Evolutionary optimization of distributed part handling control

Author

Kohlbecker, Ignaz ; Fujita, Hiroyuki ; Zurawski, Richard

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

Volume

1

fYear

1997

fDate

28-31 Oct 1997

Firstpage

558

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

0-7803-4253-4

Type

conf

DOI

10.1109/ICIPS.1997.672845

Filename

672845