V. Giordano

University of North Texas HSC at Fort Worth, Fort Worth, Texas, United States

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Publications (29)18.55 Total impact

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    ABSTRACT: In unstructured environments, dynamic resource assignment is required for effective cooperation of robot teams. In some scenarios, robots are in charge of executing multiple missions simultaneously. This creates risks of deadlock due to the presence of shared resources among various missions. The main contribution of this paper is the development of a novel approach that combines the one-step look-ahead deadlock avoidance policy with dynamic resource assignment. The dynamic resource assignment is achieved using greedy resource assignment for multi-mission robot teams in the framework of a matrix-based discrete event controller. Simulation results are presented in MATLAB R to discuss in detail the proposed control strategy. The paper also discusses the toolkit developed in LabVIEW R which is used to implement this control framework using a suitable example.
    Journal of Control Theory and Applications 01/2010; 8:12-19.
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    ABSTRACT: This paper considers a matrix-based discrete event control approach for a warehouse. The control system is organized in two modules: a dynamic model and a controller. The model provides a complete description of the discrete event dynamics of the warehouse, and is used as a means to track the stock-keeping units, and identify and inhibit control actions that violate system's constraints. The controller has several functions. At the supervisory level, it is in charge of inhibiting operations that may lead to deadlocks, commanding the actual start of the task, and the release of the resources once a task is completed. At the operational level, it is in charge of performing decisions regarding the order in which allowable tasks waiting for service should be performed. All the modules are implemented using the same matrix-based formalism, and thus integrated with each other. The main advantages of the approach are the inherent modularity (the matrix-based control is obtained by assembling individual atomic components), and the integration between the various modules, which permits a better overall resource utilization. Simulation examples describing an actual industrial warehouse are finally provided to emphasize the main advantages of the proposed approach.
    IEEE Transactions on Automation Science and Engineering 02/2008; · 1.67 Impact Factor
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    ABSTRACT: This paper considers real-time coordination of a mobile sensor network composed of heterogeneous resources with partially overlapping functionalities in charge of executing multiple sequences of interconnected tasks. A discrete event controller based on a matrix-based formalism is adopted to combine in a single framework task planning, dynamic resource assignment with look-ahead, and shared resource conflict resolution with utility-based method. The matrix based controller is modular and can be easily reconfigured if mission characteristics or network topology change. Simulations and preliminary results on an experimental platform are provided to illustrate the main features of the proposed control approach.
    01/2008;
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    K. Sreenath, V. Giordano, F. Lewis
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    ABSTRACT: As sensor networks become increasingly autonomous and grow to include mobility and actuation, the need for predictability in the execution of complex missions becomes crucial. In this perspective, we propose a discrete event controller (DEC) as an effective framework for modelling task constraints, priority orders and task schedules of mobile sensor networks (MSNs) in charge of executing multiple missions. The focus is to show that, for such systems, risks of deadlock arise and that the proposed DEC is able easily to implement effective deadlock avoidance algorithms. Several experiments of coordination policies on an actual MSN test bed with shared heterogeneous resources are presented
    IET Control Theory and Applications 06/2007; · 1.72 Impact Factor
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    ABSTRACT: An innovative variable-structure-systems-based approach for online training of neural network (NN) controllers as applied to the speed control of electric drives is presented. The proposed learning algorithm establishes an inner sliding motion in terms of the controller parameters, leading the command error towards zero. The outer sliding motion concerns the controlled electric drive, the state tracking error vector of which is simultaneously forced towards the origin of the phase space. The equivalence between the two sliding motions is demonstrated. In order to evaluate the performance of the proposed control scheme and its practical feasibility in industrial settings, experimental tests have been carried out with electric motor drives. Crucial problems such as adaptability, computational costs, and robustness are discussed. Experimental results illustrate that the proposed NN-based speed controller possesses a remarkable learning capability to control electric drives, virtually without requiring a priori knowledge of the plant dynamics and laborious startup procedures
    IEEE Transactions on Industrial Electronics 03/2007; · 5.17 Impact Factor
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    ABSTRACT: This paper describes a matrix-based discrete event control approach for an automated material handling system operating in a warehouse. The proposed approach addresses both low-level hardware synchronization/sequencing, and high-level operational control of rail-guided vehicles by means of an integrated framework based on binary matrices. The paper illustrates how to obtain the model of the entire warehouse by assembling the discrete event models of the atomic components. Once defined, the matrix-based dynamic model can be used for both controller synthesis and detailed discrete-event simulation of the system. In particular, a summary of simulation results obtained for an actual industrial warehouse environment is provided to illustrate the potential of the integrated matrix-based approach on large-scale, challenging automation problems
    Decision and Control, 2006 45th IEEE Conference on; 01/2007
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    ABSTRACT: This paper describes the design of a new fuzzy logic-based navigation algorithm for autonomous robots. This design effectively achieves correct environment modeling and noisy and uncertain sensory data processing on low-cost hardware equipment. A hierarchical control strategy is presented in which three different reactive behaviors are fused in a single control law by means of a fuzzy supervisor guaranteeing robot safety and task accomplishment. Due to the inherent transparency of fuzzy logic, the proposed algorithm is computationally light, easily reconfigurable, and well-performing in a wide range of differing operating conditions and environments
