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9th international conference on Control, automation, robotics and Vision

作者： Wang, W. L. Nanchang Univ Sch Mech & Elect Engn Nanchang 330031 Peoples R China

ISBN: (纸本)9781424403417

the automatic Ceramic Powder Storing and Continuous Proportional Weighing (CPS&CPW) section for modern ceramic tile production line is usually a very large and complicated system, its developing works are often difficult, confusing and time-consuming. A flexible design system functioned as a convenient CAD platform for CPS&CPW process automation was established, corresponding techniques which include the modularized hardware and software design, flexible developing method for application systems based on Siemens Profibus and Ethernet communication protocols are presented. An actual industrial application system which was yielded from the platform is also introduced.

关键词： CPS&CPW process automation flexible design platform hardware software

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Smooth transition from motion to force control in robotic manipulation using vision

Smooth transition from motion to force control in robotic ma...

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9th international conference on Control, automation, robotics and Vision

作者： Alkkiomaki, Olli Kyrki, Ville Kalviainen, Heikki Liu, Yong Handroos, Heikki Lappeenranta Univ Technol Lab Informat Proc PO Box 20 Lappeenranta 53851 Finland Lappeenranta Univ Technol Lab Mechatron & Virtual Design PO Box 20 Lappeenranta 53851 Finland

ISBN: (纸本)9781424403417

Sensor-based robotic manipulation is becoming more and more popular as it promises increases in productivity, flexibility. and robustness of manipulation. Combining visual and force sensing is currently one of the most promising approaches for sensor-based manipulation, as vision and force are two complementary sensing modalities. One approach for multisensor use is the traded control where the robot is at each time controlled using one sensing modality, and the controllers are switched based on sensory input. One of the major problems with such systems is the transition between visual and force controllers. In this paper, we represent a smooth transition method from motion to force control. the velocity of the end-effector is controlled by estimating the distance to the target by vision and determining an optimal velocity profile giving rapid approach and minimal force overshoot. Experiments show that the proposed control scheme is superior to earlier approaches.

关键词： robotics

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Multiscale robotics framework for MEMS assembly

Multiscale robotics framework for MEMS assembly

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9th international conference on Control, automation, robotics and Vision

作者： Murthy, Rakesh Das, Aditya Popa, Dan Univ Texas Arlington Automat & Robot Res Inst 7300 Jack Newell Blvd S Arlington TX 76019 USA

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 with their 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.

关键词： multiscale robotics MEMS microassembly

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LineScout Technology: Development of an Inspection Robot Capable of Clearing Obstacles While Operating on a Live Line

LineScout Technology: Development of an Inspection Robot Cap...

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IEEE international conference on Transmission and Distribution Construction, Operation and Live-Line Maintenance (ESMO)

作者： Serge Montambault Nicolas Pouliot Hydro-Québec (IREQ) Canada

Robotic systems are used in a range of applications to carry out inspection and repair tasks in hostile environments and in otherwise inaccessible locations. Applied robotics has found several niche applications in Hydro-Quebec operations. One example of a recently developed robotic solution for power line applications is the LineROVer Technology. Now that the technology has proven its worth for power system applications, the next logical step in the project is to develop a vehicle capable of clearing such obstacles as insulator strings, vibration dampers, aircraft warning spheres and corona rings. It must also clear spacer dampers and insulator strings as it travels along conductor bundles. the LineScout robot developed meets this requirement and can clear obstacles as it travels down a line. It can move along several axes, allowing it to adjust its shape in real time to various line configurations and to a wide range of obstacles while remaining as light and compact as possible. the robot's geometry was engineered to give it at least six possible obstacle-clearing sequences, making it versatile in unforeseen situations. the robot can operate on an energized line, has one-day battery life and can be remotely controlled 5 km away. the control approach and electronics allow intuitive human operation of the robot. Moreover, it can operate semi-autonomously, learning to clear obstacles by means of automated sequences. the LineScout Technology described in this paper is a versatile moving platform that extends live-line inspection capabilities and lends itself to future power line repair work

关键词： Inspection Robots Space technology Insulation robotics and automation Automatic control Power systems Vehicles Shock absorbers Damping

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Robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

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5th international conference on Control and automation, ICCA'05

作者： Popa, Dan O. Sreenath, Koushil Lewis, Frank L. University of Texas at Arlington Arlington TX United States

ISBN: (纸本)0780391381

the use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. the sensor carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless or acoustic network communication is an essential technology in transmitting the sensed as well as telemetry information between robots. Each mobile sensing node (robot) is characterized by sensing or measurement noise, localization uncertainty, and navigates in a region with a parameterized field model. this paper addresses a problem of great importance to the SN robotic deployment: adaptive sampling by selection and repositioning of mobile sensing nodes in order to optimally estimate the parameters of distributed variable field models. We present simulation results using deployment scenarios that will be experimentally validated at a future date. © 2005 IEEE.

关键词： robotics

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Design of under-layer control sub-system for robot assistant microsurgery system

Design of under-layer control sub-system for robot assistant...

