Authors: None

Abstract:

Keywords:

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.90001

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: ---

Authors: None

Abstract:

Keywords:

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.90002

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: ---

Authors: Lee, Jay

Abstract: This paper discusses the state-of-the-art research in the areas of self-maintenance and Engineering Immune Systems (EIS) for machines with smarter adaptability to operating regime changes in future manufacturing systems. First, an overview on Prognostics and Health Management (PHM) is introduced. Its transformation toward resilient system, self-maintenance system, and Engineering Immune Systems is also discussed. Finally, new concept in developing future biological-based smarter machines based on autonomic computing and cloud computing is discussed.

Keywords: self-maintenance,engineering immune systems,prognostics and health management,resilient systems,condition based maintenance,machinery maintenance,cloud computing

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00003

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 1-11

Authors: Froschauer, Roman; Zoitl, Alois; Rooker, Martijn

Abstract: A key property of modern automation and control systems is the intensive cross-communication and interaction between system entities and their dynamically changing environment. The critical issue of such systems is real-time communication established with different communication networks and/or field buses. The requirements for communication have an important impact to the overall system behavior and therefore they must be considered during the system engineering too. An integrative approach supporting software-, hardware-and communication engineering is still missing. Therefore this paper presents the model-based FRONTICS approach to engineer component-based automation and control applications, their hardware and the component's communication.

Keywords: models,communication networks,automation

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00004

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 12-17

Authors: Strasser, Thomas; Ebenhofer, Gerhard; Rooker, Martijn; Hegny, Ingo

Abstract: The aim of this paper is to describe a model-driven design approach for Industrial Automation and Control Systems (IACS). This approach is characterised by the transformation of domain specific engineering models to a central automation component model and the automatic code generation for varioius automation platforms. A central point of this work is the development and discussion of the domain specific model to automation component model transformation which is discussed in this paper. The work behind this approach is being developed in the MEDEIA project funded by the European Commission in the FP7.

Keywords: automation models,model-driven design,component-based engineering

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00005

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 18-23

Authors: Gerber, Christian; Hanisch, Hans-Michael

Abstract: Due to the defined requirements for software tools at the second part of the IEC 61499, it is possible to exchange once developed function blocks (abbr. FB) and created applications between different engineering environments. Thus, it is also possible to compile the once developed FBs for different runtime environments and to run even the same applications at several hardware platforms. But does this hardware vendor independence mean programming once and executing everywhere with the same execution results and machine behaviour, or may it be that exchanging only the used runtime environment lead to a totally different machine behaviour with violating specified safety constraints? Because the standard IEC 61499 does not specify exactly the execution of FBs and the scheduling of FBs executed in one resource, this contribution should show at a practical example of a real manufacturing plant the possibility to exchange the used runtime environment and how the impact to machine behaviour can be checked for several execution and scheduling possibilities by doing a formal verification.

Keywords: IEC 61499,scheduling,verification,net condition/event systems

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00006

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 24-29

Authors: Wenger, Monika; Hametner, Reinhard; Zoitl, Alois

Abstract: Since distribution of control applications, exchangeability as well as modularization becomes more and more important for the creation of flexible and competitive automation systems we analyze a concept which is supposed to provide these properties. The presented concept is based on a model-driven transformation of IEC 61131-3 projects into IEC 61499. Therefore we transform a small IEC 61131-3 example project into IEC 61499 and compare the simulation results with each other to examine first results on its usability in the automation domain.

Keywords: transformations,control applications,models,automation,simulation

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00007

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 30-35

Authors: Ferrarini, Luca; Dedè, Alessio

Abstract: The paper deals with the problem of testing control software for discrete manufacturing systems with a set of flexible simulation tools. In the paper, the Hardware-In-the-Loop approach is improved in order to obtain a simulation architecture which allows a step-by-step testing of the control. The main idea is: "what is ready can be tested simulating the remaining parts". In this way, it is possible to test a module of the control software once it is ready even thought other interacting modules must be still developed. This technique has been supported by a specific 3D graphic simulation environment (SIMBA, SImulation of Model-Based Automation systems), which follows a model-based approach guided by a mechatronic view of automation systems. SIMBA has been used for real industrial test cases and will be fully integrated with the proposed mixed simulation methodology.

