检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Automation

作者： Biegelbauer, G Vincze, M Nöhmayer, HF Eberst, C Vienna Univ Technol Automat & Control Inst A-1040 Vienna Austria

ISBN: (纸本)0780382323

Bores and internal threads play a critical role as integral parts of connections, bearings and engines, hydraulic and pneumatic systems. Defective bore surfaces lead to increased friction and abrasion, leakage, and reduced stability. Therefore, industry demands ever higher quality of components' bore surfaces. Today industrial automation is limited to high part volumes. 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 system for rapid and flexible 100% surface inspection of bores with diameters from 4 to 50mm. Further a method for the detection and localization of bores on arbitrary metallic objects has to be developed as well as the image processing for the inspection with a vision system has to be done. The main focus is on easy operating of the system achieved with rapid programming for the user. The paper will describe the system, in overview and detail, and will show the promising results of the experiments and a public long-term demonstration (4 days) during an industrial fair.

关键词： robotic inspection smay lot sizes sensor based robotics range sensing image processing

来源：评论

学校读者我要写书评

暂无评论

control.OF DISTRIBUTED PARAMETER systems 1986.

CONTROL OF DISTRIBUTED PARAMETER SYSTEMS 1986.

引用

control.of Distributed Parameter systems 1986.

ISBN: (纸本)0080343295

Proceedings incorporates 81 papers. These are arranged according to the following subjects: dynamic systems, flexible manipulators, large flexible structures, elastic structures, chemical systems, sensor and actuator placement, modeling and control. stochastic systems, identification, optimal control.as well as stabilization and control. Topics considered include: time-lag systems, feedback stabilization, Kalman filtering, residual mode filters, infinite-dimensional systems, autonomous systems, parabolic systems, sensor failure detectors, bilinear systems, quadratic control. inverse conduction, heat equation, rotating flexible beams, state estimation, parameter identification, control.ability, observers, system identification, robustness, adaptive control. spacecraft, large-scale systems, Euler-Bernoulli beams, multivariable control. segmented optical systems, integrated control. industrial manipulators, robotic arms, oil recovery process, boundary value problems, thermal storage, solar collectors, large flexible space structures, and effectors, computer vision, and martingale methods.

关键词： control.systems, DISTRIBUTED PARAMETER

来源：评论

学校读者我要写书评

暂无评论

The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot

引用

IEEE TRANSACTIONS ON roboticS 2015年第4期31卷 1044-1053页

作者： Balter, Max L. Chen, Alvin I. Maguire, Timothy J. Yarmush, Martin L. Rutgers State Univ Dept Biomed Engn Piscataway NJ 08854 USA VascuLogic LLC Piscataway NJ 08854 USA Massachusetts Gen Hosp Ctr Engn Med Boston MA 02108 USA

Accessing the venous bloodstream to deliver fluids or obtain a blood sample is the most common clinical routine practiced in the U.S. Practitioners continue to rely on manual venipuncture techniques, but success rates are heavily dependent on clinician skill and patient physiology. In the U.S., failure rates can be as high as 50% in difficult patients, making venipuncture the leading cause of medical injury. To improve the rate of first-stick success, we have developed a portable autonomous venipuncture device that robotically servos a needle into a suitable vein under image guidance. The device operates in real time, combining near-infrared and ultrasound imaging, image analysis, and a 7-degree-of-freedom (DOF) robotic system to perform the venipuncture. The robot consists of a 3-DOF gantry to image the patient's peripheral forearm veins and a miniaturized 4-DOF serial arm to guide the cannula into the selected vein under closed-loop control. In this paper, we present the system architecture of the robot and evaluate the accuracy and precision through tracking, free-space positioning, and in vitro phantom cannulation experiments. The results demonstrate sub-millimeter accuracy throughout the operating workspace of the manipulator and a high rate of success when cannulating phantom veins in a skin-mimicking tissue model.

关键词： Computer vision kinematics mechanism design medical robots and systems visual servoing

来源：评论

学校读者我要写书评

暂无评论

Sensor fusion and intelligent control.of autonomous cooperating robots

Sensor fusion and intelligent control of autonomous cooperat...

引用

作者： Kumar, Manish Duke University

学位级别：Ph.D.