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5th international conference on Control and automation, ICCA'05

作者： Tan, Huan Zhang, Jianxun Luo, Wenqin Institute of Robot and Information Automatic System College of Information Technical Science Nankai University Tianjin 300071 China

ISBN: (纸本)0780391381

Robot applied in medical area is an important research field of special type robot. this paper first introduces the development of robot applied in medical area, and proposes the architecture of Robot Assistant Microsurgery System (RAMS) with the technical requirement in microsurgery process. then it describes hardware and software design in Under-layer Control sub-System (UCS) of RAMS's control system, and gives the experimental results of microsurgery on animal with this robot, which demonstrate that RAMS satisfies the technical requirements of motion character and precision in high security. this Under-layer Control sub-System can be used in many high precision required systems. It also refers some related important problems in the design of whole system. © 2005 IEEE.

关键词： robotics

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Two degree of freedom motion control of an energy optimized aircraft ram air inlet actuator

Two degree of freedom motion control of an energy optimized ...

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5th international conference on Control and automation, ICCA'05

作者： Bajcinca, N. Schürmann, N. Bals, J. Institute of Robotics and Mechatronics German Aerospace Center DLR 82234 Oberpfaffenhofen Germany

ISBN: (纸本)0780391381

A high accurate position control structure for energy optimal actuation of an aircraft ram air inlet actuator is presented in this paper. the structure comprises a feedforward planning of the energy optimal reference motion profile, and a feedback position control with an inner loop for speed tracking control using a robust two degree of freedom (inverse disturbance observer) controller. the motion control structure is validated by simulation and experimental results under different load conditions. © 2005 IEEE.

关键词： Degrees of freedom (mechanics)

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Flexible manufacturing cell: Development, coordination, integration and control

Flexible manufacturing cell: Development, coordination, inte...

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5th international conference on Control and automation, ICCA'05

作者： Ferrolho, António Crisóstomo, Manuel Electrical Engineering Department Superior School of Technology Campus Politécnico de Repeses 3504-510 Viseu Portugal Institute of Systems and Robotics University of Coimbra Polo II 3030-290 Coimbra Portugal

ISBN: (纸本)0780391381

this paper describes the development, coordination, integration and control of a Flexible Manufacturing Cell (FMC). FMC has industrial characteristics and was developed to study these types of manufacturing systems. the FMC hierarchical structure is based on five layers: engineering, planning, scheduling, control and data acquisition. the connection of all of the equipment in the FMC (manufacturing equipment and information processing) is carried out via computer network Ethernet. the connection of all the equipments in FMC (manufacturing equipment and processing of information) is done through a computer network Ethernet. In this work we present the layout, the hierarchical structure and the four sectors (manufacturing, assembly, handling and storage) that make up FMC. For the coordination, integration and control of FMC several software programmes and hardware were created. An interface was developed - Direct Numerical Control (DNC) - to control the CNC machines used in FMC. For the robots used in the FMC the "winATS" and "RAPComm" applications were developed. © 2005 IEEE.

关键词： Flexible manufacturing systems

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Distributed route planning for multiple mobile robots using an augmented Lagrangian decomposition and coordination technique

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IEEE TRANSACTIONS ON robotics 2005年第6期21卷 1191-1200页

作者： Nishi, T Ando, M Konishi, M Okayama Univ Grad Sch Nat Sci & Technol Dept Elect & Elect Engn Okayama Japan

To enable efficient transportation in semiconductor fabrication bays, it is necessary to generate route planning of multiple automated guided vehicles (AGVs) efficiently to minimize the total transportation time without collision among AGVs. In this paper, we propose a distributed route-planning method for multiple mobile robots using an augmented Lagrangian decomposition and coordination technique. the proposed method features a characteristic that each AGV individually creates a near-optimal routing plan through repetitive data exchange among the AGVs and local optimization for each AGV. Dijkstra's algorithm is used for local optimization. the optimality of the solution generated by the proposed method is evaluated by comparing the solution with an optimal solution derived by solving integer linear programming problems. A near-optimal solution, within 3% of the average gap from the optimal solution for an example transportation system consisting of 143 nodes and 14 AGVs, can be derived in less than 5 s of computation lime for 100 types of requests. the proposed method is implemented in an experimental system with three AGVs, and the routing plan is derived in the configuration space, taking the motion of the robot into account. It is experimentally demonstrated that the proposed method is effective for various problems, despite the fact that each route for an AGV is created without minimizing the entire objective function.

关键词： distributed autonomous robotics systems Lagrangian decomposition and coordination multiple mobile robots route planning semiconductor fabrication bays

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Coordination control policy for mobile sensor networks with shared heterogeneous resources

Coordination control policy for mobile sensor networks with ...

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5th international conference on Control and automation, ICCA'05

作者： Giordano, Vincenzo Lewis, Frank Mireles, Josè Turchiano, Biagio Dipartimento di Elettrotecnica ed Elettronica Politecnico di Bari via Redavid 200 70125 Bari Italy Robotics and Automation Research Institute University of Texas at Arlington J. Newell Blvd. 7300 Fort Worth TX 76118 United States Institute de Ingenieria y Tecnologia Universidad Autonoma de Ciudad Juarez Ave. del Chiarro 450 Nte. Juarez C.P. 32310 Mexico

ISBN: (纸本)0780391381

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. © 2005 IEEE.

关键词： Mobile telecommunication systems

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