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Precision Peg-in-Hole Assembly Strategy Using Force-Guided robot

Precision Peg-in-Hole Assembly Strategy Using Force-Guided R...

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2015 3rd international conference on Machinery,Materials and Information technology applications(ICMMITA 2015)

作者： Yin Xu Yue Hu Lei Hu BeiHang University

ISBN: (纸本)9781510814912

Position error is inevitable in robotic precision assembly task,so force sensor is needed to get information of the environment and guide the motion of *** order to describe assembly task clearly,we divided it in three phases:*** to a certain position;*** the shaft to the exactly top of the hole;*** the shaft down in the *** is easy because the position of the hole and shaft is already *** Phase2,we divide the contact area in sixteen regions,and detect the regions using KD-tree *** detecting the regions,a coordinate search path is followed in finding the position of the *** phase3,we fine adjust the shaft on the X-Y plane according to the value of F and F,and put the shaft down in the *** order to validate the strategy,experiments are conducted on a Cartesian coordinate *** position error is considered and the strategy perform well.

关键词： Precision assembly circle shaft and hole robotic assembly force-guided

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UAV Path Planning Framework Under Kinodynamic Constraints in Cluttered Environments 1

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8th international conference on Intelligent robotics and applications (ICIRA)

作者： Yang, Liang Qi, Juntong Cao, Yang He, Yuqing Han, Jianda Xiao, Jizhong Chinese Acad Sci State Key Lab Robot Shenyang Inst Automat Shenyang 110016 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China CUNY City Coll Dept Elect Engn New York NY 10031 USA

ISBN: (数字)9783319228761

ISBN: (纸本)9783319228761;9783319228754

A novel kinodynamic planning framework, which covers path panning, smoothing, tracking and emergency threat managing, is proposed. The framework is proposed based on sampling-based algorithm, which is improved to ensure dynamics feasibility as well as emergency threat management ability by applying Bezier curve and Extending Forbidden respectively. The Bezier curve guarantees both G(1) and G(2) continuity to decrease the tracking error of our LQI based tracking controller, where two Bezier curves with different continuity order are discussed. Extending Forbidden is firstly proposed by us to enable generating multiple paths of sampling-based algorithms, thus support on-line switching to avoid emergency threats. Our main contribution is that the proposed framework is a combination of path planning with emergency threat managing, where a time compromised moving obstacle avoiding method is proposed. Results proves the efficiency of the proposed algorithm in generating feasible trajectory for SERVOHELI-40, which not only guarantees kinematic feasible of avoiding obstacles, but also can ensure dynamics feasibility.

关键词： Motion planning

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Towards perfectly scalable real-time systems

Towards perfectly scalable real-time systems

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international conference on Computer Safety, Reliability, and Securitym, SAFECOMP 2015 and held 3rd international Workshop on Assurance Cases for Software-Intensive Systems ASSURE 2015, Workshop on Dependable Embedded and Cyber-Physical Systems and Systems-of-Systems, DECSoS 2015, 2nd international Workshop on the Integration of Safety and Security Engineering, ISSE 2015, Workshop on Reliability and Security Aspects for Critical Infrastructure Protection, ReSA4CI 2015, and 4th internationalWorkshop on NextGeneration of System Assurance Approaches for Safety-Critical Systems SASSUR, 2015

作者： Priller, Peter Gruber, Werner Olberding, Niklas Peinsipp, Dietmar ITS Research and Technology AVL List GmbH Graz Austria

ISBN: (纸本)9783319242484

Verification and Validation (V&V) systems used in automotive engineering typically face two potentially contradicting design constraints: real-time capability versus scalability. While there has been substantial research on deterministic timing behavior [1, 2], the software of such systems is usually designed statically to satisfy requirements available at design time only. If those requirements change due to new V&V applications, a complete redesign might be necessary. This paper suggests a design methodology and architecture as a step towards perfectly scalable real-time systems, i.e. systems with deterministic timing behavior and the ability to be structurally modified even at run-time, including the ability to add, re-configure, re-connect or remove existing components without affecting timing correctness of the remaining system. A component model is introduced which allows to easily extract signal dependencies of software components instantiated by the run-time system, as well as to control and manage changes in system composition automatically. As an additional benefit, modularization allows component isolation equivalent to sand boxing of modern general purpose operating systems, thus improving system robustness. We conclude with an outlook on how to extend scalability from multi-core to many-core hardware platforms. © Springer international Publishing Switzerland 2015.

关键词： Real time systems

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Enhancing human robot interaction through social network interfaces: A case study 17th

Enhancing human robot interaction through social network int...