Keywords: 3D graphic simulation,discrete manufacturing systems,closed-loop testing,discrete control

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00008

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 36-41

Authors: Herrera, Vladimir Villaseñor; Ramos, Axel Vidales; Lastra, José L. Martínez

Abstract: The next generation of manufacturing systems will need to support different technologies such as Web Services (WSs) and Multi-Agent Systems (MAS) in order to create dynamic production sites that can adapt better to frequent configuration changes. Despite the fact that many devices already support the use of these technologies, still many of the software tools currently available for designing and modeling manufacturing systems include only partial or not support at all. Besides modeling the mechanical, electrical, or automation features of a manufacturing system, a design tool will be also expected to support modeling WSs and control agents in order to facilitate a streamlined design flow. This paper presents a framework for a software tool which includes capabilities for discovery and invocation of WSs provided by devices, as well as for modeling composition of WSs. Additionally, the framework supports modeling of control agents, their automatic generation, and linkage to WSs.

Keywords: agents,web services,semantic web services,manufacturing systems,modeling,control,software tool

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00009

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 42-47

Authors: Brecher, C.; Özdemir, D.; Feng, J.; Herfs, W.; Fayzullin, K.; Hamadou, M.; Muller, A. W.

Abstract: Today, most technical disciplines involved in the lifecycle of production plants process their tasks with software tools that establish their own data stocks. Thus, the corresponding information networks are characterized by heterogeneous data structures leading to drawbacks considering information retrieval, identification of interdisciplinary dependencies and creation of generalized design solutions. Information integration aims to solve these problems by providing unified access to distributed heterogeneous sources. This article first describes the information network in production plant lifecycles and discusses the required elements for the process of information integration. This is followed by an outline of current research and technology in the fields of neutral formats and engineering ontologies. The developed concepts for information integration in production plant lifecycles are presented based on this, and demonstrated with a model plant for bottling, commissioning, and recycling.

Keywords: information integration,industrial production systems,lifecycles,semantic networks

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00010

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 48-53

Authors: Muehlhause, Mathias; Suchold, Nico; Diedrich, Christian

Abstract: A common trend for manufacturing systems is an increasing integration of engineering activities including its planning information. Vice versa this is due to a loss of the historical separation between engineering disciplines as well as their workflows and documents. A characteristic aspect of information of manufacturing systems and its components is a distributed storage of information over engineering departments or companies. To realise an automatic reuse of engineering information, a harmonisation of the information structures, notation as well as the information itself among existing models in an engineering scenario must be given. The goal of this paper is to point out characteristic aspects and requirements on information integration and the potentials of semantic approaches. Furthermore, the approach is illustrated by a typical use case for manufacturing systems.

Keywords: automation,digital systems,semantic networks,manufacturing systems

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00011

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 54-59

Authors: Bergert, M.; Kiefer, J.

Abstract: In automotive industry, to manage the market-driven challenges in the form of soaring product variants and decreasing model cycles successfully, new methods and IT solutions are required, especially in the field of production engineering. In this context, mechatronics as a key technology will play a decisive role in the future. This mechatronic issue refers not only to the increased use of mechatronic components in real production systems but also to the use of mechatronic data models in production engineering phases. Apart from their main characteristics, this contribution highlights different application scenarios of developing, using and processing these cross-domain data models.

Keywords: mechatronics,production engineering,automationML,virtual commissioning

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00012

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 60-65

Authors: Dostatni, Ewa; Diakun, Jacek

Abstract: The article concerns including of environmental aspects during design phase of households appliances. The assessment criteria for this kind of products from EU regulations have been characterized. Based on them additional set of indicators have been proposed. The indicators have been implemented into agent system that supports the designer during the design phase in the product lifecycle, thus enabling the assessment of influence of changes in the design on its ecological properties. The structure of the agent system have been also described.

Keywords: agents,ecology,environmental engineering,design

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00013

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 66-71

Authors: Jain, Atul; Vera, D. A.; Harrison, R.

Abstract: A new concept in modular automation systems and their virtual engineering is presented. The new approach is aimed to provide support for the reconfigurable manufacturing systems (RMS) approach to automation. Manufacturing industries are moving to the concept of RMS to fulfill the great demand to deliver greater levels of product customisation at a higher quality and at reduced cost. RMS allows the manufacturing companies to quickly implement innovative design changes in their products and produce a greater number of product variants on leaner production lines with shorter times to market. The aim of this research is to enable production machines to be more easily and cost effectively built and subsequently reconfigurable through the adoption of a component-based approach to their implementation utilising virtual manufacturing tools. It is proposed that through the decomposition of manufacturing machines into standardized mechanisms and their associated data structures, a RMS can be designed and implemented. Research conducted at Loughborough University into the development of concepts and tools to support the global engineering of component-based reconfigurable manufacturing automation systems in the automotive production domain is described in this paper. A collaborative framework to integrate and coordinate the various engineering activities of globally distributed engineering teams involved in the design, implementation, operation and diagnosis of production machinery is also described.

