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A multiagent framework for industrial robotic applications

Procedia Computer Science 2011年 6卷 291-296页

作者： Marko Švaco Bojan Šekoranja Bojan Jerbic Faculty of Mechanical Engineering and Naval Architecture Ivana Lucica 5 10000 Zagreb Croatia

The paper presents a novel approach toward modeling and governing complex system behavior in flexible and adaptive robotic assembly systems. A fully distributed multiagent approach is implemented for autonomous control. The system is defined at multiple levels of granularity where agents provide services in respect to the current global goal. A decentralized multiagent approach is adopted for reasons of flexibility and fault tolerance embedded in the design phase. To prove the concept a robotic application for intelligent assembly is presented and discussed. It consists of multiple industrial robots equipped with force/torque sensors, 2D and 3D vision systems, automatic tool changers and other sensors and actuators. Through fusion of sensory input and mutual communication agents construct and negotiate an assembly plan and reconfigure respectively.

关键词： Distributed robotic systems Multiagent systems Assembly technology

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vision Based Collision Avoidance of industrial Robots

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IFAC Proceedings Volumes 2011年第1期44卷 9452-9457页

作者： Alexander Winkler Jozef Suchý Department of Robotic Systems Chemnitz University of Technology 09107 Chemnitz Germany

Abstract This article presents an approach to collision avoidance of industrial robots. It is based on the method of artificial potential or force fields. The field is generated by virtual charges which are placed on obstacles. The virtual force acts on the robot which results in the modification of the manipulator path to avoid collisions. Robot path modification is performed by means of impedance control. The positions of the obstacles are determined continuously by image processing using a simple USB camera, therefore collision avoidance is also able to deal with moving obstacles, e.g. other manipulators. All algorithms are implemented with a real robot system and experimental results are presented.

关键词： Robot control robots vision impedance control collision avoidance visual serviong potential field

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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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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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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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Attitude control.of flatfish shaped Autonomous Underwater Vehicle

Attitude Control of flatfish shaped Autonomous Underwater Ve...

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IEEE Region 10 colloquium/3rd International Conference on industrial and Information systems

作者： Santhakumar, M. Asokan, T. Indian Inst Technol Madras Dept Engn Design Madras 600036 Tamil Nadu India

ISBN: (纸本)9781424428052

The increased need for underwater robotic systems for exploration of underwater resources has resulted in the development of advanced control.systems and technologies to overcome the challenging issues of underwater navigation and control. Developing efficient control.schemes for underwater robots to maneuver in the constrained environments, overcoming the external disturbances, has been a real challenge to researchers. In this paper, we present an attitude control.er for flatfish shaped underwater vehicle as an inner loop control.er for trajectory control. Here the vehicle is assumed to be positive buoyant and the pitch angle variations are significant to affect the control.er. The control.er is designed using robust PID control.er scheme and allows easy tuning of the control.er, considering nominal performance and robustness as control.specifications. The stability of the vehicle is also discussed. Finally, certain numerical studies are also presented to better illustrate the control.er behaviour.

关键词： Underwater Robot Attitude control Euler angles AUV Dynamics Stability

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Feature Selection for a Real-Time vision-Based Food Inspection System

Feature Selection for a Real-Time Vision-Based Food Inspecti...

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IEEE International Workshop on robotic and Sensors Environment

作者： Chetima, Mai Moussa Payeur, Pierre Univ Ottawa Sch Informat Technol & Engn Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9781424425945

In a world where automation of processes is more and more on demand, machine vision is continuously, explored to address several industrial problems such as quality inspection. In the processed-food industry where the external quality attributes of the product are inspected visually before the packaging line, machine vision systems often involve the extraction of a larger number of features than those actually needed to ensure proper quality control. This work experiments with several feature selection techniques in order to reduce the number of attributes analyzed by a real-time vision-based food inspection system, Four filter-based and wrapper-based feature selectors are evaluated on seeded buns and tortillas datasets. Experimental results show that consistency-based and the RELIEF subset evaluation techniques perform the best for all the considered datasets in terms of accuracy However, variations in the number of attributes selected still vary significantly between these techniques.

关键词： Machine vision food inspection feature selection machine learning

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Feature selection for a real-time vision-based food inspection system

Feature selection for a real-time vision-based food inspecti...

