This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles... more This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles systems (AGVS) used for material handling. The methodology includes: stand-alone sub-module evaluation, including comprehensive simulations and statistical analysis of the system's sub-modules, along with hardware validation; quantitative system evaluation for integrated system performance investigation; and structured qualitative analyses for identifying strengths and weaknesses not readily apparent. The defined performance measures include aspects from both multi-robot and AGV fields. The developed methodology provides a systematic way to model, experiment with, analyze, and compare different AGVS control methods. To demonstrate the methodology, it was applied to evaluate a recently developed decentralized AGVS control method.
Abstract In telerobotic systems human actions are mapped to robot actions. In an illustrative o... more Abstract In telerobotic systems human actions are mapped to robot actions. In an illustrative object manipulation experiment various human grasps were translated to configurationally similar robotic grasps. The experiment's results highlight the problems and suboptimal ...
Robotics and Computer-Integrated Manufacturing, 2009
This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles... more This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles systems (AGVS) used for material handling. The methodology includes: stand-alone sub-module evaluation, including comprehensive simulations and statistical analysis of the system's sub-modules, along with hardware validation; quantitative system evaluation for integrated system performance investigation; and structured qualitative analyses for identifying strengths and weaknesses not readily apparent. The defined performance measures include aspects from both multi-robot and AGV fields. The developed methodology provides a systematic way to model, experiment with, analyze, and compare different AGVS control methods. To demonstrate the methodology, it was applied to evaluate a recently developed decentralized AGVS control method.
Proceedings of the 5th Biannual World Automation Congress, 2002
ABSTRACT A decentralized palletizing multi-robot system was developed using fuzzy behavior-based ... more ABSTRACT A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared: a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken. number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However. the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.
With the growing popularity of mobile commerce (m-commerce), it becomes vital for both researcher... more With the growing popularity of mobile commerce (m-commerce), it becomes vital for both researchers and practitioners to understand m-commerce usage behavior. In this study, we investigate browsing behavior patterns based on the analysis of clickstream data that is recorded in server-side log files. We compare consumers' browsing behavior in the m-commerce channel against the traditional e-commerce channel. For the comparison, we offer an integrative web usage mining approach, combining visualization graphs, association rules and classification models to analyze the Web server log files of a large Internet retailer in Israel, who introduced m-commerce to its existing e-commerce offerings. The analysis is expected to reveal typical m-commerce and e-commerce browsing behavior, in terms of session timing and intensity of use and in terms of session navigation patterns. The obtained results will contribute to the emerging research area of m-commerce and can be also used to guide future development of mobile websites and increase their effectiveness. Our preliminary findings are promising. They reveal that browsing behaviors in m-commerce and e-commerce are different.
This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles... more This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles systems (AGVS) used for material handling. The methodology includes: stand-alone sub-module evaluation, including comprehensive simulations and statistical analysis of the system's sub-modules, along with hardware validation; quantitative system evaluation for integrated system performance investigation; and structured qualitative analyses for identifying strengths and weaknesses not readily apparent. The defined performance measures include aspects from both multi-robot and AGV fields. The developed methodology provides a systematic way to model, experiment with, analyze, and compare different AGVS control methods. To demonstrate the methodology, it was applied to evaluate a recently developed decentralized AGVS control method.
Abstract In telerobotic systems human actions are mapped to robot actions. In an illustrative o... more Abstract In telerobotic systems human actions are mapped to robot actions. In an illustrative object manipulation experiment various human grasps were translated to configurationally similar robotic grasps. The experiment's results highlight the problems and suboptimal ...
Robotics and Computer-Integrated Manufacturing, 2009
This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles... more This paper presents a methodology for detailed evaluation of autonomous automated guided vehicles systems (AGVS) used for material handling. The methodology includes: stand-alone sub-module evaluation, including comprehensive simulations and statistical analysis of the system's sub-modules, along with hardware validation; quantitative system evaluation for integrated system performance investigation; and structured qualitative analyses for identifying strengths and weaknesses not readily apparent. The defined performance measures include aspects from both multi-robot and AGV fields. The developed methodology provides a systematic way to model, experiment with, analyze, and compare different AGVS control methods. To demonstrate the methodology, it was applied to evaluate a recently developed decentralized AGVS control method.
Proceedings of the 5th Biannual World Automation Congress, 2002
ABSTRACT A decentralized palletizing multi-robot system was developed using fuzzy behavior-based ... more ABSTRACT A decentralized palletizing multi-robot system was developed using fuzzy behavior-based control. The system consists of a conveyor, two robots and a vision system. The system's role is to perform a palletizing task using parts arriving on the conveyor. Two control algorithms were compared: a simple algorithm and a behavior-based algorithm combined with fuzzy logic. Thirty experiments were conducted while changing the control algorithm, parts arrival frequency, and conveyor velocity. Performance measures included number of parts taken. number of pallets, robots utilization and work cell utilization. Experimental results indicated better performance for the simple algorithm. However. the fuzzy behavior-based algorithm equalizes the robots utilization. Equal utilization is a major factor in multi-robots systems, and contributes in decreasing mean time between failure (MTBF). We expect that for a heavier loaded system the fuzzy behavior-based algorithm will yield higher performances.
With the growing popularity of mobile commerce (m-commerce), it becomes vital for both researcher... more With the growing popularity of mobile commerce (m-commerce), it becomes vital for both researchers and practitioners to understand m-commerce usage behavior. In this study, we investigate browsing behavior patterns based on the analysis of clickstream data that is recorded in server-side log files. We compare consumers' browsing behavior in the m-commerce channel against the traditional e-commerce channel. For the comparison, we offer an integrative web usage mining approach, combining visualization graphs, association rules and classification models to analyze the Web server log files of a large Internet retailer in Israel, who introduced m-commerce to its existing e-commerce offerings. The analysis is expected to reveal typical m-commerce and e-commerce browsing behavior, in terms of session timing and intensity of use and in terms of session navigation patterns. The obtained results will contribute to the emerging research area of m-commerce and can be also used to guide future development of mobile websites and increase their effectiveness. Our preliminary findings are promising. They reveal that browsing behaviors in m-commerce and e-commerce are different.
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Papers by Sigal Berman