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Engineering Systems with Intelligence
Concepts, Tools and Applications
edited by
SPYROS G. TZAFESTAS National Technical University of Athens,
Department of Electrical and Computer Engineering, Athens, Greece
w KLUWER ACADEMIC PUBLISHERS
DORDRECHT / BOSTON / LONDON
CONTENTS
PREFACE v
PARTI HIGH AUTONOMY SYSTEMS
Model-Based Architecture for High Autonomy Systems B.P.Zeigler, S.D. Chi, F.E.Cellier 3
PART 2 KNOWLEDGE BASED SYSTEMS
Real Time Knowledge Based System : The Next Step A. Shamsolmaali 25
Expert System Shell Flexibility : BEST Case Study S. Vranes 33
The PHOS Conceptual Language for Knowledge Representation G.A. Vouros, CD. Spyropoulos 43
A Meta Translator of a Logic Grammar that Handles Missing Constituents
N.N. Karanikolas 51
A Truly Declarative Prolog-like Language G. Papakonstantinou, T. Panayiotopoulos, M. Sideri 59
Predicate Logic and Inexact Reasoning T. Panayiotopoulos, G.Papakonstantinou 65
Diagram Understanding Using Graphics Constraint Grammars R.P. Futrelle, I.A. Kakadiaris 73
Knowledge Management in Process Modelling R.V. van de Ree.II. Koppelaar, E.J.H. Kerckhqffs 83
The Complementary Roles of Expert Systems and Optimization Tools in Dynamic System Identification
H.Nguyen-Phu, P. Weller, R.T. Stefani 91
Intelligent Task Planning and Execution on Assembly Robotics C. Ramos, E. Oliveira 99
Multi-Agent Cooperation for Assembly Robotics E. Oliveira, С Ramos 107
Experiments With a Rule-Based Robot Palletiser J. Peng, S. Cameron 117
Modelling of Complex Systems for Control and fault Diagnostics: A Knowledge Based Approach
A. Soumelidis, A. Edelmayer 125
A Consulting System for ECG Diagnosis E.A. Giakoumakis, G. Papakonstantinou 133
Blood Pressure Signal Diagnosis - An Expert System Approach G. Frangakis, P.E. Trahanias 139
On the Use of Expert Systems for Speaker Verification D.A. Gaganelis, E.D. Frangoulis 147
Modelling Production Management Problems by Knowledge-Based Approximations
M. Nicolich, A. Villa 155
Managing Project S t a r t up : An expert System Application A. Rattini, G.R. Jacur 163
The Theory of Inegal Ontology for the Representation of Law N. Tzortzopoulos 169
V l l
PART3 NEURAL NETWORK SYSTEMS
On the Use of Transputers to Implement Neural Networks
M. Dorigo, B. Schatz, D. Sorrenti 179
Robot Identification Using Dynamical Neural Networks
E.B. Kosmatopoulos, A. Chassiakos, M.A. Christodoulou 187
Neuromorphic Control for Robotic Manipulator:
Hierarchical Hybrid Neuromorphic Control System
T. Fukuda, T. Shibata, K. Kosuge, F. Aral 197
An Iterative Learning Control for Noisy Systems
by Using Linear Neural Networks
K. Watanabe, K. Shiramizu, T. Fukuda, S.G. Tzqfestas 205
Automatic Generation of 3-D Curved Object Models by using the
Learning Mechanism of Neural Networks
H.B. Zha, T. Nagata, K.Kumamaru 213
EEG Signal Classification Using Neural Networks
G.M. Papadourakis, S. Michelouannis, G. Bebis, M. Giachnakis 221
A Neural Network Cluster for the Control of a Speech Synthesizer
M.S. Scordilis 229
PART 4 SENSORY AND OBSERVATION SYSTEMS
A Fusion Centre for Intelligent Robotic Systems
G.T. McKee 239
Integrating Force, Tactile and Proximity Sensing for a Flexible Robotic
System Through a Modular Design
U. Nunes, A.T. de Almeida, P. Faia, R. Araitjo 247
Tactile Sensing For Stable Grasp Л. Caiti, G. Сапера, D. De Rossi 257
Position-Sensitive Detector Applications Based on Active Illumination of a Cooperative Target
A.J. Makynen, J.T. Kostamovaara, R.A. Myllyla 265
Small Angle Measurement in a Turbulent Environment Using Position-Sensitive Detectors
A.J. Makynen, J.T. Kostamovaara, R.A. Myllyla 275
Overview of the MVP Sensor Planning System for Robotic Vision Tasks
K. Tarabanis, R.Y. Tsai, P.K. Allen 285
Visual observation of a Moving Agent T.M. Sobh, R. Bqjcsy 295
Collision-Detection Based on a Fast Distance Computation Technique J . Tornero, G. Hamlin, R.B. Kelley 305
PART 5 IMAGE ANALYSIS AND MACHINE VISION SYSTEMS
Accessibility Analysis for Polyhedral Objects A.J. Spyridi, A.A.G. Requicha 317
Synthesis of All Topologically Different Views of 3-D Objects J.G. Ortega, E.F. Camacho 325
A 3D-Object Reconstruction System Integrating Range-Image Processing and Rapid Prototyping
C. Cerrada, K. Ikeuchi, L. Weiss, R. Reddy 333
Stcrcovision for Real-Time Measurement of the Depth of Non-Contrastive 3-D Space by Projecting Random Patterns
J. Takeno, K. Sakai S. Hatiyama 341