    IEEE Robotics &amp amp amp Automation Magazine 01/2007; · 2.48 Impact Factor
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    ABSTRACT: This paper describes the development of a mobile sensor network test-bed at the Automation and Robotics Research Institute (University of Texas at Arlington). LabVIEW high-level programming language is used to program, control and monitor a variety of off-the-shelf hardware platforms (both sensor motes and mobile robots). The test-bed is composed of two independent mobile sensor networks connected to the same base station. The first network has controlled mobility and performs environmental monitoring tasks. The second network has random mobility and acts as an unpredictable source of events for the first network. After providing a detailed description of the hardware and software design of our test-bed, we describe two case studies in mobile sensor network research which we are currently implementing on our test-bed, namely potential field localization and discrete event coordination
    Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE; 11/2006
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    Vincenzo Giordano, David Naso, Biagio Turchiano
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    ABSTRACT: This paper proposes a hybrid approach for the design of adaptive fuzzy controllers (FCs) in which two learning algorithms with different characteristics are merged together to obtain an improved method. The approach combines a genetic algorithm (GA), devised to optimize all the configuration parameters of the FC, including the number of membership functions and rules, and a Lyapunov-based adaptation law performing a local tuning of the output singletons of the controller, and guaranteeing the stability of each new controller investigated by the GA. The effectiveness of the proposed method is confirmed using both numerical simulations on a known case study and experiments on a nonlinear hardware benchmark.
    IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) 11/2006; 36(5):1118-27. · 3.24 Impact Factor
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    ABSTRACT: This paper considers a combined supervisory and operational control system for an automated storage and retrieval system. The entire control system is developed and implemented using a matrix-based formalism. In particular, the control system is defined using a set of matrix equations, each addressing a specific control function (e.g., inhibit actions that violate plant innate constraints, address deadlock avoidance, and perform efficient material dispatching). The global system is then obtained by integrating the various equations in a single control module. Simulations of an industrial warehouse show the effectiveness of the proposed design approach.
    Industrial Informatics, 2006 IEEE International Conference on; 09/2006
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    ABSTRACT: This paper uses a novel discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensor networks (WSNs) containing both unattended ground sensors (UGSs) and mobile sensor robots. The DEC sequences the most suitable tasks for each agent and assigns sensor resources according to the current perception of the environment. A matrix formulation makes this DEC particularly useful for WSN, where missions change and sensor agents may be added or may fail. WSN have peculiarities that complicate their supervisory control. Therefore, this paper introduces several new tools for DEC design and operation, including methods for generating the required supervisory matrices based on mission planning, methods for modifying the matrices in the event of failed nodes, or nodes entering the network, and a novel dynamic priority assignment weighting approach for selecting the most appropriate and useful sensors for a given mission task. The resulting DEC represents a complete dynamical description of the WSN system, which allows a fast programming of deployable WSN, a computer simulation analysis, and an efficient implementation. The DEC is actually implemented on an experimental wireless-sensor-network prototyping system. Both simulation and experimental results are presented to show the effectiveness and versatility of the developed control architecture.
    IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics) 09/2006; 36(4):806-19. · 3.24 Impact Factor
  • P. Ballal, V. Giordano, F. Lewis
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    ABSTRACT: Effective cooperation of robot teams in unstructured environments requires dynamic resource assignment. If the robots are also in charge of executing multiple simultaneous missions, then risks of deadlocks due to the presence of shared resources among different missions have to be tackled. This paper presents a novel approach to combine together a one step-ahead deadlock avoidance policy with a greedy dynamic resource assignment for multi-mission robot teams in the framework of a matrix based discrete event controller. Simulation results in Matlabreg are presented to discuss in detail the proposed control strategy
    Mediterranean Conference on Control and Automation. 06/2006;
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    ABSTRACT: Wireless communication has been traditionally used in robotics to transmit sensory and telemetry information between a robot and a base station. Because research in mobile robotics has typically focused on navigation, mapping and sensor fusion, network oriented problems such as communication bandwidth optimization, coverage and fault tolerance are not usually considered in this context. The motivation behind this research is formulating and solving combined robot navigation issues (such as obstacle avoidance, environment mapping and coverage) with sensor network issues (such as congestion control, routing and node energy minimization). In this paper we present several types of algorithms for mobile wireless sensor nodes (MWSN) as well as experimental results with a fleet of mobile robots and sensors in our lab. The algorithms include adaptive sampling (AS) for distributed field estimation, potential fields (PF) for communication bandwidth optimization, and a discrete event controller (DEC) for mission planning
    Seventh International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing (SNPD 2006), 19-20 June 2006, Las Vegas, Nevada, USA; 01/2006
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    ABSTRACT: This paper considers a combined supervisory and operational control system for an automated storage and retrieval system. The entire control system is developed and implemented using a matrix-based formalism. In particular, the control system is defined using a set of matrix equations, each addressing a specific control function (e.g., inhibit actions that violate plant innate constraints, address deadlock avoidance, and perform efficient material dispatching). The global system is then obtained by integrating the various equations in a single control module. Simulations of an industrial warehouse show the effectiveness of the proposed design approach.
