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Comparison of three change detection algorithms for an electronics manufacturing process

Comparison of three change detection algorithms for an elect...

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： M. Ruusunen M. Paavola M. Pirttimaa K. Leiviska Control Engineering Laboratory University of Oulu Oulun yliopisto Finland Nokia Corporation Oulu Finland VTI Technologies Helsinki Finland

In a sequential manufacturing process, a product proceeds through different manufacturing stages. At these stages, sensors monitor the features of the product. In this paper, the information produced by the sensors is employed to detect abrupt changes in process variables. The developed algorithms contribute to an on-line application to a manufacturing system. A literature survey revealed the most common methods utilized in change detection. On-line applicability and transferability to new manufacturing lines are the most important features for real applications. During both on-line and off-line tests, some of the presented methods showed satisfactory results. Real-time, on-line manufacturing environment sets also its requirements for the applications. In the future, the possibility of combining expert knowledge with the aforementioned methods is the crucial point to study. The information thus received has usage in the preventive maintenance and quality control.

关键词： Detection algorithms Manufacturing processes Testing Quality control Change detection algorithms Monitoring Preventive maintenance Event detection Signal processing Image edge detection

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Pinching at finger tips by humanoid robot hand

Pinching at finger tips by humanoid robot hand

引用

ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： K. Hoshino I. Kawabuchi Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Ibaraki Japan Special Instrumentation and Mechanics Division TechExperts Inc. Tokyo Japan

It is difficult to generate the action of stably pinching paper or needle, etc. with the finger tips, which is one of the important functions to be realized by humanoid robot hands. In this paper, therefore, the authors firstly propose a small-sized and light-weight robotic hand designed according to the concept of extracting required minimum motor functions and implementing them to the robot, and secondly propose a new robot hand capable of properly realizing a pinching motion with finger tips, by adding the minimum required degree of supplementary freedom which can be realized only with a machine. In the new robot hand, the authors mainly focus on additions of the degrees of freedom of independent motion to the terminal fingers and the degree of freedom of twisting motion to the thumb. Experiments were carried out to investigate force control characteristics of the finger tip joint. The results showed that providing the finger tip with rich force control performance even with weak force is effective for securing delicate control characteristics in a humanoid robot hand.

关键词： Fingers Humanoid robots Humans Legged locomotion Force control Mobile robots Grasping Needles Thumb Orbital robotics

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Fund raising systems using robots (architecture and behavior study)

Fund raising systems using robots (architecture and behavior...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： G. La Russa E.N. Ageenko Y. Karulin Department of Computer Science University of Joensuu Joensuu Finland

In this article we present an interactive automated robot called RoboBeggar that has fund raising capabilities. The system consists of a human-like multimodal robotic unit controlled by a computer. A stand with a touch screen display and a bank card reader provides access to the e-learning and e-commerce applications of the robot. The primary use for the existing robotic system is to collect donations for charity activities and to transfer charity related knowledge to the users of the robot. The robot can be placed in major public places. In the test case presented in this article, its location was a church during the Christmas festivities of 2004. The control system of the robot is a software built upon a Java framework in a way that it can be used for a variety of applications where human interaction is required (i.e. shopping, listing adviser, consultancy, etc.). This article describes the architecture of the robotic system, the solution chosen for the simple management of its complex interface modules and its feasibility for providing insightful data about human interaction. In this article we also discuss possible user scenarios and future perspectives.

关键词： Robotics and automation Computer architecture control systems Application software Human robot interaction Humanoid robots Automatic control Robot control Computer displays Electronic learning

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Realtime estimation of human hand posture for robot hand control

Realtime estimation of human hand posture for robot hand con...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： K. Hoshino T. Tanimoto Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Ibaraki Japan

The authors propose a system for searching the shape of human hands and fingers in real time and with high accuracy, without using any special peripheral equipment such as range sensor, PC cluster, etc., by a method of retrieving similar image quickly with high accuracy from a large volume of image database containing the complicated shapes and self-occlusions. In designing the system, we constructed a database in a way to be adaptable even to differences among individuals, and searched CG images of hand similar to unknown hand image, through extraction of characteristics using high-order local autocorrelational patterns, reduction of the amount of characteristics centering on principal component analysis, and prior rearrangement of data corresponding to the amount of characteristics. As a result of experiments, our system performed high-accuracy estimation of human hand shape where mean error was 7 degrees in finger joint angles, with the processing speed of 30 fps or over.

关键词： Humans Robot control Shape Fingers Image databases Robot sensing systems Real time systems Computer peripherals Image sensors Sensor systems

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An approach for generating high velocity and high acceleration trajectories of industrial robots

An approach for generating high velocity and high accelerati...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Yanjie Liu Lining Sun Zhenwei An Harbin Institute of Technology Robotics Institute Harbin China

For fast-motion industrial robots, the limits of the velocity and the acceleration vary over the whole work-space. To make industrial robots move with fully high velocity and high acceleration along the specified trajectory in the entire workspace, a trajectory generation technique for fast-motion industrial robots is presented in this paper. The maximum possible values of the velocity and the acceleration along the specified trajectory are firstly investigated, in consideration of the speed and torque limits of the actuators. Then, based on these maximum velocity and maximum acceleration, the proposed technique generates various motion profiles by using coefficients which are determined by the acceleration and deceleration characteristics. Finally, the experiment is conducted to confirm the proposed technique by commanding a two-degree-of-freedom (2-DOF) direct-drive planar parallel robot to move along the trajectories with the unsymmetrical smooth motion profile generated by the proposed technique.

