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检索条件"任意字段=Conference on Next-Generation Robots and Systems"

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An accurate model for size optimization of an embedded permanent magnet for drug delivery with capsule robots

An accurate model for size optimization of an embedded perma...

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IEEE International conference on Technologies for Practical Robot Applications, TePRA 2015

作者： Munoz, Fredy Alici, Gursel Li, Weihua Intelligent Nano-Tera Systems Research Laboratory University of Wollongong Australia School of Mechanical Material and Mechatronic Engineering University of Wollongong WollongongNSW2522 Australia

ISBN: (纸本)9781479987573

An actively controlled drug delivery system (DDS) is an essential module to be included in the next generation of capsule endoscopy. Its development will allow physicians to perform non-invasive procedures and treat diseases in the digestive system. Despite many attempts to magnetically actuate internal permanent magnets (IPMs) embedded in prototype capsule robots to enhance their capabilities, further miniaturization and optimization of the IPMs are required to achieve more efficient torque transmission while minimizing the size of the IPMs. In this paper, we optimize the IPM's size to obtain a high magnetic torque that activates a DDS which is based on an overly miniaturized slider-crank mechanism. The IPM is optimized by means of analytical models. Our experimental results, which are in agreement with the analytical results, show that a high torque and force are generated on the piston of the DDS that expels drug out of a reservoir when an optimized IPM is embedded in the capsule robot. © 2015 IEEE.

关键词： Controlled drug delivery

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Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges

Safe and dependable physical human-robot interaction in anth...

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2006 IEEE/RSJ International conference on Intelligent robots and systems, IROS 2006

作者： Alami, R. Albu-Schaeffer, A. Bicchi, A. Bischoff, R. Chatila, R. De Luca, A. De Santis, A. Giralt, G. Guiochet, J. Hirzinger, G. Ingrand, F. Lippiello, V. Mattone, R. Powell, D. Sen, S. Siciliano, B. Tonietti, G. Villani, L. LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes CNRS Toulouse France Kuka Roboter GmbH Augsburg Germany DLR - German Aerospace Center Oberpfaffenhofen Germany Dipartimento di Informatica E Sistemistica University of Rome la Sapienza Italy Centro Interdipartimentale di Ricerca E. Piaggio University of Pisa Italy Dipartimento di Informatica E Sistemistica University of Naples Federico II Italy

In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday environments. The crucial issues needed to tackle the problem of a safe and dependable physical human-robot interaction (pHRI) were addressed in the EURON Perspective Research Project PHRIDOM (Physical Human-Robot Interaction in Anthropic Domains), aimed at charting the new "territory" of pHRI. While there are certainly also "cognitive" issues involved, due to the human perception of the robot (and vice versa), and other objective metrics related to fault detection and isolation, the discussion in this paper will focus on the peculiar aspects of "physical" interaction with robots. In particular, safety and dependability will be the underlying evaluation criteria for mechanical design, actuation, and control architectures. Mechanical and control issues will be discussed with emphasis on techniques that provide safety in an intrinsic way or by means of control components. Attention will be devoted to dependability, mainly related to sensors, control architectures, and fault handling and tolerance. After PHRIDOM, a novel research project has been launched under the Information Society Technologies Sixth Framework Programme of the European Commission. This "Specific Targeted Research or Innovation" project is dedicated to "Physical Human-Robot Interaction: depENDability and Safety" (PHRIENDS). PHRIENDS is about developing key components of the next generation of robots, including industrial robots and assist devices, designed to share the environment and to physically interact with people. The philosophy of the project proposes an integrated approach to the co-design of robots for safe physical interaction with humans, which revolutionizes the classical approach for designing industrial robots - rigid design for accuracy, active control for safety - by creating a new paradigm: design robots that are intrinsically safe, and control t

关键词： Industrial robots

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Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic robots 4

Singularity-Free Approximate Waypoint Tracking Controller fo...

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4th Modeling, Estimation, and Control conference (MECC)

作者： Raval, Suraj Bhattacharjee, Anuruddha Chen, Xinhao Mair, Lamar Krieger, Axel Diaz-Mercado, Yancy Univ Maryland Mech Engn Dept College Pk MD 20742 USA Johns Hopkins Univ Lab Computat Sensing & Robot Baltimore MD 21218 USA Weinberg Med Phys Inc Div Magnet Manipulat & Particle Res North Bethesda MD 20852 USA

Magnetic robots use external magnetic fields to draw energy, generating steering capabilities crucial for minimally invasive surgeries and enabling next generation untethered surgical tool miniaturization. However, accurate control is challenging due to configuration-dependent singularities in the manipulation Jacobian, which can cause unsafe behavior with standard controls. We analyze the nonlinear nature of magnetic fields to understand singularity-free control limits without adding more magnetic actuators, which increases bulk and cost. Using Chow's Theorem, we study the motion feasibility of a single magnetic robot moving in a plane, powered by stationary electromagnets. We determine the degree of nonholonomy for an underactuated case and show that any desired motion in the state-space can be approximated with more complex controls. We deploy an approximate-tracking controller to steer a magnetic robot between any two points in the state-space, avoiding singularities. Simulations show a 0.82 mm RMS positional tracking error for an 8 mm long cylindrical magnetic tool using our method. Copyright (c) 2024 The Authors.

