Rational software agents with the BDI reasoning model for Cyber–Physical Systems

Karaduman, Burak; Tezel, Baris Tekin; Challenger, Moharram

doi:10.1016/j.engappai.2023.106478

Cited by 5 publications

(2 citation statements)

References 34 publications

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“…However, in future studies, the controller parameters can be optimized. To decrease the computational cost, the suggested approach can be combined with some new control systems such as event-triggered controllers [41], optimal controllers [42,43], new modeling [44], and fault-tolerant systems [45].…”

Section: Parametermentioning

confidence: 99%

An Observer-Based Type-3 Fuzzy Control for Non-Holonomic Wheeled Robots

Bie,

Li,

Chen

et al. 2023

Symmetry

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Non-holonomic wheeled robots (NWR) comprise a type of robotic system; they use wheels for movement and offer several advantages over other types. They are efficient, highly, and maneuverable, making them ideal for factory automation, logistics, transportation, and healthcare. The control of this type of robot is complicated, due to the complexity of modeling, asymmetrical non-holonomic constraints, and unknown perturbations in various applications. Therefore, in this study, a novel type-3 (T3) fuzzy logic system (FLS)-based controller is developed for NWRs. T3-FLSs are employed for modeling, and the modeling errors are considered in stability analysis based on the symmetric Lyapunov function. An observer is designed to detect the error, and its effect is eliminated by a developed terminal sliding mode controller (SMC). The designed technique is used to control a case-study NWR, and the results demonstrate the good accuracy of the developed scheme under non-holonomic constraints, unknown dynamics, and nonlinear disturbances.

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Section: Parametermentioning

confidence: 99%

An Observer-Based Type-3 Fuzzy Control for Non-Holonomic Wheeled Robots

Bie,

Li,

Chen

et al. 2023

Symmetry

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show abstract

“…Conversely, the AO might in itself consist of multiple systems that work together to reach a common goal. In some situations, this group of AOs can be considered a multi-agent system (Karaduman et al, 2023). In essence, such a system can be simplified to having a single AO by combining all sub-systems (and their interactions) into a single AO.…”

Section: Twinning Architecturementioning

confidence: 99%

Towards a Family of Digital Model/Shadow/Twin Workflows and Architectures

Paredis

Gomes

Vangheluwe

2021

Proceedings of the 2nd International Conference on Innovative Intelligent Industrial Production and Logistics

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This document is a result of the COOCK project "Smart Port 2025: improving and accelerating the operational efficiency of a harbour eco-system through the application of intelligent technologies". It reports on the needs of companies for modelling and simulation and AI-based techniques, with twinning systems in particular. This document categorizes the purposes and Properties of Interest for the use of Digital Twins. It further illustrates some of the twinning usages, and touches on some of the potential architectural compositions for twins. This last topic will be further elaborated in a followup report.

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Effects of the Human Presence among Robots in the ARIAC 2023 Industrial Automation Competition

Buss Becker,

Downs,

Schlenoff

et al. 2024

J Intell Robot Syst

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ARIAC is a robotic simulation competition promoted by NIST annually since 2017, aiming to present competitors’ with contemporary industry problems to be solved using agile robotics. For the 2023 competition, ARIAC competitors must perform assembly and kitting tasks by controlling four autonomous ground vehicles (AGVs), one floor-based robot, and one ceiling-based (Gantry) robot in an attempt to overcome a range of agility challenges in the supplied simulated environment, itself based on the Robot Operating System (ROS 2) and Gazebo. The 2023 competition also included a “human” agility challenge, comprising a (simulated) human operator working among robots on the factory floor. This development was motivated by the fact that, while robots and automation play an increasingly significant role in modern manufacturing, there still remains a close relationship between machines and humans. They should complement each other’s strengths and cover each other’s limitations while also observing any required safety rules. For example, the ISO standard “Robots and Robotic Devices – Collaborative robots” (ISO 15066:2016) prescribes the distances required between humans and robots. Within the ARIAC simulation environment, each human operator is controlled using autonomous Belief-Desire-Intention (BDI) agents. At the same time, competitors can monitor the position of each human operator at any time by subscribing to the relevant ROS topic. In this article, we analyse the effects of this (simulated) human presence in the 2023 ARIAC competition and perform a detailed analysis of how the three different human personalities that were implemented affect the assembly tasks undertaken at the four different locations of the assembly stations. Given how the system is currently implemented, it appears that the influence of each encoded personality on the competitors is not as predictable as anticipated. We expand on why this may be a problem when addressing real collaborative spaces involving humans and industrial robots and the improvements that can be undertaken to mitigate the ensuing problems.

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Rational software agents with the BDI reasoning model for Cyber–Physical Systems

Cited by 5 publications

References 34 publications

An Observer-Based Type-3 Fuzzy Control for Non-Holonomic Wheeled Robots

An Observer-Based Type-3 Fuzzy Control for Non-Holonomic Wheeled Robots

Towards a Family of Digital Model/Shadow/Twin Workflows and Architectures

Effects of the Human Presence among Robots in the ARIAC 2023 Industrial Automation Competition

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