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International Workshop on Robot Sensing (ROSE)

作者： G. Biegelbauer M. Vincze Automation and Control Institute (ACIN) University of Technology Vienna Vienna Austria

Bores and internal threads are critical parts of connections, bearings and engines, hydraulic and pneumatic systems and defective bore surfaces can cause problems. Project FibreScope sets out to introduce a system for automated bore surface inspection. Current systems miss a high flexibility or are mainly driven by human interaction and control. Therefore the main target of this work is to develop an automatic robotic system for rapid and flexible 100% surface inspection of bores with diameters from 4 to 50 mm. The main focus is to automatically detect and localize bores on arbitrary metallic objects. Using a laser scanner range images are taken, the bore is automatically located, and an automatic endoscopic inspection with a vision system is started. The main focus is on easy operating of the system achieved with rapid programming for the user. The paper describes the fully automated system and presents first results of the experiments and a public long-term demonstration (4 days) during an industrial fair.

关键词： Robustness robotics and automation Boring Inspection Yarn Engines Pneumatic systems Humans Automatic control control.systems

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A Precise Assembly System for Flexible Gyro Joints

A Precise Assembly System for Flexible Gyro Joints

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2nd IEEE Conference on industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

作者： Liguo CHEN Tao CHEN Lining SUN Harbin Institute of Technology China

This paper presents a precise assembly method and an experimental system for flexible gyro joints. Some existing assembly methods and problems of gyro joints are summarized. A cross model including an inner and an outer flexible hinges is established. The paper introduces the influence curve of the two flexible joints hinges' relative position by analyzing the cross model with Pseudo-Rigid-Body. In order to instruct the assembly strategy, error principle in the process of assembly is analyzed. Then a gyro assembly system is established based on the image processing and force sensor control. Some key technique modules including precision positioning, micro-vision and control.system are studied respectively. The assembly system is the integration of all the modules. Finally, the feasibility and practicability of the system is tested by some experiments, and the repeatability has reached 5μm.

关键词： Assembly systems Gyroscopes robotic assembly Fasteners control.systems Angular velocity Image processing Force sensors Force control Production

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Design and implementation of a dual-arm robot control.system with multi-sensor integrating capability

Design and implementation of a dual-arm robot control system...

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International Conference on industrial Electronics, control.and Instrumentation

作者： I.H. Suh W.K. Hyun T.W. Kim H.J. Yeo S.R. Oh Y.S. Oh J.O. Kim S.J. Yoon Department of Electronics Engineering Hanyang University Seoul South Korea Control Systems Laboratory KIST Seoul South Korea Department of Control and Instrumentation Engineering Kumamoto University Gumi South Korea Samsung Electronics Company Limited Gyeonggi South Korea

An intelligent robotic system was developed for effectively control.ing dual robot arms. The control.system aids collision avoidance and coordination of the dual arms. The system has a multi-sensor integration capability. It responds to environmental sensors such as a vision sensor, a force sensor and a position encoder. The control.system permits the human operator to communicate with the system via a teach box, a high-level language with a screen editor and menu-driven operational commands, which were specially designed for multiarm control. The control.system was applied successfully to the assembly system using two SCARA type robot arms.< >

关键词： Robot control control.systems Intelligent robots Intelligent sensors Robot kinematics Robot sensing systems Manipulators Intelligent systems Collision avoidance Arm

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An integrative approach for multi-sensor based robot task programming

An integrative approach for multi-sensor based robot task pr...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas J. Florke S. Detering F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Germany

In this paper, we suggest skill primitive nets for multi-sensor integration in robot task programming. Each skill primitive is either a hybrid motion or a command interpreted by an external vision system. For the integration of different sensors into one general and comprehensive approach, one has to consider different sensing modalities. With an extension of our previously outlined approach of skill primitive nets, multi-sensor integration is possible. Thereby, a large amount of applications can be realized. We also give a precise specification as XML-interface for skill primitive nets. In this paper advantages are outlined, when using this interface between programming and control. Our skill primitive net approach for multi-sensor integration has been evaluated with industrial applications.