关键词： Acceleration Service robots Robot kinematics Actuators Character generation Orbital robotics Torque Parallel robots Manufacturing industries Computer numerical control

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Image-based adaptive visual servoing of 2D robots under Jacobian and dynamic friction uncertainties: theory and experiments

Image-based adaptive visual servoing of 2D robots under Jaco...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： L.G. Garcia-Valdovinos E.C. Dean-Leon V. Parra-Vega J.D. Fierro-Rojas A. Espinosa-Romero Mechatronics Division CINVESTAV San Pedro Zacatenco Mexico Faculty of Mathematics Universidad Autónoma de Yucatán Merida Yucatan Mexico

A globally convergent visual feedback control scheme is proposed for dynamical planar robot arms subject to uncertain camera, robot, analytical Jacobian and dynamic friction parameters. When complex friction arises, visual servoing suffers to drive the robot to the desired trajectories, in particular in slow motion and velocity reversals, which are typical motion regime in visual servoing due to the vision system properties. Moreover, dynamic friction is usually neglected in motion control and it is not the exception in visual servoing literature. In order to prove the theory described in this paper, the real-time OS, Linux-RTAI, is used to obtain experimental results of this controller on a direct-drive robot manipulator. Results suggest its excellent performance.

关键词： Visual servoing Jacobian matrices Friction Uncertainty Manipulators Robot vision systems Image converters Feedback control Cameras Machine vision

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A study on active balancing for rotating machinery using influence coefficient method

A study on active balancing for rotating machinery using inf...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Soo-Hun Lee Bong-Suk Kim Jong-Duck Moon Do-Hyung Kim Department of Mechanical Engineering Ajou University Suwon South Korea School of Mechanical Engineering Ajou University Suwon South Korea

Unbalance-induced vibration of rotating machineries is an essential factor in lowering the efficiency and performance of a rotating system. Particularly, the severe resonant vibration of a rotor while passing critical speeds has harmful effect on the rotor system. To minimize this vibration effect, this paper shows the active balancing approach using the active balancing device of an electromagnetic type and the balancing control program with a gain scheduling control for real spindle system. The designed active balancing device features a simple structure, fast response, accurate control, and non-contact driving in order to resolve major problems of existing balancing system. In addition, the balancing control method using influence coefficient matrix of a reference model as the gain matrix is proved to be effective in balancing by experiments even though rotating system's characteristics are changed suddenly. The stability of reference influence coefficient is verified by frequency response functions. The active balancing experiment for spindle system with our balancing device and program is well performed during operation, and then controlled unbalance responses are also below the vibration limit at all rotating speed ranges including critical speeds.

关键词： Machinery control systems Vibration control Stability Electromagnetic devices Machine tools Costs Resonance Job shop scheduling Frequency response

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Task skill transfer of bolt attachment task

Task skill transfer of bolt attachment task

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Woo-Keun Yoon T. Suehiro H. Onda K. Kitagaki Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan

This paper describes how to write a task skill program for a bolt attachment. One of important features in this paper is that it is easy to find a knack for an axis adjustment and to program the axis adjustment. In a previous paper, we proposed a task skill transfer method using a bilateral teleoperation. The task skill is composed of an initial condition, a task skill motion and a final condition. The initial and final conditions are described by the force and the position of the end-effector. The task skill motion is implemented by the hybrid impedance/force control. This hybrid impedance/force control is effective to a positional error. A motion process of the task skill is defined from the teleoperation procedure. The necessary parameters of the task skill are obtained from the results of teleoperation experiment. Thus, the task skill is generated from the teaching data and the teaching intention (motion strategy). In this paper, our task skill transfer method is applied to the bolt attachment. Some experiments show an efficiency of the bolt attachment task skill.

关键词： Fasteners Education Impedance Force control Error correction Valves Intelligent systems Laboratories Sensor phenomena and characterization Motion detection

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Experiments and examination of mirror image cognition using a small robot

Experiments and examination of mirror image cognition using ...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： Junichi Takeno Keita Inaba Tohru Suzuki Computer Science Meiji University Kawasaki Japan

Four steps are required to demonstrate mirror image cognition using a robot. These steps are: 1) the robot imitates the action of its own image reflected in a mirror, 2) the robot imitates an action taken intentionally by another robot as imitative behavior, 3) the third one is conducted in an environment where the other robot is controlled completely via cables from the self-robot to imitate the behaviour, and 4) the robot imitates the random actions of another robot. In the 1st step, it is a fact that the mirror image of the robot is the same action as the robot itself performs, however, it is possible that the mirror image could be another individual intentionally performing an action in the same manner as oneself, or it could be another performing the same action as oneself by coincidence. However, these possibilities can be eliminated by discriminating the 1st step from the other steps using a given evaluation method.

关键词： Mirrors Cognition Cognitive robotics Humans Neurons Computer science Robot control Cables Frequency Psychology

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RT-Component Object Model in RT-Middleware - Distributed Component Middleware for RT (Robot Technology)

RT-Component Object Model in RT-Middleware - Distributed Com...

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ieee International symposium on computational intelligence in Robotics and automation (CIRA)

作者： N. Ando T. Suehiro K. Kitagaki T. Kotoku Woo-Keun Yoon Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

This paper proposes RT-component object model in RT-middleware for robot system integration. "RT" means "robot technology", which is applied not only to industrial field but also to nonindustrial field such as human daily life support systems. RT-middleware is a software infrastructure for RT systems. We have studied modularization of RT elements at software level. For that reason, RT-middleware, which promotes application of RT in various field, have been developed. Robotic system development methodology and our RT-middleware concepts was discussed. RT-component, which is a basic software unit of RT-middleware based system integration, is derived from that discussion. Next, the object model and the interface definition of RT-component architecture was discussed. Finally conclusion and future work are described

关键词： Middleware Service robots Intelligent robots Robotics and automation Application software Paper technology Computer architecture Humans Software libraries Robot control

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