With increasing demand for flexibility, ability to handle complicated tasks, and dexterity, modern robotic systems have become inherently complex and non-linear. This calls for developing enhanced robust algorithms for fusing sensor data, developing model-free, goal-driven, and universally applicable control.ers capable of self-learning, and making use of several robots to improve task-handling capability of the system. This dissertation deals with significant issues involved in three key areas in robotics: (i) Sensor Fusion, (ii) Intelligent control.Techniques (e.g., Fuzzy Logic control., and (iii) Multiple Manipulator control. The research presented in this dissertation formulates an analytical foundation for capturing uncertainties involved in sensor measurements in the form of sensor model, and uses that information to combine data from multiple sensors in a Bayesian framework to obtain consistent and accurate description of quantities of interest. An innovative neural network based calibration method has been proposed to obtain three-dimensional positional information in robot coordinate frame using a stereo setting. Furthermore, the research makes use of three vision sensors and a proximity sensor to obtain an occupancy profile to validate the sensor fusion strategies. The research also utilizes Kalman filtering technique to incorporate dynamics of end effector for accurate estimation of forces and moments acting at the tip of the robot grippers. This research develops an analytical foundation for control.ing multiple industrial robots working cooperatively in a fully automated manufacturing work cell. The absence of complete information on dynamic parameters of the robots has inspired the use of a model-free intelligent control.technique such as fuzzy logic control. The research proposes a strategy based on artificial neural networks to learn and optimize fuzzy logic rule base and membership function parameters. The proposed neuro-fuzzy scheme uses a backprop

关键词：

来源：评论

学校读者我要写书评

暂无评论

Cleopatre: Free open-source components for real-time control.of robotic applications

Cleopatre: Free open-source components for real-time control...

引用

IFAC/EURON Symposium on Intelligent Autonomous Vehicles

作者： Silly-Chetto, M. Bonnin, P. Blazevic, P. Russotto, F. Plot, C. Dupourqué, V. Pomiers, P. Aubin, R. University of Nantes La Chantrerie Nantes Cedex 03BP 50609 France L2TI University of "Paris Nord" Villetaneuse93430 France Laboratoire de Robotique de Versailles 10-12 Avenue de l'Europe Vélizy78140 France CEA/FAR 18 Route du Panorama Fontenay-aux-Roses92265 France ROBOSOFT Technopole Izarbel BidartF-64210 France

This paper is concerned with a software framework for real-time computing which supports a component based system design targeted to robotic applications. We are providing a set of free open-source software components that enhance LINUX/RTAI by supplying it with a library that contains both system-level modules including dynamic schedulers and Fault-tolerance mechanisms, and user-level modules dedicated to real-time vision and automatic control. Copyright © 2002 IFAC

关键词： Real time control

来源：评论

学校读者我要写书评

暂无评论

Sistema de visão robótica para reconhecimento de contornos de componentes na aplicação de processos industriais

Sistema de visão robótica para reconhecimento de contornos...

引用

作者： Foresti, Renan Luís

This work approaches the implementation of a robotics vision system to recognize 2D forms and contour transformation in trajectory to an industrial manipulator. The image acquisition occur by CCD video camera on the specific capture area. A webcam system is also tested. The captured image is sent to a MATLAB computer processing, through a control.software routine, written in VB. NET. The contrast and resolution changes are analyzed with different objects where the system identifies the pixels of object contour using Otsu’s Thresholding Method and morphological algorithms. The position of each pixel is processed, transformed in cartesian coordinates and sent to the robotic manipulator control. which executes the trajectory simulating an industrial process. The transmission to the manipulator control.is realized in a special protocol, using the parallel port of computer and a digital signal acquisition card of the manipulator control. A simulation process in a manufacturing cell is aimed to validate the system, identifying distinct objects that coming in a disorientated form from a belt conveyor. ...

关键词： vision systems Robótica Automação industrial Digital image processing industrial robotics Processamento digital de imagens Automation process Dissertação

来源：评论

学校读者我要写书评

暂无评论

vision systems for a UR5 Cobot on a Quality control.robotic Station

引用

APPLIED SCIENCES-BASEL 2024年第20期14卷 9469页

作者： Kohut, Piotr Skop, Kamil AGH Univ Krakow Fac Mech Engn & Robot Al Mickiewicza 30 PL-30059 Krakow Poland

This paper addresses the development of a vision system for the UR5 cobot and the corresponding operating algorithm of the robotic quality control.station. The hardware-software architecture of the developed robotic station consisting of a UR5 cobot equipped with a web camera and a stationary industrial camera with a lighting system is presented. Image processing and analysis algorithms are described, the method of control.and communication between the station components is discussed, and operating scenarios are presented as a single robotic station and as a part of the robotic line. Based on the results which were obtained, the level of measurement noise, accuracy, and repeatability of the developed vision system were estimated. A novel complete vision system architecture with hardware-software modules for the UR5 cobot quality control.station is shown and discussed. The software part based on Python 3.12 language, OpenCV 4.7.0.68 libraries, and the PolyScope 1.8 environment incorporates modules for system calibration, image acquisition, preprocessing and image analysis (for objects' location and geometric measurements) and for robotic cell communication and control. The hardware part of the UR5 cobot vision system is based on a PC with two independent and distinct cameras: one permanently affixed and the other mounted to the cobot's flange. This innovative setup, combined with software architecture, broadens the scope of existing robotic quality control.applications.