关键词： Robot programming Robot sensing systems robotic assembly Force control Robot control Force sensors Robot vision systems Cameras Force feedback Sensor systems

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Visual servoing of presenters in augmented virtual reality TV studios

Visual servoing of presenters in augmented virtual reality T...

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2010 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Suraj Nair Thorsten Röder Giorgio Panin Alois Knoll Fakultät für Informatik Technische Universität München Garching Germany

This paper presents recent developments in the area of visual tracking methodologies for an applied real-time person localization system, which primary aims to robust and failure-safe robotic camera control. We applied the described methods to virtual-reality TV broadcasting studio environments in Germany in order to close a gap in TV studio automation. The presented approach uses robot camera systems based on industrial robots in order to allow high-precision camera manipulation for virtual TV studios, without limiting the degrees of freedom that a robot manipulator can provide. To take robotic automation in TV studios to a completely new dimension, we have imparted intelligence to the system by tracking the TV presenter in real-time, allowing him or her to move naturally and freely within the TV studio, while maintaining the required scene parameters, such as position in the scene, zoom, focus, etc. according to prior defined scene behaviors. The tracking system itself is distributed and has proven to be scalable to multiple robotic camera systems operating synchronously in real-world studios.

关键词： Cameras Target tracking Image color analysis Robot vision systems TV

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Hardware design for a cable-free fully insertable wireless laparoscopic robotic camera

Hardware design for a cable-free fully insertable wireless l...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Ning Li Gregory J. Mancini Jindong Tan Department of Mechanical University of Tennessee Knoxville TN USA School of Medicine University of Tennessee Knoxville TN USA

The field of insertable laparoscopic robotic camera is gaining increasing attentions from researchers, surgeons, and also patients. Although many insertable laparoscope prototypes have been introduced, few of them get rid of the encumbrance tethering cable. In this paper, we proposed a hardware architecture for a magnetic actuated robotic surgical (MARS) camera, which facilitates a cable-free fully insertable laparoscopic surgical robotic camera with adequate in-vivo mobility. Modular design and preliminary test of on-board functional payloads have shown feasibility of a cable-free insertable wireless laparoscopic surgical camera based on off-the-shelf electronics and industrial wireless standards operating in ISM frequency bands at 2.4GHz. Potential improvements for laparoscopic surgery benefited from this hardware architecture include more dexterous in-vivo camera mobility and intuitive closed-loop robotic camera control.

关键词： Cameras Wireless communication Robot vision systems Hardware Wireless sensor networks Lighting Transmitters

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Advances in Cognitive systems

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丛书名： Iet control.Engineering

2010年

作者： John Gray

ISBN: (数字)9781849190763

ISBN: (纸本)9781849190756

This book has been inspired by the portfolio of recent scientific outputs from a range of European and national research initiatives in cognitive science. Its aim is to compile the various emerging research strands within a single text as a reference point for progress in the field and as a guide for new researchers on the breadth of the field and the interconnections between the various research strands identified here. This compliation will be of interest not only to those working in the fields of computer science and AI but also to psychologists, neural scientists and engineers involved in the development of advanced robotics, mechatronic and HCI systems. CONTENTS The embodiment paradigm and the emerging cognitive architecture; Cognitivism versus Emergentism; Humanoid robotic development; Interaction with symbolic systems; Understanding bodily anticipation; Understanding and modelling chaotic behaviour; Modelling dynamic social complexity; Understanding speech production; Realistic behaviour in game playing; The effect of music on emotional reactions; Diversity in cognitive models. RELATED TITLES Flexible Robot Manipulators: Modelling, simulation and control. 978-0-86341-448-0. 2008 Motion vision: Design of compact motion sensing solutions for navigation of autonomous systems. 978-0-86341-453-4. 2005 Programming industrial control.systems Using IEC 1131-3. 978-0-85296-950-2. *** Institution of Engineering and Technology is one of the world's leading professional societies for the engineering and technology community. The IET publishes more than 100 new titles every year; a rich mix of books, journals and magazines with a back catalogue of more than 350 books in 18 different subject areas including: -Power & Energy -Renewable Energy -Radar, Sonar & Navigation -Electromagnetics -Electrical Measurement -History of Technology -Technology Management

