Maintenance cost of United Kingdom's rail rolling stock is a substantial portion of its whole life costs. therefore, it is vital to conduct these maintenance tasks in an efficient and cost-effective manner to mini...
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ISBN:
(纸本)9789897583049
Maintenance cost of United Kingdom's rail rolling stock is a substantial portion of its whole life costs. therefore, it is vital to conduct these maintenance tasks in an efficient and cost-effective manner to minimize operational costs while maximizing safety, quality, and consistency of service. the introduction of robotics and other intelligent mechanisms to maintenance processes would be an ideal solution to these challenges. Hence, this research suggests introducing autonomous maintenance systems equipped with industrial robots to tasks within the railway system, specifically for rolling-stock maintenance. the paper summarizes on-going and future work of a case-study conduct in conjunction with a UK railway operator.
A principle of cognitive robotics has been introduced to resolve the problems associated withthe uncertainties and variations found in the automated disassembly process. the general plans are used to compensate the i...
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ISBN:
(纸本)9781479964666
A principle of cognitive robotics has been introduced to resolve the problems associated withthe uncertainties and variations found in the automated disassembly process. the general plans are used to compensate the inaccurate information perceived by the sensors. they are used in the trial- and-error phase to remove particular types of main components according to cognitive behaviours. Statistical information is used to identify the operation plans and the parameters for (semi-) destructive disassembly. the effectiveness of these plans determines the success rate of the disassembly and the degree of autonomy. In this paper, PCBs and PCB cover in various model LCD screens were used as a case-study
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the...
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ISBN:
(纸本)9789897585227
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. these processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.
作者：
Belda, KvetoslavCzech Acad Sci
Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic
the paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezi...
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ISBN:
(纸本)9789897583803
the paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. the key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. the theoretical results are presented by representative examples in 2D and 3D spaces.
this paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultan...
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ISBN:
(纸本)9789898565709
this paper considers the problem of eigenstructure assignment for output feedback control. We introduce a new method for partial eigenstructure assignment, which allows to place the eigenelements (λi,v i,wi) simultaneously. this is possible by a combination of linear algebra and nonlinear optimization techniques. the advantage of the new approach is illustrated through the control of a launcher in atmospheric flight.
the Plug-And-Play is a synonym for the simple use of computer systems in office applications. this appealing idea also emerges in the branches of robotics and automation. But due to their specific technical and applic...
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ISBN:
(纸本)9789898111319
the Plug-And-Play is a synonym for the simple use of computer systems in office applications. this appealing idea also emerges in the branches of robotics and automation. But due to their specific technical and application driven requirements i.e. real-time, determinism, safety... a simple taking over of the technology is not sufficient. Plug-and-Produce extends the "easy to use" for applications in robotics and automation. this will lead to a dramatically reduction of set-up times of work-cells. In order to fulfil the various requirements a three layered Plug-and-Produce architecture is presented. the communication layer addresses all topics regarding the bus-system level;the configuration layer is responsible for the control and operation system level;and the application layer addresses the needs of the user and system programmer. A prototypical implementation is also presented.
From the RoboCup goal of having a fully autonomous humanoid soccer team, it is possible to see many applications of the research in the Humanoid Soccer, such as the development of mechanical legs and arms and exoskele...
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ISBN:
(纸本)9789898111319
From the RoboCup goal of having a fully autonomous humanoid soccer team, it is possible to see many applications of the research in the Humanoid Soccer, such as the development of mechanical legs and arms and exoskeletons. the onboard vision algorithms for multi target tracking and the cooperative decision making of some Soccer Leagues can be used in squadrons of autonomous vehicles in a variety of missions. the algorithms for image processing of the Small Size League can be used in aerial or satellite images to track vehicles. the Simulation League allows the development of many intelligent agents applications. the formations and team play positioning of the Simulation League can be used to optimize the positioning of a squadron of autonomous vehicles. the research of Robotic Soccer fosters and strengthens the research in robotics, allowing and contributing to the development of many powerful applications which can great benefit the mankind.
this article focuses on the design and development of a control system for a robotic arm designed at the Universidad de las Fuerzas Armadas, Latacunga extension, by using Dynamixel servomotors. the use of Python softw...
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ISBN:
(纸本)9781479964666
this article focuses on the design and development of a control system for a robotic arm designed at the Universidad de las Fuerzas Armadas, Latacunga extension, by using Dynamixel servomotors. the use of Python software, with advantages and features of being a free programming language, provides the project with reliability and ease of communication with a computer arm. the use of these techniques allow to obtain solutions much cheaper than the current ones by using open source software.
Variable stiffness actuation (VSA) has been paid more attention to as a novel actuating class for robotics to change the apparent output stiffness. However, most designs internally present a set of elastic elements. T...
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ISBN:
(纸本)9781509027323
Variable stiffness actuation (VSA) has been paid more attention to as a novel actuating class for robotics to change the apparent output stiffness. However, most designs internally present a set of elastic elements. this paper proposes a novel VSA based on a brief planetary with dual motor inputs, and presents some variable stiffness analyses based on power flow, torque, force and motor performance. It is shown that, when the VSA is driven by differential drives, the stiffness is determined by the external load (load force, load velocity and force impact) and the internal inputs (motor voltage, torque performance and electrical characteristics). In particular, the VSA can be manipulated by controlling motor performance without common elastic elements and complex mechanism.
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