Plenary Lecture
The Robot Real Time Control Using the Extenics Multidimensional Theory
Professor Luige Vladareanu
Head of Robotics and Mechatronics Department
Romanian Academy, Institute of Solid Mechanics, Bucharest
Romania
E-mail: luigiv@arexim.ro
Abstract: The paper presents new concepts and approaches for solving contradictory problems in the constrained motion robot control using extenics multidimensional theory. Starting from the extension distance defined by Prof. Cai Wen, the founder of Extenics and using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in relation to Standard Positive Field for a active compliant control. The generalization of the extension distance and dependent function to two dimensions through Extenics multidimensional theory, eliminates the crisp logic matrix of Cantor logic which describes the position-force sequences. Defining the location value of a point and processing of the dependent function of a point on a single finit interval from one dimension, force or position, to two dimensions, force and position, the architecture of the extension hybrid force-position control was developed applying the dynamic feedback control with resolved acceleration, followed by processing of the final error through fuzzy control. Using extended transformations onto the real numbers set and an optimization function generated by the extended dependence function in 2 D space, the final conclusions lead to a methodology that allows obtaining high level results for hybrid position-force control in comparison to the classical method using sequential logic matrices corresponding to Cantor logic. The obtained results, by applying this advanced method of the extension hybrid force-position control, have allowed relaxation of the control system, improving the motion accuracy in conditions of high stability of the robotics and mechatronics systems.
Brief Biography of the Speaker: Luige Vladareanu received Ph.D. degree in electronics field from the Institute of Solid Mechanics of Romanian Academy, in 1998. From 2003, Ministry of Education and Research, executive Department for Financing Superior Education and of Scientific University Research - High Level Expert Consulting for MEC/CNCSIS project, from 2003-2005, member of Engineering Science Committee of Romanian National Research Council, from 2005, Scientific Researcher Gr.I (Professor) of Romanian Academy, from 2009 Head of Robotics and Mechatronics Department of Institute of Solid Mechanics, Romanian Academy. His scientific work is focused on real time control in solid mechanics applied in robot trajectory control, hybrid position – force control, multi-microprocessor systems for robot control, acquisition and processing of experimental physical data, experimental methods and signal processing, nano-micro manipulators, semi-active control of mechanical system vibrations, semi-active control of magnetorheological dissipaters systems, complex industrial automations with programmable logical controllers in distributed and decentralized structure. He has published over 35 books and book chapters, 11 edited books, over 200 papers in journals, proceedings and conferences in the areas. Director and coordinator of over 15 grants of international and national research – development programs in the last 5 years, 15 invention patents, developing 17 advanced work methods resulting from applicative research activities and more then 60 research projects. He is the winner of the two Prize and Gold of Excellence in Research 2000, SIR 2000, of the Romanian Government and the Agency for Science, Technology and Innovation. 9 International Invention and Innovation Competition Awards and Gold of World’s Exhibition of Inventions, Geneva 2007 - 2009, and other 9 International Invention Awards and Gold of the Brussels, Zagreb, Bucharest International Exhibition. He received “Traian Vuia” (2006) award of the Romanian Academy, Romania’s highest scientific research forum, for a group of scientific papers published in the real time control in the solid mechanics. He is a member of the International Institute of Acoustics and Vibration (IIAV), Auburn University, USA (2006), ABI´s Research Board of Advisors, American Biographical Institute (2006), World Scientific and Engineering Academy Society, WSEAS (2005), International Association for Modelling and Simulation Techniques in Enterprises - AMSE, France (2004), National Research Council from Romania(2003-2005), etc. He is a PhD advisor in the field of mechanical engineering at the Romanian Academy. He was an organizer of several international conferences such as the General Chair of four WSEAS International Conferences (http://www.wseas.org/conferences/2008/romania/amta/index.html), chaired Plenary Lectures to Houston 2009, Harvard, Boston 2010 and Penang, Malaysia 2010, Paris 2011 to the WSEAS International Conferences, is team leader of WSEAS scientific research project: Mechanics & Robotics Systems and is serving on various other conferences and academic societies.