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检索条件"任意字段=International Asia Conference on Informatics in Control, Automation, and Robotics"

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Towards Multi-functional Robot-based automation Systems 12

Towards Multi-functional Robot-based Automation Systems

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12th international conference on informatics in control automation and robotics (ICINCO)

作者： Angerer, Andreas Vistein, Michael Hoffmann, Alwin Reif, Wolfgang Krebs, Florian Schnheits, Manfred Univ Augsburg ISSE Augsburg Germany German Aerosp Ctr Inst Struct & Design Ctr Lightweight Prod Technol Stuttgart Germany

ISBN: (纸本)9789897581496

Multi-functional robot cells will play an important role in smart factories of the future. Equipped with flexible toolings, teams of robots will be able to realize manufacturing processes with growing complexity. However, to efficiently support small batch sizes and a multitude of process variants, powerful software tools are required. This paper illustrates the challenges that developers face in multi-functional robot cells, using the example of CFRP production. The vision of a new programming environment for such future flexible automation systems is sketched.

关键词： Cooperating Robots Industrial automation and robotics Robot Programming Modelling and Simulation

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Community driven artificial intelligence development for robotics 12

Community driven artificial intelligence development for rob...

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Doctoral Consortium on informatics in control, automation and robotics, DCINCO 2015;in conjunction with the 12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Kertész, Csaba Turunen, Markku University of Tampere Kalevantie 4 Tampere Finland

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Optimizing controller area network system for vehicular automation

Optimizing controller area network system for vehicular auto...

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international conference on informatics, Electronics & Vision (ICIEV)

作者： Md Moniruzzaman Abu Asaduzzaman Muhammad F. Mridha EECS Department Wichita State University Wichita Kansas USA CSE Department University of Asia Pacific Dhaka Bangladesh

ISBN: (纸本)9781509012701

The use of advanced electronic control unit (ECU) in automotive industry is growing. Information collection and processing in systems with many ECUs face interruptions. Various bus standards for vehicles, such as controller Area Network (CAN), are introduced in order to improve the overall performance. Optimization of CAN-bus is a challenging issue because of the recent needs including electric propulsion or driver assistance that involves more stringent real-time constraints. In this paper, we present a method to optimize CAN-bus for vehicle automation through microcontroller based design. The `control system' and `comfort system' of a vehicle are modeled using CAN-bus. The proposed CAN-bus system is evaluated by analyzing the frame response time using RTaW-Sim (a CAN simulation tool). Experimental results from VisualSim simulation show that the proposed CAN system helps decrease the frame response time by more than 43% when compared with a traditional wired system used in vehicles.

关键词： Automobiles Protocols Automotive engineering Microcontrollers Sensors

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Impedance control based Force-tracking Algorithm for Interaction robotics Tasks: An Analytically Force Overshoots-free Approach 12

Impedance Control based Force-tracking Algorithm for Interac...

引用

12th international conference on informatics in control automation and robotics (ICINCO)

作者： Roveda, Loris Vicentini, Federico Pedrocchi, Nicola Tosatti, Lorenzo Molinari Italian Natl Res Council CNR Inst Ind Technol & Automat ITIA Via Bassini 15 I-20133 Milan Italy

ISBN: (纸本)9789897581496

In the presented paper an analytically force overshoots-free approach is described for the execution of robotics interaction tasks involving a compliant (of unknown geometrical and mechanical properties) environment. Based on the impedance control, the aim of the work is to perform force-tracking applications avoiding force overshoots that may result in task failures. The developed algorithm shapes the equivalent stiffness and damping of the closed-loop manipulator to regulate the interaction dynamics deforming the impedance control set-point. The force-tracking performance are obtained defining the control gains analytically based on the estimation of the interacting environment stiffness (performed using an Extended Kalman Filter). The method has been validated in a probing task, showing the avoidance of force overshoots and the achieved target dynamic performance.