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International Workshop on Robot Sensing (ROSE)

作者： Mai Moussa Chetima Pierre Payeur School of Information Technology and Engineering University of Ottawa Ottawa ONT Canada

In a world where automation of processes is more and more on demand, machine vision is continuously explored to address several industrial problems such as quality inspection. In the processed-food industry where the external quality attributes of the product are inspected visually before the packaging line, machine vision systems often involve the extraction of a larger number of features than those actually needed to ensure proper quality control. This work experiments with several feature selection techniques in order to reduce the number of attributes analyzed by a real-time vision-based food inspection system. Four filter-based and wrapper-based feature selectors are evaluated on seeded buns and tortillas datasets. Experimental results show that consistency-based and the RELIEF subset evaluation techniques perform the best for all the considered datasets in terms of accuracy. However, variations in the number of attributes selected still vary significantly between these techniques.

关键词： Real time systems Inspection Machine vision Electrical equipment industry Machinery production industries Automation industrial control Packaging machines Quality control Performance evaluation

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Design and application of industrial machine vision systems

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roboticS AND COMPUTER-INTEGRATED MANUFACTURING 2007年第6期23卷 630-637页

作者： Golnabi, H. Asadpour, A. Sharif Univ Technol Inst Water & Energy Tehran Iran Islamic Azad Univ Plasma Phys Res Ctr Tehran Iran

In this paper, the role and importance of the machine vision systems in the industrial applications are described. First understanding of the vision in terms of a universal concept is explained. System design methodology is discussed and a generic machine vision model is reported. Such a machine includes systems and sub-systems, which of course depend on the type of applications and required tasks. In general, expected functions from a vision machine are the exploitation and imposition of the environmental constraint of a scene, the capturing of the images, analysis of those captured images, recognition of certain objects and features within each image, and the initiation of subsequent actions in order to accept or reject the corresponding objects. After a vision system performs all these stages, the task in hand is almost completed. Here, the sequence and proper functioning of each system and sub-systems in terms of high-quality images is explained. In operation, there is a scene with some constraint, first step for the machine is the image acquisition, pre-processing of image, segmentation, feature extraction, classification, inspection, and finally actuation, which is an interaction with the scene under study. At the end of this report, industrial image vision applications are explained in detail. Such applications include the area of automated visual inspection (AVI), process control. parts identification, and important role in the robotic guidance and control. vision developments in manufacturing that can result in improvements in the reliability, in the product quality, and enabling technology for a new production process are presented. The key points in design and applications of a machine vision system are also presented. Such considerations can be generally classified into the six different categories such as the scene constraints, image acquisition, image preprocessing, image processing, machine vision justification, and finally the systematic consideratio

关键词： design application industrial vision system image

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E-quality for manufacturing (EQM) within the framework of Internet-based systems

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IEEE TRANSACTIONS ON systems MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS 2007年第6期37卷 1365-1372页

作者： Kwon, Yongjin Rauniar, Shreepud Ajou Univ Div Ind & Informat Syst Engn Suwon South Korea Yamaha Robot Co Edgemont PA 19028 USA

The current trends in industry include an integration of information and knowledge base networks with a manufacturing system, which coined a new term, e-mariufacturing. From the perspective of e-manufacturing, any production equipment and its control.functions do not exist alone, instead becoming a part of the holistic operation system with distant monitoring, remote quality control. and fault diagnostic capabilities. The key to this new paradigm is the accessibility to a remotely located system and having the means of responding to a rapidly changing environment. In this context, this correspondence presents innovative methods in remote part tracking and quality control.using the Ethernet SmartImage Sensor and the Internet control.able Yamaha SCARA robot. Remote control.of an automation process using the Internet can suffer from a time lag, if the network is congested with heavy data traffic, which may be the greatest hurdle for using the Internet for real-time control. The approach discussed in this correspondence overcomes the time lag and mathematically calculates the part locations on the conveyor at various instances and efficiently guides the robot to the product. The accuracy of the proposed scheme has been verified, and subsequent quality control.functions have been integrated, which vindicate the industrial applicability of the setup. The Internet-based manufacturing operations present many benefits, such as ubiquitous access, remote control.programming/monitoring capabilities, and integration of production equipment into information networks for improved efficiency and enhanced product quality.

关键词： e-quality for manufacturing (EQM) Ethernet vision system remote operation of Internet-based robotic system vision guidance over the Internet

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