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Internet-based manufacturing process optimization and monitoring system

Internet-based manufacturing process optimization and monito...

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ieee international Conference on robotics and automation (ICRA)

作者： P. Renton P. Bender S. Veldhuis D. Renton A. Elbestawi R. Teltz T. Bailey McMaster Manufacturing Research Institute Hamilton ON Canada McMaster Manufacturing Research Institute Hamilton ONT Canada Iomega Burlington ON Canada

E-intelligence for integrated product design, manufacturing and service is becoming the core of manufacturing technology. This paper presents the current efforts at the McMaster Manufacturing Research Institute (MMRI) to implement an Internet-based computer aided engineering (CAE) facility for the development of new manufacturing processes. The facility, termed The Centre for Online Manufacturing Optimization (COMO), integrates advanced process simulation software, a remote machine monitoring system, and state of the art multimedia and Internet technologies, to realize a virtual manufacturing process optimization environment. This environment leads the manufacturing engineer through a set of procedures in which physics based process simulations allow process parameters and operational sequences to be evaluated and optimized with respect to desired product features. Once the process parameters are established, the part can be prototyped at the MMRI laboratory or the industrial facility. The Internet-based computer engineering facility will provide companies with predictive intelligence tools for process development, and production monitoring. A case study is presented.

关键词： Internet Manufacturing processes Computerized monitoring Virtual manufacturing Computer aided engineering computational modeling Design engineering Product design Computer aided manufacturing Pulp manufacturing

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Choosing good paths for fast distributed reconfiguration of hexagonal metamorphic robots

Choosing good paths for fast distributed reconfiguration of ...

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ieee international Conference on robotics and automation (ICRA)

作者： J.E. Walter E.M. Tsai N.M. Amato Vassar College USA Swarthmore College USA Texas A and M University China

The problem addressed is the distributed reconfiguration of a metamorphic robot system composed of any number of two dimensional robots (modules) front specific initial to specific goal configurations. The initial configuration we consider is a straight chain of modules, while the goal configuration satisfies a simple admissibility condition. Reconfiguration of the modules depends on finding a contiguous path of cells, called a substrate path, that spans the goal configuration. Modules fill in this substrate path and then move along the path to fill in the remainder of the goal without collision or deadlock. In this paper, we examine the problem of finding the substrate path most likely to result in fast parallel reconfiguration, drawing on results from our previous papers (2000, 2001). Admissible goal configurations are represented as directed acyclic graphs (DAGs). We present a combination graph traversal-weighting algorithm that traverses all paths in the rooted DAG and use this algorithm to determine the best substrate path. We extend our definition of admissible substrate paths to consider admissible obstacle surfaces for reconfiguration when obstacles are present in the environment.

关键词： Mobile robots Orbital robotics Motion planning Educational institutions Control systems Shape Strategic planning computational intelligence Society Robot control Hardware

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Flexible control of a grasping object with posture error

Flexible control of a grasping object with posture error

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ieee international Conference on Fuzzy Systems (FUZZ-ieee)

作者： Y. Hasegawa M. Higashiura T. Fukuda Department of Micro System Engineering University of Nagoya Japan Department of Mechano Informatics System Engineering University of Nagoya Japan Center for Cooperative Research in Advanced Science and Technology University of Nagoya Japan

Proposes adjusting methods of a regrasping strategy according to position and posture errors of a grasping object. We have already derived a generation algorithm for the regrasping strategy by evolutionary programming. The regrasping strategy however becomes inapplicable when the relative position and posture between a hand and an object is not same as those in numerical simulation. We therefore propose some adjusting methods which can change the intermediate position and posture of a grasping object. This method can avoid the limitation of joint work area and fingertip's slip so that it could extend the tolerable area of the position and posture error. We show its effectiveness for the regrasping motion with numerical simulations and experiments.

