Session MB9 - Robotique / Robotic
Day Monday, May 04, 2009 Room Banque Scotia President Alexis Guigue
Presentations
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03h30 PM- 03h55 PM |
The Multiobjective Trajectory Planning Problem in the Captive Trajectory Simulation (CTS) System |
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Alexis Guigue, Carleton University, Mechanical and Aerospace Engineering, Ottawa, Canada Some trajectory planning problems for robotic manipulators, such as in the CTS system, can be formulated as multiobjective variational problems. Solving such problems consists of finding a "good" representation of the Pareto optimal set and the corresponding joint trajectories. We propose a discrete dynamic programming approach that is shown to be superior to the traditional weighting method. |
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03h55 PM- 04h20 PM |
Aide au design et à l’opération de systèmes de cueillette automatisés à charge unitaire. Une approche de simulation. |
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Jean-Philippe Gagliardi, Université Laval, Faculté des Sciences de l'Administration, Québec, Québec, Canada, G1K 7P4 Jacques Renaud, Université Laval, Faculté des Sciences de l'Administration, Québec, Québec, Canada, G1K 7P4 Angel Ruiz, Université Laval, Faculté des Sciences de l'Administration, Québec, Québec, Canada, G1K 7P4 Les systèmes de cueillette automatisés utilisent diverses technologies afin de traiter un très grand volume d'articles. Un modèle de simulation générique a été développé afin d’évaluer un plan d’expérience comportant des facteurs relatifs à la configuration et à l'opération du système ainsi qu'aux politiques de gestion de l’espace. Les résultats préliminaires seront présentés. |
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04h20 PM- 04h45 PM |
Optimizing the Effectiveness of a Generalized Layered Defense Model |
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Dhaif K. Almutairi, Kuwait University, Statistics and O.R., P.O. Box 5969, Safat, Kuwait, 13060 We present two existing layered defence models in which each attacker's probability of penetrating a given layer is independent of the number of attackers incident to the layer. We then remove this restriction with a more general and flexible model. The three models are compared and issues related to optimizing their effectiveness are also addressed. |