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SICE Annual conference

作者： Wn-goo Kim Xuan-thu Le Sung-hyun Han Jong-guk Ann Department of Mechanical Engineering Graduate School Kyungnam University Masan South Korea Division of Mechanical and Automation Engineering Kyungnam University Masan South Korea Eungang Company Limited Changwon South Korea

We present an experimental performance for the validation of a robotic hand gripper for space applications. In particular this researches focus on the compatibility of the gripper with the Fara robot arm, developed by Esp. Co. Ltd. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with free-flying objects in no-gravity conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration on the main features of the gripper, the experimental activity is presented and the results achieved are discussed

关键词： Robot control Control systems Orbital robotics Grippers Robot kinematics Robot sensing systems Electrostatic precipitators Force sensors Force control Torque control

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Analyzing range maps data for future space robotics applications

Analyzing range maps data for future space robotics applicat...

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IEEE international conference on Space Mission Challenges for Information Technology, SMC-IT

作者： K. Rice J. Le Moigne P. Jain GST Corporation Greenbelt MD USA Advanced Architectures and Automation Branch NASA Goddard Space Flight Center Greenbelt MD USA

Summary form only given. Recent commercially available 3D time of flight (TOF) cameras may represent the next generation of 3D robotic vision with a broad range of applications in the space environment. Typically TOF cameras return depth-maps in near real-time that can be analyzed and interpreted in a much more integrated and computationally efficient manner than stereographic imaging. The goal of our project is to investigate software related to the analysis of range data that leads to building a map of the environment that can be utilized for navigation and planning purposes. The goal of such investigations is to review computer vision software already available in the literature, mainly for military applications, and analyze such software for potential utilization in space applications: this includes assessing the software capabilities as well as its requirements in terms of computational and memory requirements and its potential implementation on on-board/on-situ hardware such as reconfigurable computers. In this paper, we discuss the use of such a camera to provide simple navigation capabilities that were tested on a prototype rover project, the MIKE (Multi-Terrain Investigative Kit for Exploration) rover: camera technology, software and hardware architectures as well as testing field experiments are described. As a 3D TOF Camera, we utilized the Swissranger SR-2 (from CSEM, Switzerland) to gather 3D data in realtime. The camera uses a "wall of light" technique created from an array of infrared LEDs to product a depth-map across a pixel plane. Using a modulated infrared (870nm) light source, emitted light pulses are reflected by objects in the scene, and travel back to the camera, where their precise time of arrival is measured locally in each "smart" pixel of a custom image sensor. The time taken by these pulses to travel back and forth is proportional to the distance to the objects. The output of the camera is therefore a range image. The navigation software

关键词： Data analysis Orbital robotics Cameras Navigation Robot vision systems Application software Computer vision Military computing Hardware Software testing

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On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels

On-Line Path Generation for Robotic Deburring of Cast Alumin...

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： Hui Zhang Heping Chen Ning Xi George Zhang Jianmin He ABB Corporate Research ABB Inc. Windsor CT USA Electrical and Computer Engineering Department Michigan State University East Lansing MI USA

Cast aluminum wheels must be deburred and polished before chrome plating operation. Manual deburring and polishing is tedious and monotonous. Industrial robots are attracting more and more attention for the deburring applications. However, Each wheel path program was taking eight to ten weeks to create because the position and orientation of the deburring tool must be accurately identified based on the curvature of the wheel. To solve this problem, we developed a practical 6 DOF robot path generation method using hybrid force and visual servoing methodology. The force servoing keeps the robot tool continuously contacting with the wheel surface and the visual servoing controls the robot tool to follow a marked tool path on the wheel while the position and orientation are controlled and recorded. A robot path is then generated from the recorded data. Experiments are performed and the experimental results demonstrate that the developed algorithm can be used to automatically generate accurate 6 DOF robot paths for deburring aluminum wheels in less than an hour. This significantly reduces the robot programming time. The developed technology can also be used for robot path generation in many other manufacturing applications, such as welding and strip painting

关键词： Mobile robots Deburring Aluminum Wheels robotics and automation Service robots Visual servoing Automatic control Force control Hybrid power systems

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Multi-Robot Movement Design Using the Number of Communication Links

Multi-Robot Movement Design Using the Number of Communicatio...

