Spoznajni model upravljanja grupom industrijskih robota

doctoral thesis

• Title (english): Cognitive model for the control of a group of industrial robots
• Author: Tomislav Stipančić
• Mentor: Bojan Jerbić (mentor)
• Committee member: Mladen Crneković (predsjednik povjerenstva)
• Committee member: Bojan Jerbić (član povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2013-05-29, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing ; 67/68 - Various industries, trades and crafts

Abstract

U odnosu na klasične pristupe u kojima se robotski sustavi programiraju za ograničeni broj djelovanja, sustavi koji koriste koncepte sveprisutnog računarstva mogu autonomno predviđati ponašanje u specifičnim situacijama. U ovoj disertaciji je razvijen spoznajni model upravljanja sustavom umreženih robota zasnovan na kontekstualnoj spoznaji okoline koristeći koncepte sveprisutnog računarstva. Ti su koncepti ostvareni razvojem odgovarajuće ontologije povezane s mehanizmom odlučivanja. Razvojem ontologije za sustav robota definiran je deskriptivni model znanja karakterističan za industrijsku primjenu kod poslova robotskog sklapanja. Korišteni mehanizmi odlučivanja temeljeni su na deskriptivnoj logici ostvarenoj unutar ontologije te Bayesovoj mreži, omogućujući pritom dovoljnu razinu apstrakcije potrebnu za donošenje jednoznačnih odluka primjerenih trenutnom kontekstu.

Abstract (english)

Compared to classical approaches in which robotic systems are programmed for a limited number of activities, systems that rely on the concepts of Ubiquitous Computing can independently predict behaviours in specific situations. In this thesis a cognitive model for the control of networked robots, based on the contextual perception of the environment is developed. Here, concepts of Ubiquitous Computing that are achieved by developing an appropriate ontology associated with some decision-making mechanisms are used. By developing the ontology for a system of robots, a descriptive model of knowledge to be used in industrial robotic assembly applications is defined. Decision-making mechanisms are based on Descriptive Logic achieved within the ontology and on a Bayesian Network, allowing a sufficient level of abstraction required for making unambiguous decisions appropriate to the current context.

• Keywords: sveprisutno računarstvo; kontekstualna spoznaja; semantika; probabilistička robotika
• Keywords (english): ubiquitous computing; contextual cognition; semantic; probabilistic robotics
• Language: croatian
• URN:NBN: urn:nbn:hr:235:538438
• Study programme: Title: Mechanical Engineering and Naval Architecture; Study programme type: university; Study level: postgraduate; Academic / professional title: doktor/doktorica znanosti, područje tehničkih znanosti (doktor/doktorica znanosti, područje tehničkih znanosti)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2020-05-04 09:29:50