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17th international conference on Human-Computer Interaction, HCI international 2015

作者： Fiorini, Laura Limosani, Raffaele Esposito, Raffaele Manzi, Alessandro Moschetti, Alessandra Bonaccorsi, Manuele Cavallo, Filippo Dario, Paolo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy

ISBN: (纸本)9783319209159

Recently we have assisted to the rise of different Social Networks, and to the growth of robots for home applications, which represent the second big market opportunity. The use and the integration of robotics services in our daily life is strictly correlated with their usability and their acceptability. Particularly, their ease of use, among other issues, is linked to the simplicity of the interface the user has to interact with. In this sense social networks could enrich and simplify the communication between the user and technology avoiding the multiplication of custom interfaces. In this work the authors propose a system to enHancE human robot Interaction through common Social networks (He- ROIS). HeROIS system combines the use of cloud resources, service robot and smart environments proposing three different services to help citizens in daily life. In order to assess the acceptability and the usability levels, HeROIS system and services have been tested with 13 real users (24-37 years old) in the DomoCasa Lab (Italy). As regards the usability, the results show that the proposed system is usable for 4 participants (30.77% M = 79.69 SD = 3.13) and excellent for 9 participants (69.23% M = 90.05 SD = 3.72). Concerning the acceptability level, the results show that the proposed system is acceptable for 8 volunteers (61.54% M = 77.02 SD = 4.23) and excellent for 5 participants (38.46% M = 89.71 SD = 6.06). © Springer international Publishing Switzerland 2015.

关键词： Human robot interaction

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Design and Development of One Degree of Freedom Upper Limb Exoskeleton

Design and Development of One Degree of Freedom Upper Limb E...

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RSI/ISM international conference on robotics and Mechatronics

作者： Borhan Beigzadeh Mahdi Ilami Sohrab Najafian Department of Mechanical Engineering Iran University of Science and Technology Tehran Iran

ISBN: (纸本)9781467372350

Exoskeleton robots are categorized as rehabilitating and assisting robots which could be applied in other applications such as power augmentation systems, haptic systems, and virtual reality. Considering the increasing number of old people and those who suffer from physical weakness and some kinds of disabilities, the need of exploiting the rehabilitation mechanisms and processes is one of the most important issues in this field. In this paper a simple upper limb exoskeleton with one degree of freedom is studied and developed. The joint torque estimation corresponding to the biological movements as well as safety issues are considered. Kinematic parameters of the upper limb are needed to design the robot, thus a mechanism is designed to derive this set of data. Then a prototype of the exoskeleton is introduced, whose mechanical design, actuation and power transmission method as well as its selection criteria are discussed here. The mechanical design section is followed by electrical circuits and devices. Finally, the performance of robot is evaluated using a test-rig mechanism which examines how the kinematical parameters of arm could be tracked by our approach.

关键词： Upper limb exoskeleton robot design and developing mechanical evaluation

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An Idiotypic Solution Sieve for Selecting the Best Performing Solutions in Real-World Distributed intelligence

An Idiotypic Solution Sieve for Selecting the Best Performin...

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international conference on Artificial intelligence, Modelling and Simulation (AIMS)

作者： Shashi Shekhar Jha Shivashankar B. Nair Department of Computer Science and Engineering Indian Institute of Technology Guwahati Guwahati INDIA

Jerne's Idiotypic Network theory features autonomous network formation, adaptation, learning and self-stabilization, all of which find extensive applications in computational realm. Researchers have used this model in a myriad of applications, however, the use of this model in real networked environments has hardly been addressed. This paper describes an Idiotypic Sieve to filter out the optimal solutions from a set of available solutions for a set of heterogeneous problems that could occur asynchronously or concurrently across a real network. The Idiotypic Sieve described herein, is conceived by emulating an Idiotypic network wherein antibodies (solutions) within a real physical network asynchronously interact with one another and also with the antigens (problems) in a distributed and decentralized manner and stimulate and suppress one another consequently changing their respective global populations across the network. The antibodies (solutions) are provided the much required mobility across the network by a set of mobile agents that autonomously patrol and migrate to nodes that are invaded by the antigens (problems). Emulation results carried out on a real network portrayed in this paper, show the effectiveness of the Idiotypic Sieve in generating and controlling the populations of both optimal and generic solutions to the heterogeneous set of problems.

关键词： Mobile agents Computational modeling robots Sociology Statistics Payloads

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Quantized H[infinity] Static Output Control for Linear Systems with Interval-Bounded Additive Controller Coefficient Variations

Quantized H[infinity] Static Output Control for Linear Syste...

