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International Conference on Fluid Power and Mechatronics FPM

作者： Yang Lihua Shi Guanglin Guo Qinyang Shanghai Jiao Tong Univ Sch Mech Engn Shanghai Peoples R China

ISBN: (纸本)9781479987702

As for machine parts with irregular shaped face edges, they are usually chamfered by human labor or chamfering machines which grind along the irregular edges with positon control. Especially some machine parts may have multiple space plane to be chamfered, which also need certain high chamfering quality. To solve this problem, a new machine part chamfering robot is designed, which is based on force compensation control. The chamfering robot mainly consists of vertical axis (Y-Axis), horizontal axis (X-Axis), compensation axis and rotation axis. X-Y table conducts interpolation motion to track the work piece. Meanwhile, the rotation axis, fixing with work piece, can rotate to meet the demand of multiple space contour processing. And the key component is the compensation axis (C-Axis) which has been equipped with a force sensor along the axis. So the compensation axis can receive real time feedback force signal. And according to the preliminary simulation, the friction compensation which is based on the exponential friction model is added to reflect and approximate the real axial cutting force to realize constant force processing.while other double axes simultaneously motion to achieve trajectory tracking. Focused on PID control strategy, the control system of the compensation axis and X-Y table, as well as the X-Y-C axes of chamfering robot is analyzed. Furthermore the simulation models are respectively built in this paper. Finally simulation results show that by using force compensation control, the machine part chamfering robot can process with good quality and high efficiency.

关键词： machine part chamfering robot chamfer force compensation control friction compensation Co-Simulation

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Infrared sensor system using robotics technology for inter-planetary mission 23

Infrared sensor system using robotics technology for inter-p...

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Conference on Infrared Remote Sensing and Instrumentation XXIII

作者： Hihara, Hiroki Takano, Yousuke Sano, Junpei Iwase, Kaori Kawakami, Satoko Otake, Hisashi Okada, Tatsuaki Funase, Ryu Takada, Jun Masuda, Tetsuya NEC Space Technol Ltd Fuchu Tokyo 1838551 Japan NEC Corp Ltd Fuchu Tokyo 1838551 Japan Japan Aerosp Explorat Agcy JAXA ISAS Chuo Ku Sagamihara Kanagawa 2525210 Japan Univ Tokyo Dept Aeronaut & Astronaut Bunkyo Ku Tokyo 1138656 Japan

ISBN: (纸本)9781628417746

Infrared sensor system is a major concern for inter-planetary missions in order to investigate the nature and the formation processes of planets and asteroids. Since it takes long time for the communication of inter-planetary probes, automatic and autonomous functions are essential for provisioning observation sequence including the setup procedures of peripheral equipment. robotics technology which has been adopted on HAYABUSA2 asteroid probe provides functions for setting up onboard equipment, sensor signal calibration, and post signal processing. HAYABUSA2 was launched successfully in 2014 for the exploration of C class near-Earth asteroid 162173 (1999JU3). An optical navigation camera with telephoto lens (ONC-T), a thermal-infrared imager (TIR), and a near infrared spectrometer (NIRS3) have been developed for the observation of geology, thermo-physical properties, and organic or hydrated materials on the asteroid. ONC-T and TIR are used for those scientific purposes as well as assessment of landing site selection and safe descent operation onto the asteroid surface for sample acquisition. NIRS3 is used to characterize the mineralogy of the asteroid surface by observing the 3-micron band, where the particular diagnostic absorption features due to hydrated minerals appear. Modifications were required in order to apply robotics technology for the probe due to the difference of operation on satellites from robot operation environment. The major difference is time line consideration, because the standardized robotics operation software development system is based on event driven framework. The consistency between the framework of time line and event driven scheme was established for the automatic and autonomous operation for HAYABUSA2.

