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A Concept for Integration of Voice Assistant and Modular Cyber-Physical Production System

A Concept for Integration of Voice Assistant and Modular Cyb...

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IEEE international conference on Industrial informatics (INDIN)

作者： Maxim Ya. Afanasev Yuri V. Fedosov Yuri S. Andreev Anastasiya A. Krylova Sergey A. Shorokhov Kseniia V. Zimenko Mikhail V. Kolesnikov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

Voice interaction is helping to increase efficiency in many areas of human activity. However, most studies either research its general aspects or domestic applications. On the contrary, there is almost no research on using this technology in production field, although, the idea of retrieving data this way can be a successful solution for large production areas, where it is difficult to find the right display. The paper aims to develop the method of voice assistant's implementation as a part of Cyber-Physical Production System (CPPS) for production processes. The study includes creating a prototype of the voice assistant module based on Alice cloud voice service API from Yandex and Raspberry Pi 3 microcomputer. Main aspects of using voice assistants for accessing production data from a CPPS were described. A possible approach to the introduction of this technology is shown. And a working prototype has been successfully designed. The research shows the possibility of using voice control in production conditions and its potential effectiveness in data access automation.

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Robust shared autonomy for mobile manipulation with continuous scene monitoring

Robust shared autonomy for mobile manipulation with continuo...

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IEEE international conference on automation Science and Engineering (CASE)

作者： Wolfgang Merkt Yiming Yang Theodoros Stouraitis Christopher E. Mower Maurice Fallon Sethu Vijayakumar School of Informatics Informatics Forum Edinburgh United Kingdom Oxford Robotics Institute University of Oxford Oxford United Kingdom

This work presents a fully integrated system for reliable grasping and manipulation using dense visual mapping, collision-free motion planning, and shared autonomy. The particular motion sequences are composed automatically based on high-level objectives provided by a human operator, with continuous scene monitoring during execution automatically detecting and adapting to dynamic changes of the environment. The system is able to automatically recover from a variety of disturbances and fall back to the operator if stuck or if it cannot otherwise guarantee safety. Furthermore, the operator can take control at any time and then resume autonomous operation. Our system is flexible to be adapted to new robotic systems, and we demonstrate our work on two real-world platforms - fixed and floating base - in shared workspace scenarios. To the best of our knowledge, this work is also the first to employ the inverse Dynamic Reachability Map for real-time, optimized mobile base positioning to maximize workspace manipulability reducing cycle time and increasing planning and autonomy robustness.

关键词： Robot sensing systems Planning Monitoring Robustness Dynamics

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Automatic Domain Extension and Optimization Based on Set-Theory 17th

Automatic Domain Extension and Optimization Based on Set-T...

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17th international conference on informatics in control, automation and robotics, ICINCO 2020

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian von Wichert, Georg Feiten, Wendelin Zhang, Jianwei Siemens AG Corporate Technology Otto-Hahn-Ring 6 Munich81739 Germany Faculty of Mathematics Informatics and Natural Sciences University of Hamburg Vogt-Kölln-Str. 30 Hamburg22527 Germany

ISBN: (纸本)9783030924416

Autonomous machines promise more flexibility and robustness changes in their environment compared to manually programmed solutions in industrial applications. However, the autonomous planning of actions involves discrete as well as continuous properties, which results in a np-hard planning problem. Especially for multiple machines and long planning horizons the design of domains requires a lot of fine tuning and thus manual effort. Modularization and reuse of existing domain knowledge with formalized models is one solution to this issue. However, the models of different projects tend to be misaligned, in particular when several parties contributed to the project, which deteriorates the performance. In this paper, we present two domain optimization and extension algorithms, which adapt the models to facilitate planning. The first algorithm handles inconsistent units, or even misaligned pieces of sub-information. It automatically generates conversions and allows to call operations with a wider range of input types. The second algorithm aligns models from different sources with varying modeling views. After this reformulation, we can compose models more efficiently to a larger domain. For both optimizations, we rely on the formal set-based models that we also use in our previously presented hierarchical planning algorithm. Our hierarchical approach allows an almost linear scalability with the length of the plan. However, it comes with non-optimality effects due to the imposed intermediate goals that depend on the quality of the model. The optimization algorithms of this paper allow to adapt and extend the model so that valid shortcuts reduce these suboptimalities. We conduct experiments on a task and motion assembly problem, demonstrating scalability for up to 62 parts and plans with over 1000 steps, which either result in discrete state or high-level position changes, with planning times of less than 15 min. Our experiments also include the successful plan execution o

关键词： Scalability

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Internet of Things (IoT)-based Collaborative control of a Redundant Manipulator for Teleoperated Minimally Invasive Surgeries

Internet of Things (IoT)-based Collaborative Control of a Re...