    Industrial Informatics, 2006 IEEE International Conference on; 01/2006
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    ABSTRACT: This paper presents a discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensors, namely unattended ground sensors and mobile robots. It describes a new method for efficient computer aided control design of a wireless sensor network. The DEC sequences the most suitable tasks for each agent according to the current perception of the environment. A novel matrix formulation makes the assignment of the mission planning straightforward and easily adaptable if agents or applications change. The matrices are direct to write down given the sequence rules for a given task. Priority rules for efficiently dispatching shared resources and handling simultaneous missions can also be easily taken into account. This architecture holds out the hope to endow a wireless sensor network with efficient self-organization mechanisms in order to accomplish a broad range of different missions in a variety of scenarios. The matrix formulation also provides a straightforward technique for computer simulation of DE systems. Simulation examples are presented to show the effectiveness and versatility of the proposed control architecture
    Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation; 07/2005
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    ABSTRACT: This paper considers centralized coordination of cooperating heterogeneous wireless sensors with multiple shared resources. A discrete event controller (DEC) is used to sequence the most suitable tasks for stationary and mobile sensors according to the current perception of the environment, efficiently handling simultaneous missions of different priority. Its matrix formulation, apart from making the assignment of the mission planning straightforward and easily adaptable if agents or applications change, provides a powerful tool to analyze deadlock situations and implement efficient deadlock avoidance policies. It also represents a complete dynamical description of the system which allows computer simulation analysis. The matrix formulation also allows fast implementation of DEC for actual WSNs.
    Control and Automation, 2005. ICCA '05. International Conference on; 07/2005
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    ABSTRACT: In this chapter we have presented a discrete-event coordination scheme for sensor networks composed of both mobile and stationary nodes. This architecture supports highlevel planning for multiple heterogeneous agents with multiple concurrent goals in dynamic environment. The proposed formulation of the DEC represents a complete dynamical description that allows efficient computer simulation of the WSN prior to implementing a given DE coordination scheme on the actual system. The similarity between simulation and experimental results shows the effectiveness of the DEC for simulation analysis. The obtained results also prove the striking potentialities of the matrix formulation of the DEC, namely: straightforward implementation of missions on the ground of intuitive linguistic descriptions; possibility to tackle adaptability and scalability issues at a centralized level using simple matrix operations; guaranteed performances, since the DEC is a mathematical framework which constraints the behaviour of the single agents in a predictable way. Future research will be devoted to the development of highlevel decision making algorithms for the dynamic updates of the matrices of the DEC, in order to automatically reformulate the missions on-line according to the current topology of the network and the current perception of the environment.
    07/2005; , ISBN: 3-86611-038-3
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    ABSTRACT: This paper describes the application of automatic diagnosis procedures for the detection of broken bars in squirrel cage induction machines based on neural network (NN) classifiers. On the ground of representative data of the motor condition, obtained through an appropriate processing of experimental measures, NNs are effectively employed for discriminating healthy and faulty motors and providing a indication of the fault level. Both supervised and unsupervised training algorithms for NNs are used to evaluate their suitability to this kind of task. Two different diagnosis techniques, consisting in analyzing stator currents during start up and stator voltages after supply disconnection respectively, have been experimented to provide suitable input data to the NN for the fault detection. Differently from other diagnosis techniques, they possess the distinctive feature of being insensitive to load conditions. Experimental diagnosis results show the noticeable potentialities of the proposed automatic diagnosis approach that is able to identify the rotor fault in the early stages
    Electric Machines and Drives, 2005 IEEE International Conference on; 06/2005
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    ABSTRACT: Not Available
    Industrial Electronics, 2005. ISIE 2005. Proceedings of the IEEE International Symposium on; 02/2005
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    ABSTRACT: In this paper we describe an image based approach for the visual control of robotic manipulators, which uses neural networks to cope with calibration inaccuracies and relevant changes in the geometry of the system. A fast sliding-mode based algorithm has been employed for the on-line training of three neural networks approximating the relationship between camera coordinates and world coordinates. The proposed approach is tested on the simulations on a 5-dof robotic manipulator that must track a moving object using a stand-alone stereoscopic vision system.
    Systems, Man and Cybernetics, 2004 IEEE International Conference on; 11/2004