关键词： cobot UR5 robotic station quality control image processing and analysis object localization vision-based measurements camera-robot calibration Python OpenCV

来源：评论

学校读者我要写书评

暂无评论

Torso-mounted Visual Servoing of an Outdoor robotic Manipulator

Torso-mounted Visual Servoing of an Outdoor Robotic Manipula...

引用

作者： Nima Ziraknejad The University of British Columbia

学位级别：硕士

In the majority of vision applications, sensor calibration is a prerequisite to proper use of the sensor for both measurement and control. The objective in camera calibration is to estimate a set of parameters to construct a mapping between the 3D position of a target point and its 2D image coordinates. This thesis presents an autonomous stereo camera calibration technique based on a pinhole camera model with applications in industrial outdoor visual servoing systems. An efficient iterative least-squares parameter estimation algorithm is used to estimate the camera model parameters. The obtained stereo camera model is used to estimate the pose of the target object during the robot servoing process. The heavy-duty stereo camera rig is installed on the torso of an outdoor 3DOF robotic manipulator. The stereo camera calibration is entirely an autonomous process as the robot moves the calibration tool within its workspace and the stereo camera model is produced after the data collection process. The stereo cameras are treated as a single unit and a single transformation is obtained for the stereo camera pair in the system. The calibration process is fast, efficient and no human interaction is required during the process. The developed vision system is capable of detecting the 3D positions of the objects within the robot workspace with an average error of 1.93cm (maximum error of 7.6cm) for a region equal and smaller than the region in which the camera calibration is performed. The errors are comprised of errors in camera calibration, robot positioning and image processing. The maximum error represents an error of 2.1% of the total robot workspace reach. The visual servoing tasks are being performed with an update rate of 29ms. The complete visual servo system, used for pipe handling, has been implemented on a combined platform with two main processing units and a fully integrated 3DOF torso-mounted robotic manipulator. The processing units include an industrial PC104 em

关键词：

来源：评论

学校读者我要写书评

暂无评论

ROBOT vision FOR THE PC COMES OF AGE.

Automotive industries

引用

Automotive industries 1987年第1期167卷 66-67页

作者： Kalb, Bill

Cheap, personal computer-based machine or robotic vision systems - vision engines as some loosely call them - are going to give automotive engineers a crack at surmounting one of the major barriers to the easy application of robotic vision to manufacturing processes: A good understanding of its capabilities and limitations. In addition to inspection and gaging, vision engines will also generate a drive in automotive manufacturing toward the use of machine vision for process control. One example is checking parts at each stage of manufacturing and ordering incremental process adjustments to eliminate rejects at each stage of manufacturing. vision systems are already being used to adjust bits to allow for wear and signal for replacement.

关键词： ROBOTS, industrial

来源：评论

学校读者我要写书评

暂无评论

vision-Based In-Hand Manipulation of Variously Shaped Objects via Contact Point Prediction

Vision-Based In-Hand Manipulation of Variously Shaped Object...

引用

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Isobe, Yuzuka Kang, Sunhwi Shimamoto, Takeshi Matsuyama, Yoshinari Pathak, Sarthak Umeda, Kazunori Chuo Univ Grad Sch Sci & Engn I-13-27 KasugaBunkyo Ku Tokyo 1128551 Japan Panason Connect Co Ltd R&D Revis 3-1-1 Yagumo Naka Machi Moriguchi Osaka 5708501 Japan Chuo Univ Fac Sci & Engn I-13-27 KasugaBunkyo Ku Tokyo 1128551 Japan

ISBN: (纸本)9781665491907

In-hand manipulation (IHM) is an important ability for robotic hands. This ability refers to changing the position and orientation of a grasped object without dropping it from the hand workspace. One major challenge of IHM is to achieve a large range of manipulation (especially rotation), regardless of the shape, size, and the orientation during manipulation of the grasped object. There are two main challenges - the manipulation range (due to the range of motion of the hand) and keeping the object grasped under all shapes and orientations. Specifically, even when the contact points between the hand and the object switch and the positions of these points change due to its shape and changing orientation, constant grasp of the object is required. This paper presents an IHM method for a robotic hand with belts, based on the prediction of the contact-point changes via image information. The focus is on a robotic hand that has a two-fingered parallel gripper with conveyor belts which can continuously manipulate an object through a large range. A stereo camera is attached to the hand. First, the contour of the grasped object is acquired from the camera. From the contour, the switching of the contact points between the surfaces of the belts and the object is predicted. Then, the positions of the contact points in the next frame are estimated by rotating the contour. The velocities of the belts are calculated based on the prediction of the switching. The fingers are control.ed to follow the estimated positions of the contact points, via a feed-forward control. The effectiveness of the proposed method is verified through in-hand manipulation experiments for 22 objects of various shapes and sizes.

关键词： Belt conveyors

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：