关键词： robotics Infrared sensor Onboard image processing SpaceWire Remote sensing Image processing Optical Navigation Sample return

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Object detection using depth information from Kinect sensor

Object detection using depth information from Kinect sensor

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International colloquium on signal processing.& Its Applications, CSPA

作者： M. Syarafuddin Abd. Manap R. Sahak A. Zabidi I. Yassin N. Md. Tahir Faculty of Electrical Engineering Universiti Teknologi Mara Shah Alam Selangor Malaysia

This paper investigates the detection of object using depth information that obtained from Kinect sensor. Type and distance of object have been investigated in order to find the best parameter in detecting objects. Two types of object are experimented; shiny and curved shape of object and dull and flat shape of object. Various distances of objects from the Kinect have been tested. From the results obtained, incorrect detection of object has been occurred when using object with shiny and curve shape. It also shows that the optimum distance of object from the Kinect is in the range of 4 feet to 5 feet.

关键词： robot sensing systems Shape Image color analysis Object recognition Conferences Foot Microphones

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Online improvement of time-of-flight camera accuracy by automatic integration time adaption

Online improvement of time-of-flight camera accuracy by auto...

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IEEE International Symposium on signal processing.and Information Technology (ISSPIT)

作者： Thomas Hoegg Christian Baiz Andreas Kolb Computer Graphics and Multimedia Systems Group University of Siegen Germany Christ-Elektronik GmbH Memmingen Germany

Denoising of Time-of-Flight (ToF) range data is an important task prior to further data processing. Existing techniques commonly work on a post processing.level. This paper presents a novel approach for improving data quality on the image acquisition level by automatically determining the best integration time for arbitrary scenes. Our approach works on a per-pixel basis and uses knowledge gained from an extensive analysis of the underlying inherent sensor behavior regarding intensity, amplitude and distance error to reduce the overall error, to prevent oversaturation and to minimize the adaption time. It also works well in presence of various reflectivities and quick changes in the scene. This represents a significant improvement over previous methods.

关键词： Cameras Noise reduction robot sensing systems Estimation Silver Electronic mail Optimization

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A New Approach to Flexible Multi-Joint robot Finger

A New Approach to Flexible Multi-Joint Robot Finger

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IEEE 10th International colloquium on signal processing.and its Applications (CSPA)

作者： Ahrary, Alireza SOJO Univ Dept Comp & Informat Sci Kumamoto Japan

ISBN: (纸本)9781479930913

This paper present a new approach to flexible multijoint robot finger mechanism, which consist of three links and similar to a human finger. The proposed mechanism is capable to joint as a multi-joint to realize as a soft gripper or robot hand. The advantage of proposed mechanism is obtaining more Degree-Of-Freedom (DOF) with less actuators and self-adaptive functionality under real life grasping. The structure of proposed mechanism is described and sensor feedback experiment is also given. The application of proposed mechanism to agriculture application is also discussed.

关键词： component robot finger underactuated soft gripper rehabilitation robot

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The road detection technology of vision navigation for picking robot

International Journal of Signal Processing, Image Processing...

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International Journal of signal processing. Image processing.and Pattern Recognition 2015年第9期8卷 319-330页

作者： Juntao, Xiong Pengfei, Zhong Xiangjun, Zou College of Mathematics and Information South China agricultural university guangzhou China South China agricultural college engineering college farm machinery and equipment key technologies Ministry of Education key laboratory Guangzhou China

Vision navigation technology of the autonomous walking robot has been conducted in the research. Based on the characteristics of picking robot working environment, the visual system for the independent walking car is designed, which applies monocular camera to obtain images of marking lines on the surface of road for pre processing. Using the image gray contrast constraints determines the information of the effective area on the surface of road. Then the Hough linear detection combined with constraint will be used for the recognition and detection of the indication line on the surface, and the information of visual examination path will be fed back to the car control system as following. Through the ultrasonic sensors on the head of the walking car, the walking car can detect the obstacle at the same time. According to the real-time feedback data of ultrasonic sensor, fuzzy propulsion and calculation determine the information of the obstacles on the road surface ahead of time in order to achieve the function of real-time obstacle avoidance. The result of visual navigation test shows that maximum deviation of the car walking straight line based on visual navigation system is 1.5cm and the maximum deviation of curve walking is 6cm. The success rate of obstacle avoidance is 96.67%, which can meet the requirement of the vision navigation of picking robot and provide technical support for the autonomous navigation and intelligent operation of picking robot. ©, 2015 SERSC.