关键词： engineering series control cognitive systems advances

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Comparison of Semi-autonomous Mobile Robot control.Strategies in Presence of Large Delay Fluctuation

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JOURNAL OF INTELLIGENT & robotic systems 2022年第1期106卷 28-28页

作者： Seppanen, Alvari Vepsalainen, Jari Ojala, Risto Tammi, Kari Aalto Univ Dept Mech Engn Otakaari 4 Espoo 02150 Uusimaa Finland Univ Helsinki Helsinki Inst Phys Helsinki 00014 Uusimaa Finland

We propose semi-autonomous control.strategies to assist in the teleoperation of mobile robots under unstable communication conditions. A short-term autonomous control.system is the assistance in the semi-autonomous control.strategies, when the teleoperation is compromised. The short-term autonomous control.comprises of lateral and longitudinal functions. The lateral control.is based on an artificial potential field method where obstacles are repulsive, and a route is attractive. LiDAR-based artificial potential field methods are well studied. We present a novel artificial potential field method based on color and depth images. Benefit of a camera system compared to a LiDAR is that a camera detects color, is cheaper, and does not have moving parts. Moreover, utilization of active sensors is not desired in the particle accelerator environment. A set of experiments with a robot prototype are carried out to validate this system. The experiments are carried out in an environment which mimics the accelerator tunnel environment. The difficulty of the teleoperation is altered with obstacles. Fully manual and autonomous control.are compared with the proposed semi-autonomous control.strategies. The results show that the teleoperation is improved with autonomous, delay-dependent, and control.dependent assist compared to the fully manual control. Based on the operation time, control.dependent assist performed the best, reducing the time by 12% on the tunnel section with most obstacles. The presented system can be easily applied to common industrial robots operating e.g. in warehouses or factories due to hardware simplicity and light computational demand.

关键词： Mobile robots Teleoperators Machine vision Remote monitoring Automation Autonomous vehicles

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Force feedback based gripper control.on a robotic arm

Force feedback based gripper control on a robotic arm

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IEEE International Conference on Intelligent Engineering systems (INES)

作者： Tae Mun Park Seung Yeon Won Sang Ryong Lee Gabor Sziebig Department of Mechanical Engineering Kyungpook National University Daegu Republic of Korea Department of Industrial Engineering UiT - The Arctic University of Norway Narvik Norway

Telemanipulation (master-slave operation) was developed in order to replace human being in hazardous environment, with using a slave device (e.g. robot). In this paper many kind of master devices are studied, for the precise control. Remote control.needs much information about remote environment for good and safe human-machine interaction. Existing master devices with vision system or audio feedback lacks most of such information, therefor force feedback, called haptics become significant recently. In this paper we propose a new concept of force feedback. This system can overcome the bottlenecks of other feedback system in a user friendly way. Force sensor and laser distance sensor communicates the information from the gripper's status to the teleoperator by using force feedback module on a glove. Pneumatic pressure gives the operator distance information, while a Magnetorheological Fluid (MR-Fluid) based actuator presents the gripper's force. The experiment result shows the possibility of usage of such force feedback glove in combination with a robotic arm.

关键词： Robot sensing systems Force feedback Grippers Manipulators Force

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robotic home assistant Care-O-bot® 3 - product vision and innovation platform

Robotic home assistant Care-O-bot® 3 - product vision and i...

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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Birgit Graf Ulrich Reiser Martin Hägele Kathrin Mauz Peter Klein Institute of Manufacturing Engineering and Automation (IPA) Stuttgart Germany

The development of a mobile robot to assist people in their home is a long term goal of Fraunhofer IPA. As a vision of a future household product, the latest prototype, Care-O-bot ® 3, is equipped with the latest industrial state-of-the art hardware components and offers all modern multimedia and interaction equipment as well as most advanced sensors and control. Care-O-bot ® 3 has been presented to the public on several occasions where it distributed drinks to the visitors of trade fairs and events. Current developments aim at applying the robot in an eldercare facility in order to support the personnel in their daily tasks.

关键词： Robot sensing systems Collision avoidance Manipulators Mobile robots Navigation

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