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IEEE international conference on Systems, Man and Cybernetics

作者： Wei-Hao Hsu You-Ling Jian Feng-Li Lian Department of Electrical Engineering National Taiwan University Taipei Taiwan

This paper presents the design of dispersion movement and concentration movement for a multi-robot team to search for targets in an unknown environment. The goal of the dispersion movement is for the multi-robot team to spread out as widely as possible and explore any unknown targets without breaking the communication links among these robots. The movement direction is made based on only minimal available communication data. After one of the team members finding a target, other robots are commanded by the concentration algorithm to move to the same target location to, for example, retrieve the explored target or transport the target cooperatively. The only information used for designing the movement algorithms is the number of robots within the communication range of the robot. The proposed algorithms have been extensively tested by the simulation study. The simulation results demonstrate the feasibility and fast convergence of the proposed algorithms in several typical scenarios presented in this paper. Potential applications of the proposed algorithms include rescue in a damaged area, planetary exploration, military reconnaissance, and geophysical mapping.

关键词： Robot kinematics Multirobot systems Robot sensing systems robotics and automation Reconnaissance Partitioning algorithms Cybernetics Algorithm design and analysis Testing Convergence

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An Approach based on New Coordination Mechanisms to Improve the Teamwork of Cooperative Intelligent Agents

An Approach based on New Coordination Mechanisms to Improve ...

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Mexican international conference on Computer Science (ENC)

作者： Salvador M. Ibarra Christian G. Quintero Josep Ll. De La Rosa Jose A. R. Castan University of Girona Institute of Informatics and Applications Girona Spain Universidad Autónoma de Tamaulipas Centro Universitario Tampico-Madero México

This paper present a novel mechanism based on a characteristic of physical agent named "degrees of situation" that aids to improve the coordination among heterogeneous intelligent agents. These systems can be represented by means of the "physical agent" paradigm. One typical implementation of physical agents is autonomous mobile cooperative robots. In our approach the physical agents have different automatic controllers to generate dynamical diversity in the team-work. Here, dynamic means dynamic temporal evolution of continuous variables of the controlled system. Therefore, the multi-agent systems can be considered as a team of heterogeneous intelligent agents with different capabilities that work together to fulfil some cooperative tasks. In particular, this paper is related to studies about how the team-work improves by the "degrees of situation" management. Result and conclusions are shown, emphasizing contributions of the approach in the improvement of the cooperative team-work

关键词： Teamwork Intelligent agent Robot kinematics Multiagent systems Layout Informatics Mobile robots robotics and automation Automatic generation control Automatic control

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A Storytelling Robot: Modeling and Evaluation of Human-like Gaze Behavior

A Storytelling Robot: Modeling and Evaluation of Human-like ...

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IEEE-RAS international conference on Humanoid Robots

作者： Bilge Mutlu Jodi Forlizzi Jessica Hodgins Human-Computer Interaction Institute Carnegie Mellon University USA Human-Computer Interaction Institute and School of Design Carnegie Mellon University USA Robotics Institute and Computer Science Department Carnegie Mellon University USA

ISBN: (纸本)1424401992

Engaging storytelling is a necessary skill for humanoid robots if they are to be used in education and entertainment applications. Storytelling requires that the humanoid robot be aware of its audience and able to direct its gaze in a natural way. In this paper, we explore how human gaze can be modeled and implemented on a humanoid robot to create a natural, human-like behavior for storytelling. Our gaze model integrates data collected from a human storyteller and a discourse structure model developed by Cassell and her colleagues for human-like conversational agents (1994). We used this model to direct the gaze of a humanoid robot, Honda's ASIMO, as he recited a Japanese fairy tale using a pre-recorded human voice. We assessed the efficacy of this gaze algorithm by manipulating the frequency of ASIMO's gaze between two participants and used pre and post questionnaires to assess whether participants evaluated the robot more positively and did better on a recall task when ASIMO looked at them more. We found that participants performed significantly better in recalling ASIMO's story when the robot looked at them more. Our results also showed significant differences in how men and women evaluated ASIMO based on the frequency of gaze they received from the robot. Our study adds to the growing evidence that there are many commonalities between human-human communication and human-robot communication

关键词： Humanoid robots Educational robots Human robot interaction Frequency Speech robotics and automation Computer science Computer science education Application software Human voice

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Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring

Implementation of Industrial Robot Force Control Case Study:...