关键词： Ultrasonic sensors

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A kilohertz kilotaxel tactile sensor array for investigating spatiotemporal features in neuromorphic touch

A kilohertz kilotaxel tactile sensor array for investigating...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Wang Wei Lee Sunil L. Kukreja Nitish V. Thakor Graduate School for Integrative Sciences and Engineering National University of Singapore Singapore Singapore Institute for Neurotechnology (SiNAPSE) National University of Singapore Singapore

The spatiotemporal structure of mechanoreceptor responses is known to facilitate rapid tactile processing.in the brain. To investigate whether such mechanisms can be replicated by artificial systems, tactile sensors with a large number of elements and sub-millisecond response time are required. In this work, we present a 4096 element tactile sensor array that can be sampled at over 5kHz. Experimental results demonstrate that high spatiotemporal resolution aids to resolve force magnitude and direction of tactile events. Such a platform enables the development of time dependent neuromorphic algorithms for tactile learning and signal processing.

关键词： Arrays Spatiotemporal phenomena Time factors Force robot sensing systems Fabrics Multiplexing

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具力回饋之六軸機械手臂於自由曲面拋光系統之研究

具力回饋之六軸機械手臂於自由曲面拋光系統之研究

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作者：陳羿君中興大學

学位级别：碩士

本研究旨在建立一套自动化六轴机械手臂自由曲面抛光系统，将传统繁琐的抛光设备作系统化的整合，也可将经验传承的人工抛光技术，改由标准流程来确保抛光结果，藉由实验取得最佳抛光参数进行加工，使抛光品质稳定且提升达到Ra值0.1 μ... 详细信息

本研究旨在建立一套自动化六轴机械手臂自由曲面抛光系统，将传统繁琐的抛光设备作系统化的整合，也可将经验传承的人工抛光技术，改由标准流程来确保抛光结果，藉由实验取得最佳抛光参数进行加工，使抛光品质稳定且提升达到Ra值0.1 μm以下；检测方面利用光泽度值(Gu)与表面粗糙度Ra值(μm)的对照关系，使用光泽度计进行检测，减少离线量测时间。在系统整合部分，设计治具将抛光机具架设於手臂末端进行抛光，使用的路径为往复式路径搭配抛光机具的Random Orbital旋转方式，避免了单纯往复式路径残留抛光纹路的问题，与执行复杂路径时产生的高加减速情形，即时抛光力监控也整合於抛光系统，手臂末端架设力量感测器将抛光力通过滤波後传入电脑进行监测。抛光参数使用田口法实验设计直交表与控制因子，以抛光後表面的光泽度值(Gu)作为判断依据，找出抛光时间最短效率最高的最佳抛光参数组合进行实验。光泽度与Ra值的对照使用相同的铝合金材质(Al 6061-T6)试片，经过标准工序制作试片，利用光泽度计量测其光泽度，白光干涉仪量测表面粗糙度Ra值，建立对照关系以减少离线量测时间。抛光参数的设定经由田口法实验验证，得到最佳参数为转速2500rpm、手臂进给速率20 mm/s、正向抛光力14 N，抛光时间72秒，使用上述参数对初始表面Ra值1.6 μm的铝轮圈(Al 6061-T6)表面进行五次抛光实验，表面光泽度皆可达760 Gu，对照表面粗糙度Ra值0.069 μm。由实验结果可得出本抛光系统具有重现性，抛光後的表面以肉眼判断近似於镜面效果，由仪器检测也达到要求之Ra值0.1μm以下，简化的抛光路径使抛光时间缩短的同时兼顾了抛光效果，各项参数的设定也使抛光效率大幅提升，自动化的抛光过程相较於传统手动抛光得到更稳定的表面品质，且抛光效率不随时间改变，最後由各项实验结果证明本自动化抛光系统的可行性。

关键词：六軸機械手臂自由曲面拋光拋光參數光澤度檢測

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Research on the Force Compensation Control Strategy of Machine Part Chamfering robot

Research on the Force Compensation Control Strategy of Machi...