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IEEE international conference on robotics and automation (ICRA)

作者： Hang Su Salih Ertug Ovur Zhijun Li Yingbai Hu Jiehao Li Alois Knoll Giancarlo Ferrigno Elena De Momi Department of Electronics Politecnico di Milano Milan Italy Department of Automation University of Science and Technology of China China Department of Informatics Technical University of Munich Munich Germany

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, an Internet of Things-based human-robot collaborative control scheme is developed in Robot-assisted Minimally Invasive Surgery scenario. A hierarchical operational space formulation is designed to exploit the redundancies of the 7-DoFs redundant manipulator to handle multiple operational tasks based on their priority levels, such as guaranteeing a remote center of motion constraint and avoiding collision with a swivel motion without influencing the undergoing surgical operation. Furthermore, the concept of the Internet of Robotic Things is exploited to facilitate the best action of the robot in human-robot interaction. Instead of utilizing compliant swivel motion, HTC VIVE PRO controllers, used as the Internet of Things technology, is adopted to detect the collision. A virtual force is applied to the robot elbow, enabling a smooth swivel motion for human-robot interaction. The effectiveness of the proposed strategy is validated using experiments performed on a patient phantom in a lab setup environment, with a KUKA LWR4+ slave robot and a SIGMA 7 master manipulator. By comparison with previous works, the results show improved performances in terms of the accuracy of the RCM constraint and surgical tip.

关键词： Collision avoidance Manipulators Surgery Task analysis Force Tools

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A modular reinforcement-based neural controller for a three-link manipulator

A modular reinforcement-based neural controller for a three-...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： P. Martin J.D.R. Millan Department of Computer Science University of Jaume-I Castellon Spain Institute for Systems Informatics and Safety Joint Research Centre European Commission Ispra Italy

This paper presents a modular neural controller that learns goal-oriented obstacle-avoiding motion strategies for a sensor-based three-link planar robot arm. It acquires these strategies through reinforcement learning from local sensory data. The controller has two reinforcement-based modules: a module for negotiating obstacles and a module for moving to the goal. Both modules generate actions that are interpreted with regard to a goal vector in the robot joint space. A differential inverse kinematics (DIV) module is used to obtain such a goal vector. The DIV module is based on the inversion of a neural network that has been previously trained to approximate the manipulator forward kinematics in polar coordinates. The controller achieves a satisfactory performance quite rapidly and shows good generalization capabilities in the face of new environments.

关键词： Robot kinematics Robot sensing systems Manipulators robotics and automation Motion control Orbital robotics Learning Neural networks Artificial neural networks Computer science

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Influence of engagement parameters on estimation of tangential cutting force using high-frequency process data of the machine tool 16

Influence of engagement parameters on estimation of tangenti...

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16th CIRP conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2022

作者： Rytir, Michal Rönnecke, Jonas Hänel, Albrecht Kolar, Petr Ihlenfeldt, Steffen Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Department of Industrial Production and Automation Jugoslávských partyzánu 1580/3 Prague160 00 Czech Republic Fraunhofer Institute for Machine Tools and Forming Technology IWU Department of Production Digital Twin Nöthnitzer Straße 44 Dresden Germany Technische Universität Dresden Institute of Mechatronic Engineering Chair of Machine Tools Development and Adaptive Controls Dresden01062 Germany

The machining of high-value products needs advanced quality control to avoid the risk of expensive follow-up operations performed on parts with unacceptable quality. This situation requires the in-process or close to in-process control of the machining operation. The tangential cutting force is a parameter that characterizes the force interaction between the specific workpiece material and the specific tool geometry. This paper presents a method for a tangential cutting force calculation along the given tool path based on processing of the high-frequency data acquired from the machine tool control system with support of the geometric material removal model. The calculated data are compared with the reference dynamometer results. The influence of the variable engagement parameters is demonstrated and discussed from the perspective of the in-process workpiece quality control. © 2023 Elsevier B.V.. All rights reserved.

