scholarly journals Designing intelligent system for planning robot manipulator real-time movement in unknown dynamic environment

2020 ◽  
Author(s):  
Daiva Nemeiksyte ◽  
Vitalijs Osadcuks
Keyword(s):  
Real Time ◽  
Intelligent System ◽  
Robot Manipulator ◽  
Dynamic Environment ◽  
Time Movement

scholarly journals Diagnostics and Prognostics of Energy Conversion Processes via Knowledge-Based Systems

Proceedings ◽  
2020 ◽  
Vol 58 (1) ◽  
pp. 1
Author(s):  
Roberto Melli ◽  
Enrico Sciubba
Keyword(s):  
Expert System ◽  
Knowledge Base ◽  
Real Time ◽  
System Analysis ◽  
Intelligent System ◽  
Time Derivative ◽  
Time History ◽  
Control Procedure ◽  
Time Data ◽  
Ongoing Research

This paper presents a critical and analytical description of an ongoing research program aimed at the implementation of an expert system capable of monitoring, through an Intelligent Health Control procedure, the instantaneous performance of a cogeneration plant. The expert system is implemented in the CLIPS environment and is denominated PROMISA as the acronym for Prognostic Module for Intelligent System Analysis. It generates, in real time and in a form directly useful to the plant manager, information on the existence and severity of faults, forecasts on the future time history of both detected and likely faults, and suggestions on how to control the problem. The expert procedure, working where and if necessary with the support of a process simulator, derives from the available real-time data a list of selected performance indicators for each plant component. For a set of faults, pre-defined with the help of the plant operator (Domain Expert), proper rules are defined in order to establish whether the component is working correctly; in several instances, since one single failure (symptom) can originate from more than one fault (cause), complex sets of rules expressing the combination of multiple indices have been introduced in the knowledge base as well. Creeping faults are detected by analyzing the trend of the variation of an indicator over a pre-assigned interval of time. Whenever the value of this ‘‘discrete time derivative’’ becomes ‘‘high’’ with respect to a specified limit value, a ‘‘latent creeping fault’’ condition is prognosticated. The expert system architecture is based on an object-oriented paradigm. The knowledge base (facts and rules) is clustered—the chunks of knowledge pertain to individual components. A graphic user interface (GUI) allows the user to interrogate PROMISA about its rules, procedures, classes and objects, and about its inference path. The paper also presents the results of some simulation tests.

scholarly journals Multi-Robot Searching using Game-Theory Based Approach

10.5772/6232 ◽  
2008 ◽  
Vol 5 (4) ◽  
pp. 44 ◽  
Author(s):  
Yan Meng
Keyword(s):  
Game Theory ◽  
Dynamic Programming ◽  
Utility Function ◽  
Real Time ◽  
Dynamic Environment ◽  
Equilibrium Solutions ◽  
Strategy Equilibrium ◽  
The Game Theory ◽  
Target Searching ◽  
Multi Robot

This paper proposes a game-theory based approach in a multi–target searching using a multi-robot system in a dynamic environment. It is assumed that a rough priori probability map of the targets' distribution within the environment is given. To consider the interaction between the robots, a dynamic-programming equation is proposed to estimate the utility function for each robot. Based on this utility function, a cooperative nonzero-sum game is generated, where both pure Nash Equilibrium and mixed-strategy Equilibrium solutions are presented to achieve an optimal overall robot behaviors. A special consideration has been taken to improve the real-time performance of the game-theory based approach. Several mechanisms, such as event-driven discretization, one-step dynamic programming, and decision buffer, have been proposed to reduce the computational complexity. The main advantage of the algorithm lies in its real-time capabilities whilst being efficient and robust to dynamic environments.

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