. Publisher assumes no responsibility liability for any damage or injury to persons or property arising out of the use of any materials, instructions, methods or ideas contained inside. After this work has been published by the I-Tech Education and Publishing, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. © 2008 I-Tech Education and Publishing www.i-techonline.com Additional copies can be obtained from: publication@ars-journal.com First published May 2008 Printed in Croatia A catalogue record for this book is available from the Austrian Library. Automation and Robotics, Edited by Juan Manuel Ramos Arreguin p. cm. ISBN 978-3-902613-41-7 1. Automation. 2. Robotics. I. Ramos Arreguin V Preface In this book, a set of relevant, updated and selected papers in the field of automation and robotics are presented. These papers describe projects where topics of artificial intelligence, modeling and simulation process, target tracking algorithms, kinematic constraints of the closed loops, non-linear control, are used in advanced and recent research. Also, the lecturer can find some of the new methodologies applied to solve complex problems in the field of control and robotic research fields. Moreover, this book can serve as a good information source for scientific scholars, engineers and beginners who would like to start working with both automation and robotic areas. Combining the ideas of the diverse disciplines involved in such areas, this book give hints and help about how to implement them on products for industrial automation and robotics applications. I would like to thank all the researchers who send their works to share with the scientific community. The editors are extremely grateful to all of them for their support to complete this book. Editor Juan Manuel Ramos Arreguin Electronica y Automatizacion Universidad Tecnologica de San Juan del Rio jramos@mecamex.net VII Contents 1. Preface V Tracking Control for Multiple Trailer Systems by Adaptive Algorithmic Control 001 Tomoaki Kobayashi, Toru Yoshida, Junichi Maenishi, Joe Imae and Guisheng Zhai 2. Enhanced Motion Control Concepts on Parallel Robots 017 Frank Wobbe, Michael Kolbus and Walter Schumacher 3. Vision Guided Robot Gripping Systems 041 Zdzislaw Kowalczuk and Daniel Wesierski 4. Closed-Loop Feedback Systems in Automation and Robotics, Adaptive and Partial Stabilization 073 G. R. Rokni Lamooki 5. Nonlinear Control Law for Nonholonomic Balancing Robot 087 Alicja Mazur and Jan Kdzierski 6. Deghosting Methods for Track-Before-Detect Multitarget Multisensor Algorithms 097 Przemyslaw Mazurek 7. Identification of Dynamic Systems & Selection of Suitable Model 121 Mohsin Jamil, Dr. Suleiman M Sharkh and Babar Hussain 8. Towards an Automated and Optimal Design of Parallel Manipulators 143 Marwene Nefzi, Martin Riedel and Burkhard Corves 9. Identification of Continuous-Time Systems with Time Delays by Global Optimization Algorithms and Ant Colony Optimization 157 Janusz P. Paplinski 10. Linear Lyapunov Cone-Systems 169 Przemysaw Przyborowski and Tadeusz Kaczorek 11. Pneumatic Fuzzy Controller Simulation vs Practical Results for Flexible Manipulator Juan Manuel Ramos-Arreguin, Jesus Carlos Pedraza-Ortega, Efren Gorrostieta-Hurtado, Rene de Jesus Romero-Troncoso, Jose Emilio Vargas-Soto and Francisco Hernandez-Hernandez1 191 VIII 12. Nonlinear Control Strategies for Bioprocesses: Sliding Mode Control versus Vibrational Control 201 Dan Seliteanu, Emil Petre, Dorin Popescu and Eugen Bobau 13. Sliding Mode Observers for Rotational Robotics Structures 223 Dorin Sendrescu, Dan Seliteanu, Emil Petre and Cosmin Ionete 14. A Declarative Framework for Constrained Search Problems in Manufacturing 243 Sitek Pawek and Wikarek Jaroslaw 15. Derivation and Calculation of the Dynamics of Elastic Parallel Manipulators 261 Krzysztof Stachera and Walter Schumacher 16. Orthonormal Basis and Radial Basis Functions in Modeling and Identification of Nonlinear Block-Oriented Systems 277 Rafa
Stanis
awski and Krzysztof J. Latawiec 17. Control System of Underwater Vehicle Based on Artificial Intelligence Methods 285 Piotr Szymak and Józef Ma
ecki 18. Automatization of Decision Processes in Conflict Situations: Modelling, Simulation and Optimization 297 Zbigniew Tarapata 19. Fuzzy Knowledge Representation Using Probability Measures of Fuzzy Events 329 Anna Walaszek-Babiszewska 20. Multiple Multi-Objective Servo Design - Evolutionary Approach 343 Piotr Wozniak 21. Model-Based Control of a Nonlinear One Dimensional Magnetic Levitation with a Permanent-Magnet Object 359 Zhenyu Yang, Gerulf K.M. Pedersen and Jørgen H. Pedersen 22. Nonlinear Adaptive Tracking-Control Synthesis for General Linearly Parametrized Systems Zenon Zwierzewicz 375