Title :
Evolutionary optimization of distributed part handling control
Author :
Kohlbecker, Ignaz ; Fujita, Hiroyuki ; Zurawski, Richard
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Abstract :
Explores distributed controller strategies for a cellular part conveyor, which is a planar array of micro-actuators with sensors and control logic. Our approach is based on 2D cellular automata theory. Particular concern is taken over a rule representation that is adequate for the optimization by an evolutionary algorithm. A simulation of the part conveyor, including the part dynamics and a friction model, is used to evaluate the quality (fitness) of the rules. The genetic algorithm finds solutions for the task of simultaneous positioning and alignment of a square-shaped part and evolves coordinated behavior over global distances
Keywords :
arrays; cellular automata; conveyors; distributed control; dynamics; friction; genetic algorithms; microactuators; microsensors; optimal control; position control; 2D cellular automata; cellular part conveyor; control logic; coordinated behavior; distributed controller strategies; distributed part handling control; evolutionary optimization; friction model; genetic algorithm; global distances; part alignment; part dynamics; part positioning; planar micro-actuator array; rule fitness evaluation; rule quality evaluation; rule representation; sensors; square-shaped part; Actuators; Control systems; Distributed control; Force control; Force sensors; Friction; Information processing; Logic; Micromechanical devices; Power system modeling;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.672845