A Method for Detection and Tracking of Moving Objects in an Industrial Environment using Stereo Vision
N. Gouvianakis, K. Parthenis, B. Dimüriadis 349
MAP Database Construction and Scene Prediction for Visual Navigation M. Elarbi Boudihlr, M. Dufaut. R. Husson 357
Local Navigation System in Panorama Project F. Vacherand, E.Crochon, F. Favre-Reguillon, M. Bogaert, S.Do, M. Halbach 367
An On-Line Quality Inspection System for Composite Material Manufacturing
M. Loupis, S. Karkanis, J. Vergados, K. Tsoutsou, B. Dimüriadis 377
Vision Assisted Robotics in the Decoration and Assembly of Scale Models
L.G. Trabasso, J. R. Hewtt, A. P. Slade 385
Object Detection with Machine Vision in Outdoor Complex Scenes : The Case of Robotic Harvest of Apples
G. Rabatel, A. Bourely, F. Sevila 395
PART 6 CONTROL SYSTEMS
Intelligent Process Control: The CONEX Architecture R. Sanz, A. Jimenez, R. Galdn, F. Media, E.A. Puente 407
Fuzzy Internal Model Control R. Gorez, M. De Neger, J. Barreto 415
Rule-Based Controller Using Fuzzy Logic R. Jager, A.J. KrUgsman, H.B. Verbruggen, P.M. Bndjn 423
X
Selection of Controller Parameters using Genetic Algorithms P. Oliveira, J. Sequeira, J. Sentieiro 431
COMPEND - A General Purpose Control and Measurement System R.J. Mitchell, K. Warwick, G. Plint, G. White, R. Howe, M. Brown, P. Hughes 439
Multiple Manoeuvering Target Tracking : A Memory-constrained Minimum Risk Approach.
O. Dessoude, C. Olivier 445
Direct-Drive Force Feedback Control for the Dataglove G. Burdea, J. Zhuang, E. Roskos 453
Duality in Model Reference Adaptive Control I.N.M. Papadakis, S.CA. Thomopoulos 461
A New Method for Optimal Step Computation in Gradient Algorithms S.C.A. Thomopoulos, I.N.M. Papadakis 467
Applications of Robust Controller Designs in Automated Manufacturing M. Eslami 475
PART 7 INFORMATION AND CIM SYSTEMS
Benefits from Knowledge-Based Engineering Assistance for the Integration of CIM and OIS
H.-J. Held, K.-W. Jäger, N. Kratz 485
CIM - OIS Integration Based on the FMS-FOS Analogy: Some Aspects R.Holbein, D. Karagiannis, S. Schebiella, B. Teufel 495
The CMSO EDI Architecture for Interorganisational Operations W. Schaber, M. Matthiesen 505
Manufacturing System and Process Execution Planning Toolbox R. Bernhardt 515
Information System and Quality Assurance in a Flexible
Manufacturing Cell
J.F.Couturier, E.Bqjic, C. Doiteaux, J . Richard 525
Simulation of the Introduction of Computer Integrated Manufacturing
A.B. Thornton-Trump, E.C.-O. Yu, O. Hawaleshka 533
Enterprise-Wide Data Modelling - The Basis for Integration
A. Hars, W. Scheer 541
Project Management and Production Planning:
Study for an Integrated Solution
G. Beghini G.R. Jacur 549
An Object-Oriented Approach to Software Configuration Management
J. Psaromiligos, E. Skordalakis 555
Traffic Data Synthesis and Topological Network Design with PC-Based
Expert System Shells
F. Faccilonco, D. Inglessis, E. Margaritis, A. Singh,
E. Frangoulis 565
PART 8 APPLICATIONS
Modelling of Robotized Lay Up of CFC Panels in Aerospace Industry :
Technological and Economical Aspects
R. Ippolito, M. Pandolfu S. Tornincasa 575
An Approach for Autonomous Navigation of Earthwork Equipment
in the Sanitary Landfill Environment
A. Mori, B. Ressa 585
Flexible Petri Net Modelling Environment for Intelligent Robot Cells
C.N. Athanassiou, S.G. Tzqfestas 593
Hydraulic Power Systems: Performance Analysis Oriented to
Manufacturing Automation
G.L. Arnulfl, M. Nicolich 605
Low Cost in CIM for the Furniture Industry
J . Tornero. P.Albertos, M. Borras 613
Rip Up and Reroute in a Global Routing Visualization System
J. David, J. Haralambldes, F. Makedon, D. Bhatia 621
Study and Realization of a B-Spline Based Trajectography Module
P. Andre, M.C. Haddad, C. Morlec-Blondeau 629
Computer and Expert System Aided 3D Design
of Power Switchgear Arrangements
S.A. Manesls 637
Function Transformation : A first Step Towards Ill-Defined System
Modelling
L.K.Vermeersch, G.C. Vansteenkiste, E.J.H.Kerckhoffs,
H. Koppelaar 645
A Two Stage Real Time Faul t Monitoring System
A. Pouliezos, G. Stavrakakis, G. Tselentis 653
DDLMU: A Software Tool for the Management of Degrees of Freedom
in Numerical Modelization
A. Genoa, H. Hedia, W.Legros, A.Nicolet, M.Ume 661
Estimation of Statistical Parameters of a Population
from Very Noisy Samples
X. Zeng, C. Vasseur 669
Designing of Intelligent measur ing systems of nonelectric quantities
A.A. Sachenko 679
AUTHOR INDEX 687