Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in plannin...
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ISBN:
(纸本)3540264132
Within the frame of the ESA project TAPAS (TAsk Planner for automation & robotics in Space), a generic scheduling tool has been developed. Its prime objective is to interactively assist a robot operator in planning and scheduling the activities of a robot-tended payload facility concurrently used by several (scientific) users, taking into account resources and various constraints. the system is potentially reusable in other space automation and robotics scenarios where this decentralised payload operations concept is applicable. One of the facilities analysed to establish the requirements was ERA, a robotic arm foreseen to be attached to the international Space Station. this abstract mainly gives an overview of the scheduling engine which is at the core of the software and constitutes its intelligence.
this paper presents advancement in microassembly and packaging automation accomplished using multiscale robotic platforms. We introduce M-3 and mu(3)- two unique multiscale platforms (M-3- macro-meso-micro;mu(3)- meso...
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ISBN:
(纸本)9781424403417
this paper presents advancement in microassembly and packaging automation accomplished using multiscale robotic platforms. We introduce M-3 and mu(3)- two unique multiscale platforms (M-3- macro-meso-micro;mu(3)- meso-micro-nano). the robots withtheir corresponding end-effectors are characterized in terms of accuracy, repeatability and resolution in positioning. A typical assembly application in the M-3 consists of components whose size range from 126 microns to 25 millimeters and the typical assembly tolerances range from 4 microns to 300 microns. A typical assembly application for mu(3) consists of manipulating components 1 mu m to 1mm in size, with tolerances between 500nm and 50 mu m. the M-3 has a macroscale workspace and four high precision robots performing coordinated tasks, vision systems for positioning, calibration and closed-loop control, reconfigurable end-effectors for part pick and place and fixtures such as parts tray and tool rests. the mu(3) has a centimeter scale workspace and 3 robots configured into a 3-D microassembly station with 19 DOF with coarse motion servos and fine motion piezos, microgrippers and 3D stereo vision. In addition, the mu(3) is small enough to be used inside of a scanning electron microscope (SEM). this allows multiscale micro/nano-scale assembly up to a precision of 3 nm. Both multiscale platform stations aim to deliver reconfigurable precision assembly using Labview (TM) based supervisory software modules. Integrated bonding process tools allow for packaging of a variety of different MEMS devices.
A straight line needle trajectory is typically used in medical needle insertion for percutaneous intervention. Flexible needle steering may be able to avoid obstacles, and reach regions that are currently inaccessible...
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ISBN:
(纸本)9781424403417
A straight line needle trajectory is typically used in medical needle insertion for percutaneous intervention. Flexible needle steering may be able to avoid obstacles, and reach regions that are currently inaccessible using straight line trajectory. the success of flexible needle insertion in clinical application, for example, biopsy to obtain a tissue sample from human liver organ is dependent on how accurate the motion path can be planned and simulated. We developed a motion planning algorithm for flexible needle insertion with an integrative model of human liver organ, and finite element models of needle and needle-tissue interaction. the aim of image based integrative modeling is to have a unified organ model of patient comprising finite element and implicit surface models of blood vessels, normal and pathological tissues. the trajectory path can be determined in an interactive manner. the generated trajectory for flexible needles avoids obstacles (vessels) to reach target (tumor) inaccessible to rigid needles. the algorithm can also be used to simulate needle bending due to dynamic contact with tumor.
this presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. this acknowledges the challenges of largely autonomous operation in a complex missi...
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ISBN:
(纸本)3540264132
this presentation reviews the topic of space robotics. In the space jargon, often any unmanned space probe is called a robotic probe. this acknowledges the challenges of largely autonomous operation in a complex mission. In the following, however, the focus will be on space robots: systems involving arms for manipulation or some kind of locomotion device for mobility, having the flexibility to perform varying tasks. As an introduction, some definitions and the rationale for space robotics are given. the main differences between space and terrestrial robots are highlighted, and it is shown that they are driven by the peculiar environmental, system and programmatic constraints of space missions. A second part describes the typical architecture, sub-systems, and some key technologies of robot systems. this distinguishes between manipulator arm and rover type robots. the interdisciplinary system character of space robotics is emphasised. Finally the two main fields of orbital robotics and planetary robotics are introduced, together withthe currently perceived application scenarios (i.e. system servicing and payload tending in Low-Earth-Orbit, satellite servicing in Geostationary Earth Orbit, the assembly of large orbiting structures, and applications in exploration missions to the Moon, Mars, Mercury, comets, asteroids, and other celestial bodies). For each application scenario, the main robotic functions are presented and some developed/in-development robotic systems, most relevant to the CLAWAR conference, are described.
this paper presents an obstacle-navigation control strategy for a mobile robot suspended on overhead ground wires of 500Kv extra-high voltage (EHV) power transmission lines, based on a novel movement mechanism. the co...
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the iterative and recursive control structures are the most fundamental mechanisms of computing, because they make programming more effective and expressive. However, these constructs are perhaps the most diverse and ...
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ISBN:
(纸本)9781424404759
the iterative and recursive control structures are the most fundamental mechanisms of computing, because they make programming more effective and expressive. However, these constructs are perhaps the most diverse and confusable instructions in programming languages at both syntactic and semantic levels. Although a wide variety of ways have been proposed for describing iterations, there is still a lack of a unified mathematical notation that may be used to express the notion of repetitive, recursive, and predicative behaviors and architectures in computing.
Small-scale autonomous vehicle navigation may involve the use of classical or "crisp" sets for control. In this paper, we discuss the successful application of fuzzy sets to such a vehicle's steering mod...
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ISBN:
(纸本)9608457564
Small-scale autonomous vehicle navigation may involve the use of classical or "crisp" sets for control. In this paper, we discuss the successful application of fuzzy sets to such a vehicle's steering module, which results in an improvement in the vehicle's navigational capabilities.
A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the enviro...
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ISBN:
(纸本)3540334521
A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the environment. To achieve this, there is a need to define control strategies that are perceived as socially acceptable by users that are not familiar with robots. In this paper a system for navigation in a hallway is presented, in which the rules of proxemics are used to define the interaction strategies. the experimental results show the contribution to the establishment of effective spatial interaction patterns between the robot and a person.
Service robotics is one of the main priority areas of research in the robotics and automation field. the application of these robots for service tasks (personal assistance, education, social tasks, etc.) has a lot of ...
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ISBN:
(纸本)3540264132
Service robotics is one of the main priority areas of research in the robotics and automation field. the application of these robots for service tasks (personal assistance, education, social tasks, etc.) has a lot of influence in their design [1], [2]. Several parameters will be crucial like the weight, the kinematics configuration, the layout of masses, etc. these service robots have innovative designs and structures that allow them to move in non structured environments, walking, climbing, etc. One of the main tasks of these robots is to interact and operate with humans. For this reason, their design and development methodology must be different to traditional robots. In this paper we present a new methodology to help the optimization of the process design. this design will allow selecting properly the optimal actuators, materials and the degrees of freedom. this methodology is being developed in a national project between two different areas of this university.
the paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex p...
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ISBN:
(纸本)0889865515
the paper describes possibilities of application of amplitude spectrum analysis and the Dynamic Time Warping (DTW) method in identification of a person via analysis of leg rotation signals. Human motion is a complex process and its various characteristics may be used in biometric analysis. Several papers demonstrate that information carried by motion of legs and hips may serve as valuable basis for identifying unique motion patterns of a given person. Using this information allows discovery and identification of captured human motion. Developing methods of such analysis will enable in the future efficient identification of persons from a distance. the paper presents possibilities created by applying various methods of motion analysis and suggests directions of advancing biometric identification.
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