关键词： Force Overshoots Avoidance Force-tracking Impedance controls Interacting robotics Applications Compliant Environments

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A tactile-based fabric learning and classification architecture

A tactile-based fabric learning and classification architect...

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international conference on Information and automation for Sustainability (ICIAfS)

作者： A.A. Khan M. Khosravi S. Denei P. Maiolino W. Kasprzak F. Mastrogiovanni G. Cannata Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Computing Department University of London London United Kingdom Institute of Control and Computation Eng. Warsaw University of Technology Warszawa Poland

ISBN: (纸本)9781509061334

This paper proposes an architecture for tactile-based fabric learning and classification. The architecture is based on a number of SVM-based learning units, which we call fabric classification cores, specifically trained to discriminate between two fabrics. Each core is based on a specific subset of the fully available set of features, on the basis of their discriminative value, determined using the p-value. During fabric recognition, each core casts a vote. The architecture collects votes and provides an overall classification result. We tested seventeen different fabrics, and the result showed that classification errors are negligible.

关键词： Fabrics Feature extraction Sensor phenomena and characterization Tactile sensors Frequency modulation Frequency-domain analysis

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Reactive Planning on a Collaborative Robot for Industrial Applications 12

Reactive Planning on a Collaborative Robot for Industrial Ap...

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12th international conference on informatics in control automation and robotics (ICINCO)

作者： Dumonteil, Gautier Manfredi, Guido Devy, Michel Confetti, Ambroise Sidobre, Daniel Siemens Ind Software SAS Miniparc 2478 Rue Decouverte F-31670 Labege France CNRS LAAS F-31400 Toulouse France Univ Toulouse UPS LAAS F-31400 Toulouse France

ISBN: (纸本)9789897581496

A challenge for roboticists consists in promoting collaborative robotics for industrial applications, i.e. allowing robots to be used close to humans, without barriers. Safety becomes the key issue. For manipulation tasks, a part of the problem is solved using new arms like the KUKA LWR, which is able to physically detect a collision from torque measurements on each joint. Nevertheless it is better to avoid collisions, especially if the obstacle is the arm or the head of an operator. This paper describes how obstacles could be detected and avoided, using a single Kinect sensor for the monitoring of the workspace and the reactive planner of the KineoWorks (TM) software library for the real-time selection of an avoidance trajectory. Experimental results are provided as a proof that this dynamic obstacle avoidance strategy works properly.

关键词： Industrial robotics Cobot Reactive Planning Obstacle Detection ROS Architecture

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A bio-inspired electro-active Velcro mechanism using Shape Memory Alloy for wearable and stiffness controllable layers

A bio-inspired electro-active Velcro mechanism using Shape M...

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international conference on Information and automation for Sustainability (ICIAfS)

作者： Hadha Afrisal S.M. Hadi Sadati Thrishantha Nanayakkara Department of Informatics Center for Robotics Research (CoRe) London United Kingdom

ISBN: (纸本)9781509061334

Smart attachment mechanisms are believed to contribute significantly in stiffness control of soft robots. This paper presents a working prototype of an active Velcro based stiffness controllable fastening mechanism inspired from micro active hooks found in some species of plants and animals. In contrast to conventional passive Velcro, this active Velcro mechanism can vary the stiffness level of its hooks to adapt to external forces and to maintain the structure of its supported layer. The active hooks are fabricated using Shape Memory Alloy (SMA) wires which can be actuated using Lenz-Joule heating technique via thermo-electric manipulation. In this paper, we show experimental results for the effects of active SMA Velcro temperature, density and number on the attachment resisting force profile in dynamic displacement. We aim to provide new insights into the novel design approach of using active hook systems to support future implementation of active velcro mechanisms for fabrication of wearable stiffness controllable thin layers.

