136 Abstracts

185 A Reward/Punlslunent L e a r n l ~ Method to Swing Up a P m l u l m into Its Upright Pmitlon K. Kratochwfl, R. Engelbrocht, H.P. J t rgl , pp 851-856

For a pendnlum-cart-DC-motor system, an on-line self-learning control scheme has been based on a reward/punishment approach. Unlike in previous work, the goal is simply to get the pendulum from its hanging position into its upright position, with no further requirements concerning the motion. No iuformation about the equation of motion is required; the reinforcement signal of the learning scheme is calculated from basic physical measurements. Learning is both structural and parametric. The learning system determines how many parameters have to be used, and to which values they must be set. These parameters constitute the memory of the control algorithm. Computer simulations are presented.

186 Novd Configuration of Nonlinear Adaptive Control Ineurperating Neural Network T. Ishikawa, J. TmJi, H. Ohmori, A. Sano, pp 857-862

This paper presents a new structure for an adaptive control system incorporating a neural network (biN) for unknown nonlinear systems. The control input is provided by the sum of the output of a robust adar~ive controller and the output of the NN. The role of the NN is to construct a linearized input-output model by transforming the input and output variables to compensate for nonlinearities. The role of the robust adaptive controller is to perform the model-matching for the resulting uncertain linearized model. By making use of this new structure, a simplified back- propagation algorithm can be given, to update the weights in the NN.

187 Intelligent Control of Contamination Level in Hydraulic Control Systems Clmo Lin, P. Dransfleld, J.S. Steckt, pp 863-866

The paper describes a strategy for on-line automatic control of the contamination level of the working fluid in the hydraulic control and the lubrication systems of modern heavy machinery. The strategy integrates condition monitoring of the fluid, intelligent interpretation and use of the results and the way they are changing, and selective action to correct deficiencies. Because of the ubiquitous and heuristic nature of fluid contamination, a knowledge-based approach involving fuzzy logic is taken for the analysis and decision-malting component of the strategy. The work is well advanced, though not complete.

programs, which can be adapted and supplemented easily, without external help. This paper presents an unusual approach to organising the communication in small CIM systems. MS- Windows 3.x Dynamic Data Exchange (DDE), combined with NetBIOS, handles all the data exchange and sessions. Both systems use the client/server architecture and work together properly. A small MS-Windows application handles full DDE- communication over the network.

191 A Modular CIM-Concept for Small and Medium Sized Companies M. Zamaer, J. Htlzl, P. Kopacek, G. Kronreff, pp 879-882

Modern software architecture concepts offer various possibilities for the forward-looking design of open and modular computer- integrated manufauturing systems. Additionally, the very flexible organisational structures of small and medium-sized companies can be implemented, despite the restrictions caused by commercial and technical influences. Therefore a common, client/server-based CIM-concept was developed. This concept handles the implementation of highly integrated CIM-modules, as well the support for existing software packages. Both the use of PCs as client-workstations in addition to UNIX database servers, and a layer-based, modular software concept use this method for easy enhancement of the CIM solution.

192 Architectures for Integrating Manufacturing Activities and Enterprises T.J. Wilnams, P. Bernus, J. Brosvi¢, D. Cheng, G. Doumeingts, L. Nemes, J.L. Nevhm, B. Vaflespir, J. VUctstra, D. Zoetekonw, and other members of the IFAC/IFIP Task Force, pp 883-893

This paper is a summary of the major technical report of the IFAC/IFIP Task Force on Architectures for Integrating Manufacturing Activities and Enterprises. It presents a synopsis of the investigations of pertinent architectures undertaken, and the findings generated relating to the suitability of various architectures for the integration task. It also presents the Task Force's recommendations for achieving a "complete" architecture in terms of the necessary capabilities by "completing" a currently available architecture. The Task Force also outlined how a "best" architecture could be achieved by selecting and combining the best features of the available architectures.

188 CAP-AC: Computer Aided Planning of Assembly Cells P. Kopacek, R. Probst , D. Noe, R. Stangl, pp 867-870

This paper deals with a computer-aided, knowledge-based planning system for flexible robotized assembly cells. First, the basic concept of the system is described. Furthermore the method of collecting the data and knowledge, as well as the functional behaviour of the system, is given. I m t x ~ n t data on robots and peripheral devices are stored in a large database. By means of this data the planning process is carded out automatically, starting with the first layout of the cell. A simulation programme serves for the estimation of the assembly time, and for optimization.

189 An Expert System for Diagnosis in Assembly Cells M. Beneder, R. Probst, P. Kopacek, pp 871-874

A system for di.at~nusis of errors in a robotized assembly-cell is provided, in addiUon to the control programme of the plant. The system allows less-skilled personnel to set accurate actions in order to solve errors. In addition to assisting the supervising persons in solving plant errors, this knowledge-based system can be applied for tutoring workers, by the simulation of various conditions of the assembly plant. The knowledge base is completed and maintained by the person who looks after the plant. It is possible to adapt the diagnostic routine to extensions in the assembly cell.

190 Communication in Low-Cost CIM Systems - A New Approach N. Girsule, R. Probst, pp 875-878

Usually, CIM systems require powerful computers for sophisticated software; these are too expensive for small or medium-sized enterprises, which do not really need all the capabilities of these solutions. What they need are flexible, small

193 On l~zzy Multiobjective Predictive Control and its Adaptive Alternative Li-M_~ Jia, XI.Di Zhang, pp 895-899

To control con-~lex processes with high quahty, fuzzy multiobjective predictive control (FMPC), and its adaptive alternative--adaptive fuzzy muhiobjective predictive control (AFMPC)--are proposed. Fuzzy multiobjective optimal control (FMOC), composed of FMPC and AFMPC, can approximately mimic the behaviour of human operators in controlling complex processes. By a thorough evaluation of multiple control objectives, FMOC reflects not only the multiobjectiveness of a human operator's bebaviour, but also the influence of his psychology on his control behaviour. FMOC has been used in automatic train control, and the simulation results have proved the feasibility of the proposed approaches.

194 Adaptive Control of Nonlinear Continuous-Time Systems Using Neural Networks----General Relative Degree and MIMO Cases Fu-Chuang Chon, Chen-Chung Liu, pp 901-904

Multilayer neural networks are used in a nonlinear adaptive control problem. The plant is an unknown feedback linearizable continuous-time system with relative degree ?_1. The single- input/singie-output system is studied, and the methodology is extended to control square mnlti-input/mnlti-output systems. The objective is for the plant to track a reference trajectory, and the control law is defined in terms of the outputs of the neural networks. The network parameters are updated on-line according to an augmented tracking error and the network derivatives. A local convergence theorem is given. This control algorithm is applied to control a two-iaput/two-output relative-degree-two system.