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

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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