Keywords: product lifecycle management,automation,lifecycle,modular,reconfigurable,component-based reconfiguration,virtual prototyping

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00014

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 72-77

Authors: Andreev, Michael; Ivaschenko, Anton; Skobelev, Petr; Tsarev, Alexander

Abstract: The paper describes an approach of creating innovative knowledge-based multi-agent platform for the developing next-generation of intelligent schedulers for the top Internet services and sensor networks for manufacturing enterprises. As an example the implementation of this approach is described at small machinery manufacturing enterprise. These developments allow to increase service level for clients, reduce costs and delivery time, and improve scalability, performance and reliability of new generation of automated scheduling services.

Keywords: adaptive networks,emergent intelligence,intelligent schedulers,multi-agent technology

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00015

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 78-83

Authors: Dheedan, Amer; Papadopoulos, Yiannis

Abstract: On-line safety monitoring, i.e. the real-time detection, diagnosis and correction of hazardous failures, is an essential task in the operational phase of most safety-critical systems. Although current safety monitoring schemes deliver this task to some extent, the problem of effective and timely safety monitoring is still largely unresolved. In this paper, we address the safety monitoring problem through an intelligent distributed safety monitor. This monitor is based on a Multi-agent system (MAS) and uses knowledge about normal and failure operational behaviour that is derived from a systematic safety analysis process. By exploiting this knowledge and real-time observations of the target system, agents deliver a wide range of monitoring tasks which include detection, diagnosis and correction of failures, both locally and globally via MAS collaboration.

Keywords: monitoring agent,heuristic search,depth-first search,safety monitoring, safety analysis

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00016

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 84-89

Authors: Bahtiar, Rudi; Van Belle, Jan; Germain, Bart Saint; Verstraete, Paul; Valckenaers, Paul; Van Brussel, Hendrik; Cattrysse, Dirk

Abstract: The paper presents an experimental study of holonic schedule execution. The output from industry-strength scheduling software is used as an initial schedule to be executed by an HMES (Holonic Manufacturing Execution System) (Valckenaers, 2005). This Holonic Manufacturing Execution System compensates for possible simplifications in the schedule. The experiments show an improved performance when using this initial schedule as a guideline. In addition, the experiments also reveal the need to extend the HMES capabilities so it interprets the schedule more intelligently and, simultaneously, assist the user while analyzing the results of the experiments.

Keywords: agents,self-organizing systems,schedule execution,manufacturing systems

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00017

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 90-95

Authors: Tichy, Pavel; Kadera, Petr; Staron, Raymond J.; Vrba, Pavel; Marík, Vladimír

Abstract: Design and integration of multi-agent systems are becoming more and more important since there is evidence of a shift of multi-agent application deployment from academic or lab testing areas to real world applications such as manufacturing, aerospace, logistics, and networking. Therefore, utilization of an environment that guides the development process starting from the design of templates that can be reused multiple times up to the code generation and debugging is essential. In this paper we present advancements in the Agent Development Environment that can be used not only for the development of agents designed for high-level decision-making, but also for distributed low-level control that is automatically integrated.

Keywords: computer-aided control system design,agents,control systems,distributed control,intelligent manufacturing systems

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00018

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 96-101

Authors: Badr, Iman; Göhner, Peter

Abstract: Scheduling for flexible manufacturing systems (FMS) poses the challenge of optimizing the generated schedule while exhibiting flexibility to environmental dynamics. While the agent-based paradigm has been shown to tackle the inherent complexity of the problem and exhibit the required flexibility, it hinders the global optimization due to its decentralized structure. In this paper, genetic algorithms (GA) are incorporated into an agent-based scheduling architecture to overcome this shortcoming of agents and to achieve the required combination of flexibility with efficiency. Based on GA, individual agents optimize the schedule from their local view. Through the cooperation among the individual agents, a near-optimal schedule under consideration of the different optimization objectives is attained. Test results prove that the proposed integration yields near-optimal schedules with low computational complexity.

Keywords: flexible manufacturing systems,FMS,agent-based manufacturing,genetic algorithms,GA

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00019

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 102-107

Authors: Borangiu, Theodor; Raileanu, Silviu; Trentesaux, Damien; Berger, Thierry

Abstract: The paper proposes a 2-layer holonic control architecture for optimizing production on both long-and short term. This architecture is intended for industrial environments affected by perturbations like: resource breakdown and recovery, exhausted part stocks, variable processing and transporting times. The proposed planning, scheduling and control models with their implementation frame are generic; the structuring of the decisional entities (Active Holon Entities - Expertise and Order) and the distributed decision making do not rely on specific or proprietary technologies. The method is based on: automatic switching between the global "batch" planning and scheduling horizon and the local "packet" scheduling horizon for resource (re)assignment - thus combining optimality, agility and fault-tolerance in business-oriented scenarios, and embedding holonic characteristics - autonomy and cooperation - in intelligent devices which assist products during their scheduling, execution and tracking - thus bringing closer the physical and decisional parts of entities composing a more performing, robust and agile control system.