关键词： Machine tools

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Development of a hybrid humanoid platform and incorporation of the passive actuators

Development of a hybrid humanoid platform and incorporation ...

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IEEE international conference on robotics and Biomimetics

作者： V. Santos R.A.S. Moreira M. Ribeiro F. Silva Department of Mechanical Engineering Center of Mechanical Technology and Automation TEMA University of Aveiro Portugal Department of Electronics Telecommunications and Informatics IEETA University of Aveiro Portugal

This paper describes the design and development of a new hybrid humanoid platform conceived to use both active and passive actuators. Power efficiency and mechanical response capability of the robot were the main concerns driving this development. Maintaining the use of off-the-shelf RC servomotors, due to their limited cost and commercial availability, the platform was nonetheless custom-designed for lightness, mechanical stiffness and prone to vast sensorial enrichment for future advanced control. Low-cost actuators may degrade and perform poorly and erroneously in demanding conditions; therefore, one major inspiration for this work relies on the potential energy storage mechanism, using elastic elements to overcome the motors limitation, avoiding their operation near the limits, while saving energy and wearing, and also obtain faster responses of the overall platform in various motion schemes and gaits. A standard simulation environment allows the initial design and future tuning of the passive actuators for several joints in motion tasks. The early simulation results show that the elastic elements approach indeed eases the actuators tasks and is a must in the future development of the new platform now presented.

关键词： Joints Actuators Knee Foot Torque Legged locomotion

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Mobile robot navigation in a corridor using visual odometry

Mobile robot navigation in a corridor using visual odometry

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international conference on Advanced robotics (ICAR)

作者： Enis Bayramoglu Nils Axel Andersen Niels Kjolstad Poulsen Jens Christian Andersen Ole Ravn Department of Electrical Engineering Automation and Control Group Technical University of Denmark Lyngby Denmark Department of Informatics and Mathematical Modelling Technical University of Denmark Lyngby Denmark

Incorporation of computer vision into mobile robot localization is studied in this work. It includes the generation of localization information from raw images and its fusion with the odometric pose estimation. The technique is then implemented on a small mobile robot operating at a corridor environment. A new segmented Hough transform with an improved way of discretization is used for image line extraction. The vanishing point concept is then incorporated to classify lines as well as to estimate the orientation. A method involving the iterative elimination of the outliers is employed to find both the vanishing point and the camera position. The fusion between the vision based pose estimation and the odometry is achieved with an extended Kalman filter. A distance driven error model is used for the odometry while a simple error model with constant noise is assumed for the vision. An extended Kalman filter as a parameter estimator is also applied to estimate odometry parameters. Experimental results are included. The robustness and the precision of the entire system is illustrated by performing simple navigation tasks.

关键词： Mobile robots Navigation Parameter estimation Computer vision Fusion power generation Image segmentation Data mining Iterative methods Cameras Noise robustness

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Mechatronic Design and Implementation of a Novel Gliding Robotic Dolphin

Mechatronic Design and Implementation of a Novel Gliding Rob...

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IEEE international conference on robotics and Biomimetics

作者： Zhengxing Wu Junzhi Yu Jun Yuan Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department Informatics University of Hamburg Hamburg 22527 Germany

ISBN: (纸本)9781467396769

This paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.

关键词： maneuverability endurance CFD

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Self-tuning PD+I fuzzy logic controller with minimum number of rules

Self-tuning PD+I fuzzy logic controller with minimum number ...

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IEEE international conference on Systems, Man and Cybernetics

作者： F. C. Teng A. Lotfi A. C. Tsoi Department of Electrical & Computer Engineering Polytechnic University of Puerto Rico USA School of Computing & Informatics Nottingham Trent University Nottingham UK Monash e-Research Centre Monash University VIC Australia

A novel 9 rules self-tuning PD+I fuzzy logic controller applicable for a class of nonlinear plants is proposed in this paper. The controller comprises of three separate fuzzy logic controllers with each uses minimum number of rules and the output scaling factor is tuned automatically depending on the tracking error dynamic conditions. The controller is applied to a two-link revolute robot for the tracking control. Simulation results show that the robustness and tracking performance of the proposed controller is comparable to standard PD+I fuzzy logic controller at low and medium speed motions. However, the performance of the proposed new design far exceeds the standard design at high speed motions.

关键词： Fuzzy logic Automatic control robotics and automation Three-term control Motion control Nonlinear control systems control systems Manipulators Industrial control Adaptive control

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