WorkPartner (WP), is the prototype of a mobile centaur-like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human-like upper body. Tasks e...
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WorkPartner (WP), is the prototype of a mobile centaur-like service robot designed to work interactively with humans in an outdoor environment. It moves using four wheeled legs and has a human-like upper body. Tasks executed by the robot are similar to those that a human can do;the robot may replace or work together with people. Mobility is based on a hybrid system, which combines the benefits of both legs and wheels to provide good terrain negotiating capability and a large velocity range on variable ground. the robot is powered by a hybrid power system with electrical actuation and energy storage in the form of gasoline. the robot is equipped with a human-like two-hand manipulator. the long-term goal is to develop an adaptive and learning robot, which can carry tools and work interactively with humans.
the system proposed in this paper is the Alicia(3) robot, which is based on the Alicia II module. Its aim is to inspect nonporous vertical walls like those of aboveground petrochemical tanks, with a wide range of surf...
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the system proposed in this paper is the Alicia(3) robot, which is based on the Alicia II module. Its aim is to inspect nonporous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials and cleanliness levels. To meet this aim, pneumatic-like adhesion has been selected for the system. the system is also required to move over the surface at a suitable speed, to pass over obstacles and to have a suitable payload to carry mission-specific instrumentation. the robot design mainly aimed at finding a solution with a high degree of modularity, so that it can easily be disassembled for maintenance purposes and to replace consumable parts such as the wheels and the sealing, making its design easier. Some onboard control algorithms have also been introduced to increase system reliability and reduce energy consumption.
this paper presents the work on the development of a remotely controllable parallel end-effector. this end-effector is designed as a tripod that can be attached to a variety of machines for different applications. A w...
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this paper presents the work on the development of a remotely controllable parallel end-effector. this end-effector is designed as a tripod that can be attached to a variety of machines for different applications. A web-based remote monitoring and control system has been developed for this tripod. the main difference of this system from the existing web-based or internet-based remote systems is the way to view the motion of the machine from a remote site. Instead of using a camera for monitoring, the tripod is modeled using Java 3D with behavioral control nodes embedded. Compared withthe camera-based solution, network traffic is largely reduced, thereby making real-time monitoring and control practical on the web. Once downloaded from its server, the 3D model at client-side behaves in the same way as the counterpart. It remains alive by connecting to the tripod through message passing, e.g. sensor signals and control commands transmissions.
Exploration and development of e-business models takes a series of viewpoints. One important perspective is the value web perspective, which can be modelled using the e3value methodology. However this perspective supp...
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ISBN:
(纸本)1581139306
Exploration and development of e-business models takes a series of viewpoints. One important perspective is the value web perspective, which can be modelled using the e3value methodology. However this perspective supposes a perfectly honest world, an assumption which turns out to be not true in practice. As a consequence, it is important to explore fraudulent behaviour of actors in value web, preferably by using a lightweight and graphical approach similar to the e3value methodology. Using a real-life e-business scenario (Bill of Lading) we show that e3value, with some extensions, is capable of modelling a control perspective that captures mechanisms for preventive and detective controls. Additionally, we show that such controls themselves can be seen as a kind of commercial services. Copyright 2004 ACM.
In the facilities of the end of the nuclear fuel cycle, like spent fuel storage pools, reprocessing plants, Plutonium-based fuel manufacturing plants or waste temporary storage units, materials handling must be carrie...
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In the facilities of the end of the nuclear fuel cycle, like spent fuel storage pools, reprocessing plants, Plutonium-based fuel manufacturing plants or waste temporary storage units, materials handling must be carried out remotely, taking into account the nuclear radiations environment. In addition to the automation requirement, robotics equipments in the nuclear industry must be substituted to human operators in order to respect the ALARA principle. More over, remote technologies aim to improve the working conditions, as well as the quality of the work achieved by the operators. A few years ago, COGEMA started an ambitious Research and Development program in robotics and remote technologies applied to its spent fuel management facilities in France, withthe aim to cover the requirements of the different plant life cycle steps. this program has been carried out in collaboration withthe French Atomic Energy Agency (C.E.A) in charge of R&D. the paper summarizes the important remote technology developments that have been carried out by C.E.A. and now being transferred to COGEMA industrial group. the range includes the next generation of servo-manipulators, long range inspection tools and carriers, nuclear versions of industrial robots, radiation hardened robotics systems, as well as force-feedback master-slave generic control software for teleoperation. Some applications of these new remote technologies are presented in the paper : - rad-hard electronic modules for robotic equipments which are used by COGEMA in high radiating environment, - electrical manipulators for remote teleoperation with force-feedback for maintenance applications, - a 6 axes master arm for teleoperation of master-slave systems with force-feedback - generic control and supervision software for remote teleoperated systems. the results of the robotics development program carried out by COGEMA and C.E.A have been very valuable for the introduction of these new technologies in the nuclear industry.