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2015 International Conference on Fluid Power and Mechatronics

作者： Yang Lihua Shi Guanglin Guo Qinyang School of Mechanical Engineering Shanghai Jiao Tong University

As for machine parts with irregular shaped face edges, they are usually chamfered by human labor or chamfering machines which grind along the irregular edges with positon control. Especially some machine parts may have multiple space plane to be chamfered, which also need certain high chamfering quality. To solve this problem, a new machine part chamfering robot is designed, which is based on force compensation control. The chamfering robot mainly consists of vertical axis(Y-Axis), horizontal axis(X-Axis), compensation axis and rotation axis. XY table conducts interpolation motion to track the work piece. Meanwhile, the rotation axis, fixing with work piece, can rotate to meet the demand of multiple space contour processing. And the key component is the compensation axis(C-Axis) which has been equipped with a force sensor along the axis. So the compensation axis can receive real time feedback force signal. And according to the preliminary simulation, the friction compensation which is based on the exponential friction model is added to reflect and approximate the real axial cutting force to realize constant force processing.while other double axes simultaneously motion to achieve trajectory tracking. Focused on PID control strategy, the control system of the compensation axis and X-Y table, as well as the X-Y-C axes of chamfering robot is analyzed. Furthermore the simulation models are respectively built in this paper. Finally simulation results show that by using force compensation control, the machine part chamfering robot can process with good quality and high efficiency.

关键词： machine part chamfering robot chamfer force compensation control friction compensation Co-Simulation

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Nanometer-Scale Displacement Measurement with High Resolution Using Dual Cavity Fabry-Perot Interferometer for Biomimetic robots

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JOURNAL OF NANOSCIENCE AND NANOTECHNOLOGY 2014年第10期14卷 7521-7525页

作者： Lee, Jin-Hyuk Kim, Dae-Hyun Seoul Natl Univ Sci & Technol Grad Sch Energy & Environm Seoul 139743 South Korea Seoul Natl Univ Sci & Technol Dept Mech & Automot Engn Seoul 139743 South Korea

A sensor of a biomimetic robot has to measure very small environmental changes such as, nanometer scale strains or displacements. Fiber optic sensor can be also one of candidates for the biomimetic sensor because the sensor is like thread and the shape of the sensor is similar to muscle fiber. A fiber optic interferometer, which is an optical-based sensor, can measure displacement precisely, so such device has been widely studied for the measurement of displacement on a nanometer-scale. Especially, a Quadrature Phase-Shifted Fiber Fabry-Perot interferometer (QPS-FFPI) uses phase-information for this measurement, allowing it to provide a precision result with high resolution. In theory, the QPS-FFPI generates two sinusoidal signals of which the phase difference should be 90 degrees for the exact measurement of the displacement. In order to guarantee the condition of the phase difference, the relative adjustment of the cavities of the optical fibers is required. However, with such precise adjustment it is very hard to fix the proper difference of the two cavities for quadrature-phase-shifting. In this paper, a dual-cavity FFPI is newly proposed to measure the displacement on a nanometer-scale with a specific type of signal processing. In the signal processing. a novel phase-compensation algorithm is applied to force the phase difference to be exactly 90 degrees without any physical adjustment. As a result, the paper shows that the phase-compensated dual-cavity FFPI can effectively measure nanometer-scale displacement with high resolution under dynamic conditions.

关键词： Fiber Optic sensor Nanometer Displacement Phase-Compensation Algorithm Quadrature Phase-Shifted Fiber Fabry-Perot Interferometer (QPS-FFPI)

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