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international conference on Artificial intelligence, Modelling and Simulation (AIMS)

作者： Xianggui Guo Jianliang Wang Fang Liao Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Temasek Laboratories National University of Singapore Singapore Singapore

ISBN: (纸本)9781467386760

This paper investigates insensitive H ∞ control problems for linear continuous-time systems with input and measurement quantization via static output feedback (SOF). The designed controllers are insensitive to additive interval-bounded controller coefficient variations and are made up of two parts as linear and nonlinear parts. The former is used to achieve the H ∞ performance against external disturbances, unknown initial states and controller coefficient variations. The latter is used to attenuate the effect of input and measurement quantization simultaneously. It should be mentioned that three novel linear matrix inequality (LMI) conditions by using three different methods without introducing a matrix equality constraint as many existing results are obtained. Finally, a numerical example is presented to show the effectiveness and advantages of the proposed methods.

关键词： Quantization (signal) Symmetric matrices Control systems Uncertainty Linear matrix inequalities Additives Artificial intelligence

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A cyber physical system with gpu for CNC applications 15th

A cyber physical system with gpu for CNC applications

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15th international conference on Algorithms and Architectures for Parallel Processing, ICA3PP 2015

作者： Chang, Jen-Chieh Chien, Ting-Hsuan Chang, Rong-Guey Department of Computer Science and Information Engineering National Chung Cheng University Chiayi62102 Taiwan

ISBN: (纸本)9783319271361

In this paper, we parallelize the collision detection of five- axis machining as an example to show how to execute CNC applications on Graphics Processing Unit (GPU). We first design and implement an efficient collision detection tool, including the kinematics analyses for five-axis motions, separating axis method for collision detection, and computer simulation for verification. The machine structure is modeled as STL format in CAD software. The input to the detection system is the g-code part program, which describes the tool motions to produce the part surface. Then the g-code will be partitioned and be executed by our collision detection tool in parallel on Graphics Processing Unit (GPU). The system simulates the five-axis CNC motion for tool trajectory and detects any collisions according to the input g-codes. The result shows that our method can improve the performance of computational efficiency significantly when comparing to the conventional detection method. © Springer international Publishing Switzerland 2015.

关键词： Graphics processing unit

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Design transportation route scheme based on artificial intelligence algorithm and computer simulation

Design transportation route scheme based on artificial intel...

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2015 3rd international conference on Machinery,Materials and Information technology applications(ICMMITA 2015)

作者： Yuchuan Huang School of North China Electricity Power University

This article adopts Computer simulation and graph theoretic algorithm to choose the most reasonable place to convey drugs. And this article use mathematical modeling and computer programming to solve the problem of tr... 详细信息

关键词： Computer simulation Dijkstra algorithm Floyd algorithm graph theory mathematical modeling

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Real time monitoring system for upper arms rehabilitation exercise

Real time monitoring system for upper arms rehabilitation ex...

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IEEE international conference on Smart Instrumentation, Measurement and applications (ICSIMA)

作者： A. K. Kushsairy M. Ali A. Malik M. Y. Zulkhairi Haidawati Nasir Sheroz Khan Universiti Kuala Lumpur British Malaysian Institute Gombak Selangor Universiti Kuala Lumpur British Malaysian Institute Batu 8 Jln Sg Pusu Gombak elangor International Islamic university Malaysia Gombak Selangor

Arm rehabilitation activities necessary to be continuously monitored in order to provide information of rehabilitation results to be examined by physical therapist. The determination of monitoring is to enhancing rehabilitation process. Moreover, a portable and simple home-based rehabilitation device can help patients to improve daily rehabilitation process activity. Some earlier studies regarding home-based rehabilitation process have shown improvement in promoting human movement recovery. This paper focuses on the development of a measurement by using arms guard and Smart Glove or Rehabilitation Glove, to assist stroke patient because of some complications such as accident and disease. This paper concourses on the method and application of mechanical equipment, sensors equipped Rehabilitation Glove measurement gripping activities. The devices will move based on a human operator's finger and arms movement using the Rehabilitation Glove. The system development involves a Microcontroller and HyperTerminal as a core processing for the instrumentation, communication and controlling applications. A series of bend or known as flex force sensors are fitted in a Rehabilitation Glove to get reading from the movement of human fingers. The quality of the force feedback is strongly affected by the maximum torque measurable by the Rehabilitation Glove and the performance of the force controller. Finally, the intelligence, learning and experience aspects of the human can be combined with the strength, endurance and speed of the human arms and Rehabilitation sensor in order to generate proper output of this paper.

关键词： Flexible printed circuits Thumb Intelligent sensors Force sensors robot sensing systems

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