69; 2004 IEEE We are presenting the mechanical and electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 in this paper. the concept and the objective of the...
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Today's machining shop floors, characterized by large variety of products in small batch sizes, require dynamic control and real-time monitoring capabilities that are responsive and adaptive to the rapid changes o...
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Today's machining shop floors, characterized by large variety of products in small batch sizes, require dynamic control and real-time monitoring capabilities that are responsive and adaptive to the rapid changes of production capability and functionality. It is especially true when the shop floors are combined withthe e-manufacturing concept. However, a highly efficient infrastructure that can integrate the pieces of automated equipment together and link them to the e-manufacturing is still missing. the objective of this research is to develop an appropriate methodology with open architecture for real-time monitoring and remote control of networked CNC machines. A framework named Wise-ShopFloor (Web-based-integrated sensor-driven e-ShopFloor) is designed for this purpose. Within the context, this paper presents a new enabling technology to bring traditional CNC machine tools on-line with combined monitoring and control capability. Issues such as architecture design, methodology development, and prototype implementation are addressed through a milling machine case study. It is expected that the developed technology can be readily applied to real shop floor environments with increased productivity, flexibility, and responsiveness. Crown Copyright (C) 2004 Published by Elsevier Ltd. All rights reserved.
We present a novel classifier based upon principles of logic-theoretic Boolean function minimization. the classifier, called Circle, recursively produces a set of implicants (or rules). the implicant set contains info...
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We present a novel classifier based upon principles of logic-theoretic Boolean function minimization. the classifier, called Circle, recursively produces a set of implicants (or rules). the implicant set contains information not only about the presence of features, but also about their absence in determining class values. thus, Circle's implicant set is initially non-monotonic with respect to inserting new tuples that have feature values that were not in the training set. One important benefit of this non-monotonicity, however, is that Circle is capable of being robust in the presence of novel feature values. We have created a full implementation of Circle using Java as a host language and Oracle database backend. Because we are interested in data mining in bioinformatics, particularly genomic data, the database was borne out of necessity to both manage and effectively query the information.
Today's machining shop floors, characterized by large variety of products in small batch sizes, require dynamic control and real-time monitoring capabilities that are responsive and adaptive to the rapid changes o...
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Today's machining shop floors, characterized by large variety of products in small batch sizes, require dynamic control and real-time monitoring capabilities that are responsive and adaptive to the rapid changes of production capability and functionality. It is especially true when the shop floors are combined withthe e-manufacturing concept. However, a highly efficient infrastructure that can integrate the pieces of automated equipment together and link them to the e-manufacturing is still missing. the objective of this research is to develop an appropriate methodology with open architecture for real-time monitoring and remote control of networked CNC machines. A framework named Wise-ShopFloor (Web-based-integrated sensor-driven e-ShopFloor) is designed for this purpose. Within the context, this paper presents a new enabling technology to bring traditional CNC machine tools on-line with combined monitoring and control capability. Issues such as architecture design, methodology development, and prototype implementation are addressed through a milling machine case study. It is expected that the developed technology can be readily applied to real shop floor environments with increased productivity, flexibility, and responsiveness. Crown Copyright (C) 2004 Published by Elsevier Ltd. All rights reserved.
USS is a novel underwater self-reconfigurable robot, which consists of modules of the same type. By the modules' connecting and disconnecting, USS can change its configuration in real-time. A feature of USS is tha...
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USS is a novel underwater self-reconfigurable robot, which consists of modules of the same type. By the modules' connecting and disconnecting, USS can change its configuration in real-time. A feature of USS is that it can execute underwater spatial maneuver with only the planar eel-like configuration, which is due to the module's capability of buoyancy regulation and one degree metamorphosing. this article focuses on control of the type of maneuver. We built the nonlinear 6-DOF dynamics model firstly, and then perturb it around the nominal state of straight forward motion with constant speed, which gives two uncoupled linear models for the horizontal maneuver and the perpendicular motion. the perpendicular controller is designed based on the robust control technique of mix sensitivity, while the horizontal controller is designed based on Masashi Saito's method, in which maneuver is achieved by serpentine gait, and the speed and heading are stabilized by feeding back the metamorphosing frequency and the average joint angles respectively. the control strategy is then verified by digital simulation, which shows that the expected maneuver is achieved well by the suggested method.
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