关键词： Wires Force Robots Jamming Morphology Joining processes Animals

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Flexible Development Environment for Educational robotics

Flexible Development Environment for Educational Robotics

引用

international conference on control, automation and robotics ICCAR

作者： Krofitsch, Christoph Lepuschitz, Wilfried Klein, Markus Koppensteiner, Gottfried Pract Robot Inst Austria Vienna Austria

ISBN: (纸本)9781467375238

robotics is considered to be a powerful tool for teaching STEM especially when employing white-box platforms to build and program robots. In this context, programming environments should be simple and understandable for increasing the learning success and for easing the entry for teachers with non-informatics background. Furthermore, many robotics applications can also benefit from flexibility in the program deployment in contrast to the usual code-compile-download paradigm. To address these issues, this paper presents a flexible programming environment based on a layered robot control architecture, which involves the usage of mobile devices. Source code created on a smartphone or tablet can be downloaded to the robot controller, which organizes the programs having on-board compilation and execution environments. Besides, a versioning system adds to the comfort. The presented approach enables students to intuitively handle their robots, but can also be applied in more sophisticated scenarios where module-based flexible programming is required.

关键词： robotics education programming IDE deployment controller versioning

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Bio-inspired morphing caudal fin using shape memory alloy composites for a fish-like robot: Design, fabrication and analysis 12

Bio-inspired morphing caudal fin using shape memory alloy co...

引用

12th international conference on informatics in control, automation and robotics, ICINCO 2015

作者： Coral, William Rossi, Claudio Martin, Irene Perrino Centre for Automation and Robotics Universidad Politécnica de Madrid Madrid Spain

ISBN: (纸本)9789897581236

In this paper, we present the design and fabrication of a bio-inspired caudal fin actuator for propulsion and maneuvering purposes in a fish-like robot. Shape memory alloy (SMA) composite actuator is customized to provide the necessary work out for the caudal fin. The pocket holes guide, electrical wiring and attachment pads for SMA actuators are all embedded in a single layer of cellulose acetate film, sandwiched between two layers of silicone rubber. Instead of using joints, four SMAs are fixed along the soft structure of the caudal fin and bend this to a certain mode shape. The caudal fin actuator was inspired by Largemouth Bass, which uses sub-carangiform mode swimming and the caudal fin during steady swimming and maneuvering.

关键词： Fabrication

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Application of Sensory Body Schemas to Path Planning for Micro Air Vehicles (MAVs) 12

Application of Sensory Body Schemas to Path Planning for Mic...

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12th international conference on informatics in control automation and robotics (ICINCO)

作者： Enikov, Eniko T. Escareno, Juan-Antonio Univ Arizona Dept Aerosp & Mech Engn 1130 N Mt Ave Tucson AZ 85721 USA Inst Polytech Sci Avancees IPSA Directorate Res & Innovat DRII 7-9 Rue Maurice Grandcoing F-94200 Ivry France

ISBN: (纸本)9789897581496

To date, most autonomous micro air vehicles (MAV-s) operate in a controlled environment, where the location of and attitude of the aircraft are measured be dedicated high-power computers with IR tracking capability. If MAV-s are to ever exit the lab and carry out autonomous missions, their flight control systems needs to utilize on-board sensors and high-efficiency attitude determination algorithms. To address this need, we investigate the feasibility of using body schemas to carry out path planning in the vision space of the MAV. Body schemas are a biologically-inspired approach, emulating the plasticity of the animal brains, allowing efficient representation of non-linear mapping between the body configuration space, i.e. its generalized coordinates and the resulting sensory outputs. This paper presents a numerical experiment of generating landing trajectories of a miniature rotor-craft using the notion of body and image schemas. More specifically, we demonstrate how a trajectory planning can be executed in the image space using a pseudo-potential functions and a gradient-based maximum seeking algorithm. It is demonstrated that a neural-gas type neural network, trained through Hebbian-type learning algorithm can learn a mapping between the rotor-craft position/attitude and the output of its vision sensors. Numerical simulations of the landing performance of a physical model is also presented, The resulting trajectory tracking errors are less than 8 %.

关键词： Micro-Air Vehicles Artificial Neural Network Path Planning Body Schema Cognitive robotics

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