关键词： Error correction Grasping Fingers Robots Systems engineering and theory Numerical simulation Solids Genetic programming robotics and automation Robust control

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Manipulation analysis of carton-folding task by using GGPs and CCPs

Manipulation analysis of carton-folding task by using GGPs a...

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ieee international symposium on Intelligent Control (ISIC)

作者： Honghai Liu J.S. Dai Department of Mechanical Engineering Kings College London University of London Strand UK

The paper proposes a method for folding packaging cartons using a novel packaging unit with cooperative robotic fingers. First, the folding sequence of a carton is produced based on the graph theory and the corresponding model of a carton-equivalent mechanism, whose links presented by panels of a carton, joint by creases of the carton. Next, an algorithm is developed to give the estimated trajectory of the carton with the introduction of the geometry guiding points (GGPs). The proposed method herein uses GGPs to connect the desired trajectory produced by control configuration points (CCPs) in order to provide a minimum number of robotic fingers for the predetermined folding task.

关键词： Packaging machines Robot kinematics Motion planning Fingers robotics and automation Manipulators Graph theory computational geometry Mechanical engineering Educational institutions

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A real-time cooperative sweeping strategy for multiple cleaning robots

A real-time cooperative sweeping strategy for multiple clean...

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ieee international symposium on Intelligent Control (ISIC)

作者： Chaomin Luo S.X. Yang Advanced Robot ics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph ONT Canada

In this paper, a cooperative sweeping strategy of complete coverage path planning for multiple cleaning robots in a time-varying and unstructured environment is proposed using biologically inspired neural networks. Cleaning tasks require a special kind of trajectory being able to cover every unoccupied area in specified cleaning environments, which is an essential issue for cleaning robots and many other robotic applications. Multiple robots can improve the work capacity, share the cleaning tasks, and reduce the time to complete sweeping tasks. In the proposed model, the dynamics of each neuron in the topologically organized neural network is characterized by a shunting neural equation. Each cleaning robot treats the other robots as moving obstacles. Multiple cleaning robots can cooperate to achieve a common sweeping goal effectively. The robot path is autonomously generated from the dynamic activity landscape of the neural network, the previous robot location and the other robot locations. The proposed model algorithm is computationally efficient. The feasibility is validated by simulation studies on three cases of two cooperating cleaning robots.

关键词： Cleaning Orbital robotics Path planning Robot sensing systems Intelligent robots Neural networks robotics and automation computational modeling Landmine detection System recovery

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Distributed Sensory intelligence architecture for human centered systems

Distributed Sensory Intelligence architecture for human cent...

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ieee international symposium on computational intelligence in robotics and automation

作者： Yamguchi, T Chen, DY Nitta, H JST PRESTO Hino Tokyo 1910065 Japan

ISBN: (纸本)0780372034

This paper aims at providing driver with his blind spot information in advance, taking his intention into consideration We propose an "distributed-sensory-intelligence architecture", which distributed sensory intelligence (with pair of sensor and intelligence) and connects each other by network Intelligent Space is the space as if the whole space has high intelligence cooperation with each other switching its role autonomously, by, environmental information This autonomous role switching function is "SOFT DNA" In this paper we aim at realizing safe and comfortable driving support by showing information required for a driver by re-composing environmental formation or recognizing driver intention based on this distributed-sensory-intelligence architecture This proposal can be use in robotics too.

关键词： Network architecture

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Multiple sensor data fusion in robotic prosthetic eye system

Multiple sensor data fusion in robotic prosthetic eye system

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ieee international symposium on computational intelligence in robotics and automation

作者： Gu, JJ Meng, M Cook, A Faulkner, MG Liu, PX Dalhousie Univ Dept Elect Engn Halifax NS B3J 2X4 Canada

ISBN: (纸本)0780372034

To ensure the robustness of the robotic eye sensor system, multiple sensors are used to detect the eye movement. How ever, some sensors my fail and provide faulty data. In this paper, multiv ariate statistical techniques are used to deal with sensor data monitoring, faulty sensor detection and isolation. In addition, principal component analysis is used to monitor the sensor data and detect the sensor failure, and incidence matrix is used to isolate the faulty sensor. We also study LMS and minimum variance methods for recovering the faulty sensor data. Simulation studies are included.