Keywords: holonic manufacturing,decentralized scheduling,intelligent product,embedded devices

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00020

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 108-113

Authors: Adam, Emmanuel; Berger, Thierry; Sallez, Yves; Trentesaux, Damien; Mandiau, Rene

Abstract: MAS are particularly pertinent to deal with distributed and dynamic environment. The management of business workflow, of flexible manufacturing systems are typically some examples of problems where the use of MAS is a actual benefit. Indeed, this kind of application requires a robust and flexible control of data to face with changes on the network. In the context of FMS, where products and resources entities can be seen as active, this paper presents the open-control concept and gives an example of its instantiation with holonic scheme. The open-control concept proposed in this paper exhibits the classic explicit control, as well as an innovative type of control called implicit control that allows system entities of being influenced autonomously via an Optimization Mechanism (OM). We illustrate our proposition by an implementation on a flexible assembly cell in our university.

Keywords: open-control,robustness,self-adaptation,flexible manufacturing systems,holonic manufacturing system

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00021

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 114-119

Authors: Lujak, Marin

Abstract: In this work, we approach the problem of a box transport by the robots that are requested to bring a box from an arbitrary initial to some preassigned target position. The robots are modeled as rational collaborative autonomous agents working on their movement coordination in a discrete state space. The proposed method for coordinating the multirobot system is a two-level control model in which on the upper level, a Virtual Structure (VS) agent calculates offline the box trajectory from the initial to the goal position with incomplete obstacles data and informs the robots of the nominal route. The robots on the lower level, on the basis of the preassigned positions and the data about the unforeseen obstacles sensed by limited range sensors and exchanged among all the robots, individually optimize their local movement objective functions to mutually push the box following a preassigned trajectory in a safe manner. When the robots, due to the unforeseen obstacles, move from the trajectory defined by the VS agent too far away, more than a predefined distance, they contact the VS agent for the recalculation of the same. The results of the proposed coordination model's simulation in 2D environment are described.

Keywords: Co-operative control,multi-agent systems,multi-objective optimization,robot control

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00022

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 120-125

Authors: Ribeiro, Luis; Barata, Jose; Ferreira, Joao

Abstract: With the systematic implantation and acceptance of IT in the shop-floor a wide range of Production Paradigms have emerged that exploring these technological novelties promise to revolutionize the way current plant floor operate and react to emerging opportunities and disturbances. With the increase of distributed and autonomous components that interact in the execution of processes current diagnostic approaches will soon be insufficient. While current system dynamics are complex and to a certain extent unpredictable the adoption of the next generation of approaches and technologies comes at the cost of an yet increased complexity. The peer to peer nature of the interactions and the evolving nature of the future systems' structure require a co-evolving regulatory mechanism that to a great deal has to be implemented under the scope of monitoring and diagnosis. In this article a diagnostic algorithm that has the ability to co-evolve with the remaining system, through learning and adaptation to the operational conditions, is presented and discussed.

Keywords: agile manufacturing,diagnostic systems,multiagent systems

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00023

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 126-131

Authors: Curkovic, Petar; Jerbic, Bojan; Stipancic, Tomislav

Abstract: This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we formulated it to multi-objective optimization domain and implemented co-evolutionary algorithm to simultaneously optimize four conflicting objectives. End-effector trajectory length, end-effector velocity distribution, total rotate angle and number of collisions are the objectives to be optimized. Simulation results for two 2-R type robots are presented. Experimental verification is conducted on two FANUC Lr Mate 200iC robots.

Keywords: planning,coevolution,multi-objective optimization,dual arm robot

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00024

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 132-137

Authors: Dubromelle, Yves; Louati, Thamer; Ounnar, Fouzia; Pujo, Patrick

Abstract: An approach that relies on the use of the holonic paradigm, on an isoarchic architecture and on a decision-making capacity based on a multicriteria analysis is presented. The various concepts of this approach are addressed first. Then, the multicriteria decision methods based on AHP (Analytic Hierarchy Process) and its generalization ANP (Analytic Network Process) are detailed, as well as the implementation phases. The first obtained results on a case study are presented.

Keywords: multicriteria decision,AHP/ANP,PROSIS model,isoarchic architecture

Digital Object Identifier (DOI): 10.3182/20100701-2-PT-4011.00025

Conference: 10th IFAC Workshop on Intelligent Manufacturing Systems (2010)

Location: , Portugal

Start Date: Thu Jul 01 2010 - End Date: Fri Jul 02 2010

Page Numbers: 138-143