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2006 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： A. Robertsson T. Olsson R. Johansson A. Blomdell K. Nilsson M. Haage B. Lauwers H. De Baerdemaeker T. Brogardh H. Brantmark Department of Automatic Control Lund University Hospital Lund Sweden Dept. of Automatic Control Lund University Sweden Dept. of Computer Science Lund University Sweden Department of Computer Science Lund University Hospital Lund Sweden Dept. of Mechanical Engineering Faculty of Engineering Heverlee Belgium Department of Mechanical Engineering Heverlee Belgium ABB Automation Technologies - Robotics Västerås Sweden

In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers

关键词： Industrial control Service robots Force control Deburring Electrical equipment industry Robot sensing systems Control systems Robot control Sensor systems Sampling methods

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Design of Magnetic Wheels in Pipe Inspection Robot

Design of Magnetic Wheels in Pipe Inspection Robot

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IEEE international conference on Systems, Man and Cybernetics

作者： Toshihiro Yukawa Masayuki Suzuki Yuichi Satoh Hideharu Okano Akita Prefectural University Yurihonjo Akita Japan

In an industrial plant, straight piping, vertical piping, curved piping, valves, and flanges are arranged in complex patterns. Problems regarding automated pipe inspection originate in the fact that sensors cannot scan complex piping schemes involving flanges, valves, curved piping, and vertical piping. Various types of pipes are used in industrial applications, taking into consideration the temperature and the corrosive properties of the fluid. Oil plants, for example, use mainly carbon steel, stainless steel, and chloridized vinyl pipes. In light of this, we have focused on developing a robot that can inspect carbon steel pipes, having the ability to move automatically along the outside of a length of piping. This paper describes the structure of magnetic wheels used in a pipe inspection robot. We propose a robot that has a mechanism consisting of wheel-type magnets. Using the power generated by the magnets, the robot maintains its attachment to the pipe. The mechanism of the robot is composed of three units, and is able to automatically inspect a pipe's surface, traverse flanges, and rise along vertical piping. To achieve the robot's optimum performance, the design of the magnetic wheels is important. The authors have previously designed a similar robot composed of three connected units, though the adherence power of this robot was weak and could not achieve a high level of stability while advancing along a straight length of pipe.

关键词： Wheels Inspection Mobile robots robotics and automation Flanges Steel Service robots Valves Magnets Robot sensing systems

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The application of the human-robot cooperative system for construction robot manipulating and installing heavy materials

The application of the human-robot cooperative system for co...

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SICE Annual conference

作者： Kye-young Lee Seung-yeol Lee Jong-ho Choi Sang-heon Lee Chang-soo Han Research Institute of Technology Samsung Corporation South Korea Department of Precision Mechanical Engineering Graduate School Hanyang University Seoul South Korea Department of Mechanical Engineering Hanyang University Seoul South Korea

From the recent trends in the demand for buildings, the customers increasingly prefer high-rise buildings. This reinforces the fact the general contractors focus on the cut-down of costs to reduce the term of works in construction. As this effort, the ASCI (automation system for curtain-wall installation) which combined with a multi-D.O.F. manipulator to a mini-excavator was developed and applied on construction site. But, it is found that the operation by one operator with more intuitive operation is required to improve the performance of operating the ASCI which needs one person with a remote joystick and the other operating an excavator. To overcome the difficulties in operating the existing automated system from the viewpoint of construction efficiency, the human-robot cooperative (HRC) system is proposed to cope with various and untypical constructing environment through the real-time interacting with a human, robot, and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end-effector acting with working environment. To realize the proposed system, the human-robot relation is modeled with target dynamic system which describes physical behaviors with impedances. The HRC system is featured by the power-assistance and force-reflection. The effect of force-reflection is realized by the feedback of force reflected from an external force-sensor. The robot-environment relation is modeled by the compliancy of impedance control. The position-tracking performance in unconstrained condition is improved by the impedance controller including position control. This study presents the experiments and evaluations to verify the proposed human-robot cooperative system for robotic applications in construction giving the performance tests, such as force assistance, force reflection, and position-tracking in two axes

关键词： Cooperative systems Robots Building materials robotics and automation Humans Impedance Power system modeling Force feedback Costs Real time systems

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Report on the Second international conference on Informatics in Control, automation, and robotics

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AI Magazine 2006年第1期27卷

作者： Joaquim Filipe

The Second international conference on Informatics in Control, automation, and robotics (ICINCO 2005) was held in Barcelona on September 14-17, 2005, organized by INSTICC in cooperation with the Universitat Politécnica de Catalunya. This conference was built on the success achieved in its first edition, in 2004, and aims at representing a major forum to debate technical advances presented by researchers and developers, both from academia and industry, working in the conference areas. Informatics applications are pervasive in many areas of control, automation, and robotics, and it seems necessary to emphasize and explore this interdisciplinary potential.

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