关键词： robotics

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Systematic design of switched reluctance motor drive based on the intelligent computational software package

Systematic design of switched reluctance motor drive based o...

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ieee international symposium on computational intelligence in robotics and automation

作者： Chen, H Meng, X Zhang, D China Univ Min & Technol Dept Automat Xuzhou 221008 Peoples R China

ISBN: (纸本)0780372034

The principles for the design of the Switched Reluctance motor drive based on the intelligent computational software package are presented by taking a three-phase 12/8 structure Switched Reluctance motor drive for the joint of the robot for example. The design could be done from the systematic point of view, considered the motor, the power converter and the control strategy as a whole. The Output equation relating to the relationship between the structure parameters and the electric loads is derived. The equation of the turn numbers of the phase winding is also advanced. The design procedure is given. Some interfaces of the intelligent computational software package at the condition of Windows 9X in English are given. The design is checked by the prototype. The accuracy is checked by the experimental measurement of the developed prototype. It is shown that the design has the advantages in practicality and high precision.

关键词： Electric drives

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Finite elements, mass-spring-damper systems and haptic rendering

Finite elements, mass-spring-damper systems and haptic rende...

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ieee international symposium on computational intelligence in robotics and automation

作者： Payandeh, S Azouz, N Simon Fraser Univ Sch Engn Sci Expt Robot Lab Burnaby BC V5A 1S6 Canada

ISBN: (纸本)0780372034

Haptic feedback can be classified as a branch of robotic force (compliant) control (computation) area. In the traditional force control areas, the objective is to regulate the desired contact force between a robotic agent an environment through design of a control law which has some model of the compliance embedded into it. For the haptic feedback environment, the user interacts with the graphical environment through a robotic device (force-feedback mechanism). The feedback force at the hand of the user is generated through computational model of how the virtual object reacts to the input from the user when it is penetrating the model of an environment. There are a number of computational elements involve in creating a haptic environment. This paper concerns with haptic rendering which Is a complementary module to the graphical rendering of the virtual scene. Haptic rendering Is the computation of the reaction forces and deformation as a function of the geometrical interaction of the user with the environment. This paper presents an overview of a number of approaches, which has been used to model the environment and presents a new computationally efficient approach for modeling compliance of the environment.

关键词： computational mechanics Finite elements Haptic feedback Haptic rendering Mass-spring-damper systems

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Redundancy resolution for robot manipulators - Comparison of computational efficiency between the SVDS, the fast similarity factorization and recursive formulation

Redundancy resolution for robot manipulators - Comparison of...

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ieee international symposium on computational intelligence in robotics and automation

作者： Koganezawa, K Tokai Univ Dept Engn Mech Hiratsuka Kanagawa Japan

ISBN: (纸本)0780372034

This paper discusses the computational efficiency of some procedures for solving the inverse kinematics problem of serial-link manipulators with redundant DOF. Two procedures that the author has newly developed, are compared to the most widely used SVD methods. One is called the fast similarity factorization (FSF) method, in which the symmetric matrix JJ(T) (J is the Jacobian of the manipulator) is factorized to GDG(T) (G is the orthogomal matrix and D is the diagonal matrix). Another procedure, that the author also developed, is a recursive formulation, in which the joint-variable variations are obtained n (the number of DOF of the manipulator) times recursive calculations. Both methods are fast and robust. The computer simulation for a seven DOF anthropomorphic type manipulator reveales the proposed methods are several times faster than the conventional algorithms based on the SVD.

关键词： redundant manipulators serial-link m inverse kinematics problem recursive formulation fast similarity factorization SVD computational efficiency robot manipulators redundancy resolution singular value decomposition computational complexity

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