关键词： Magnetic robots Nonlinear Control systems Robotics Path Planning and Motion Control Robot Manipulators

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Playful STEAM Learning Using robots

Playful STEAM Learning Using Robots

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IEEE International conference on Teaching, Assessment, and Learning for Engineering (IEEE TALE) - Engineering next-generation Learning

作者： Pandian, Shunmugham R. Indian Inst Informat Technol Design & Mfg Dept Elect & Commun Engn Chennai Tamil Nadu India

ISBN: (纸本)9781538665220

In developing countries like India, the school and college education systems are mired in the passive, teacher-centric pedagogy based on rote learning. Active, student-centric STEAM (science, technology, engineering, art and math) learning can be achieved through extremely affordable open source hardware and free open source software to foster innovation and creativity among teachers and students in colleges and universities as well as schools. In particular, build your own and do-it-yourself (BYO/DIY) robots and tabletop subtractive and additive manufacturing machines can be designed, fabricated and disseminated for hands-on education in design, electronics, programming, robotics and manufacturing. This paper discusses an ongoing collaborative project between a higher educational institution, a non-profit foundation and a corporate sponsor to establish and operate project-based STEAM learning labs in resource-poor government high schools in nine Indian cities. The work reported is the schools outreach part of a Teaching Learning Centre for design, development and dissemination of low-cost manufacturing education technologies for engineering colleges and universities. The methodology can be replicated with locale-specific adaptations in schools elsewhere.

关键词： STEAM education project-based learning robotics CNC machining 3D printing

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Cyber-physical approach to the network-centric robot control problems

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14th International conference on next generation Teletraffic and Wired/Wireless Advanced Networks and systems, NEW2AN 2014 and 7th conference on Internet of Things and Smart Spaces, ruSMART 2014

作者： Zaborovsky, Vladimir Guk, Mikhail Muliukha, Vladimir Ilyashenko, Alexander Saint-Petersburg State Polytechnical University Russia

ISBN: (纸本)9783319103525

The paper analyzes features of the cybernetic methods' application to the distributed physical objects control task. Some parts of such cyber-physical object interact with each other by transmitting information via computer networks. In the framework of this cyber-physical approach proposed a structure for interactive control system for on-surface robot from International Space Station. This system implements the circuit-torque sensitization algorithms for network delays while transferring data over the computer telecommunication network. © 2014 Springer International Publishing.

关键词： robots

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A First-Priority Set of Telepresence Services and a Model Network for Research and Education 25th

A First-Priority Set of Telepresence Services and a Model...

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25th International conference on Distributed Computer and Communication Networks, DCCN 2022

作者： Koucheryavy, A.E. Makolkina, M.A. Paramonov, A.I. Vybornova, A.I. Muthanna, A.S.A. Dunaytsev, R.A. Vladimirov, S.S. Elagin, V.S. Markelov, O.A. Vorozheykina, O.I. Marochkina, A.V. Gorbacheva, L.S. Pankov, B.O. Anvarzhonov, B.N. Department of Communication Networks and Data Transmission The Bonch-Bruevich Saint Petersburg State University of Telecommunications 22 Prospect Bolshevikov Saint Petersburg193232 Russia Radio Systems Department Saint Petersburg Electrotechnical University "LETI" 5 Professora Popova Str. Saint Petersburg197376 Russia

ISBN: (纸本)9783031306471

A first-priority set of telepresence services is proposed, and the delay requirements and fault probabilities for these services are defined. The end-to-end latency and reliability requirements are derived from analysis of ITU-T, 3GPP, ETSI standards and recommendations. The characteristics of a next-generation model network for research and education in the field of telepresence services are discussed. The model network is based on a DWDM core, a variety of server equipment, holographic fans, 3D cameras and projectors, avatar robots and multifunctional robots, and augmented reality terminal devices. The results of the first tests on the model network are presented. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： robots

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Teaching Industrial Robot Programming using FANUC ROBOGUIDE and iRVision Software 16

Teaching Industrial Robot Programming using FANUC ROBOGUIDE ...

