Agentifying the process: task-based or robot-based decomposition?

Tzafestas, Elpida

doi:10.1109/icsmc.1994.399902

Cited by 4 publications

(5 citation statements)

References 16 publications

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“…An agent can explore more parts of the state relevant to its current task rather than exploring the entire state space, and therefore learn faster [8,20]. Task-based decomposition has been previously applied in robotics for cellular manufacturing [18], where the complexity of the manufacturing process is too large for a straightforward multiagent approach. Task-based decomposition has also been used in pattern recognition [9] to simplify image classification through the use of decomposing pattern classification problems based on the task required.…”

Section: Hierarchical Learningmentioning

confidence: 99%

Hierarchical simulation for complex domains

Curran

Agogino

Tumer

2014

Proceedings of the 2014 Annual Conference on Genetic and Evolutionary Computation

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A key element in the continuing growth of air traffic is the increased use of automation. The Next Generation (NextGen) Air Traffic System will include automated decision support systems and satellite navigation that will let pilots know the precise locations of other aircraft around them. This Next-Gen suggestion system can assist pilots in making good decisions when they have to direct the aircraft themselves. However, effective automation is critical in achieving the capacity and safety goals of the Next-Gen Air Traffic System. In this paper we show that evolutionary algorithms can be used to achieve this effective automation.However, it is not feasible to use a standard evolutionary algorithm learning approach in such a detailed simulation. Therefore, we apply a hierarchical simulation approach to an air traffic congestion problem where agents must reach a destination while avoiding separation violations. Due to the dynamic nature of this problem, agents need to learn fast. Therefore, we apply low fidelity simulation for agents learning their destination, and a high fidelity simulation employing the Next-Gen technology for learning separation assurance. The hierarchical simulation approach increases convergence rate, leads to a better performing solution, and lowers computational complexity by up to 50 times.

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Section: Hierarchical Learningmentioning

confidence: 99%

Hierarchical simulation for complex domains

Curran

Agogino

Tumer

2014

Proceedings of the 2014 Annual Conference on Genetic and Evolutionary Computation

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“…Eq. (24) can be written as Aυ = Aθ (25) where two matrices A and B are referred to as Jacobian matrices. The first, second and third kinds of singularities occur when matrix B is singular, matrix A is singular and matrices A and B are simultaneously singular respectively [22].…”

Section: Singularities Analysis Of Parallel Robotmentioning

confidence: 99%

“…It can be defined by decomposing the overall process across tasks, across robots or hybrid. Our collaborative AFP machine is robot based decomposition whose individual self contained entities are the robots involved in the whole process [25].…”

Section: Path Planning Decomposition For Collaborative Afp Machinementioning

confidence: 99%

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Design and Analysis of Collaborative Automated Fiber Placement Machine

Zhang¹,

Xie²,

Hoa³

et al. 2016

IJARA

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Research ArticleThe AFP machines have brought significant improvement on the manufacture of composite in terms of speed of material deposition, repeatability, good compaction, and reduction of waste [5]. But most AFP machines are designed for the manufacture of airframe components, which are usually shallow shells or tubes, and are not capable of handling some applications with more complex shapes. To be able to expand the manufacture capabilities of AFP machines in a simple and low cost way, it is necessary to increase the number of degrees of freedom of the robotic system. One way is using another manipulator to hold the mandrel to be manufactured. The advantages of the integrated AFP manufacturing work cell using two serial manipulators are the large workspace and the dexterity to lay the fiber to manufacture the more complex geometry like human arms. But the load carrying capacity and the precision positioning capability are rather poor due to the cantilever structure of the serial manipulator [6]. For the applications of AFP machine where high load carrying capacity and precise positioning are of paramount importance, an alternative to such serial manipulators manufacturing work cell is desirable.With the better stiffness and precise positioning capability [7], a 6 degree of freedom (DOF) parallel robot is introduced to AFP machines and a spindle is mounted on the platform to hold the mandrel [8]. The collaborative AFP manufacturing workcell is expected to be able to manufacture more intricate components and improve the product rate of the manufacturing compared with the current AFP machine. To our best knowledge, there is no application using the collaborative system (constructed with one parallel robot, one serial robot and one rotary stage) for AFP. And the most of the reported collaborative AbstractThe Automated Fiber Placement (AFP) machines have brought significant improvement on composite manufacturing. However, the current 7 DOF AFP machines normally consist of a 6 Degree-of-Freedom (DOF) serial robot and 1 DOF rotatory mandrel are designed for the manufacture of airframe components, which are usually shallow shells or tubes. They are not capable of handling some applications with more complex shapes. This paper presents the design and analysis of a 13 DOF collaborative AFP machine which consists of a 6 DOF manipulator, a 6-RSS (Revolute Spherical Spherical ) parallel robot and a spindle holding the mandrel (1 DOF) mounted on the platform of parallel robot. The collaborative machine modeling is carried out and the motion of the designed system is simulated in SimMechanics/ Matlab. The inverse kinematic models for both parallel and serial manipulators are established for path planning. In addition, the workspaces and singularities analysis of the collaborative AFP machine are carried out. The case study on three typical structures is presented and the simulation example for manufacturing of a hemisphere structure is provided. The simulation results show that the collaborative AFP machine could enlarg...

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“…Therefore, problem decomposition and design of individual agent become the most important software design decisions for agent-based system. We have adopted a hybrid decomposition approach [14], which combines robotbased and task-based components. Our agent architecture is shown in Figure 4.…”

Section: Agent Typesmentioning

confidence: 99%