引用

16th International Multi-conference on Society, Cybernetics and Informatics, IMSCI 2022

作者： Coletta, Jarrod A. Chauhan, Vedang Department of Mechanical Engineering Western New England University SpringfieldMA01119 United States

ISBN: (纸本)9781950492671

Industrial automation has become increasingly more prominent in many industries, such as manufacturing, automotive, pharmaceuticals, and food processing industries, as the technology evolves and Industry 4.0 revolution advances. Th demand of automation and personnel with automation skills has ever been increasing since Covid-19 Pandemic. Industrial robots and machine vision inspection are essential systems for manufacturing automation. Industrial robots are capable of performing various tasks like part handling, machine tending, assembly, palletizing, arc welding, or laser cutting with high speeds, repeatability and accuracy. Machine Vision Inspection (MVI) systems are used for part quality inspection, manufacturing and assembly supervision and robot guidance. A MVI system integrated with an industrial robot provides a hand-eye coordination to the robot for flexible material handling and operations. Vision-guided robotics serves as the next-generation research instrument that opens new opportunities to advance the boundaries in science and engineering research. This paper focuses on teaching industrial robot programming to engineering students using an offline virtual robotic simulation software, Fanuc ROBOGUIDE and iRVision software. Using a virtual robot and offline programming with ROBOGUIDE reduces a risk by enabling visualization of the robot operations before an actual installation and operations. The ROBOGUIDE software will provide students with an experience of programming an industrial robot and will enhance the effectiveness of the teaching and learning process. The developed programs can be imported and implemented onto a real robot with a minimum configuration setup. The step by step approach of developing and programming a 2D vision guided material handling cell using ROBOGUIDE has been discussed in the paper such that other educators and students can learn and implement the project with ease. Copyright 2022. © by the International Institute of Informat

关键词： Industrial robots

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Closed-loop performance of a proportional controller for visual stabilization using a fly-robot interface

Closed-loop performance of a proportional controller for vis...

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2011 IEEE International conference on Robotics and Biomimetics, ROBIO 2011

作者： Ejaz, Naveed Tanaka, Reiko J. Krapp, Holger G. Department of Bioengineering Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)9781457721373

The blowfly Calliphora is the model of choice for studying sensori-motor control principles common in biological systems. We present a fly-robot interface where the neural activity of an identified visual interneuron is used to control the angular velocity of a rotating robot. By placing the robot on a rotating turn-table in a visual arena, we use the fly-robot interface to quantify the dynamics and performance of a proportional controller in a closed-loop visual stabilization system. The properties of the system were characterized for both step and frequency responses. We analysed the data using a performance index based on the input-output energy dissipated by the controller. Our results suggest that the optimal strategy for the fly to minimize the visual slip speed would be to tune the closed-loop gain to the angular velocity and angular acceleration of the input stimuli. The design principles discovered by reverse-engineering sensori-motor control in to develop the next generation of autonomous robots and smart sensors. © 2011 IEEE.

关键词： robots

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Manufacturing Stacks: from Reference Models to Technology Stacks for Digital Manufacturing 24

Manufacturing Stacks: from Reference Models to Technology St...

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24th IEEE International conference on Emerging Technologies and Factory Automation (ETFA)

作者： Luedtke, Mathias Delval, Ludovic Hechtbauer, Jonathan Bordignon, Mirko Fraunhofer Inst Mfg Engn & Automat IPA Nobelstr 12 D-70569 Stuttgart Germany

ISBN: (纸本)9781728103037

A number of initiatives promote the topic of digital manufacturing, i.e., the adoption of pervasive, fine-grained cyber-physical systems (CPS) and of data-driven optimization techniques within the manufacturing domain, both in order to gain efficiency while running conventional operations and to allow for new production and business models such as mass customization or networked value chains. In this context, we contribute the findings from our experience in pursuing this vision through two projects with different goals (gradual improvement over current operations vs. more ambitious rethink), target maturity of their results (production-grade vs. proof-of-concept pilots), and therefore approaches. Concretely, we first elaborate on the often neglected line-level automation and the importance of making it a first-class citizen in digital manufacturing, especially for transitioning current manufacturing facilities into future scenarios. We describe the approach and reference the specific technologies used for its production deployment on the factory floor at a customer organization. We then introduce the positioning, within a second stack jointly prototyped with partner organizations, of reasoning algorithms. As entry points for added autonomy into manufacturing systems, they pave the way for automatic (re)configuration from high level goals and for error recovery. This contribution provides insights on how to design the next generation of software architectures for manufacturing, and aims to contribute to the transition from early reference architectural models into design blueprints for actual technology stacks.

关键词： Automation Computer architecture Manufacturing systems Software robots

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Cost calculation model for reconfigurable, hybrid assembly systems 15

Cost calculation model for reconfigurable, hybrid assembly s...

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15th IEEE International conference on Automation Science and Engineering (IEEE CASE)

作者： Fechter, Manuel Dietz, Thomas Bauernhansl, Thomas Fraunhofer Inst Mfg Engn & Automat IPA Nobelstr 12 D-70569 Stuttgart Germany

ISBN: (纸本)9781728103563

Reconfigurable assembly systems require new ways of economic decision making, as the static, long term purchasing rules, do not meet the requirements and constraints of modern reconfigurable production. The dedication of operating resources to one single assembly process is no longer feasible due to changing environments and fast innovation cycles. Hardware allocation and operation is intended to be a result of permanent re-evaluation and re-configuration doing different product and technology life cycles. The paper outlines an approach for cost calculation in hybrid assembly scenarios based on an activity-based resource leasing model, which can be benchmarked to human workforce costs in manual assembly for investment decision making.

关键词： robots Investment Companies Assembly systems Automation

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