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Migration of a PLC Controller to an IEC 61499 Compliant Distributed Control System: Hands-on Experiences

Migration of a PLC Controller to an IEC 61499 Compliant Dist...

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Hussain G. Frey Juniorprofessorship Agentbased Automation University of Kaiserslautern Kaiserslautern Germany

IEC 61499 ushers in a new trend of software development in the area of Industrial Process Measurement and Control System (IPMCS). This new standard simplifies the development of distributed IPMCS applications through inclusion of re-usability, encapsulation and modularity. IEC 61499, due to its close resemblance with Object-Oriented (OO) paradigm also paves the way to integrate modeling techniques like UML into the development process of the distributed IPMCS applications. Yet a remarkable challenge is there to integrate or re-design the systems, elements or components designed using a monolithic language like the ones on Programmable Logic Controllers (PLCs). In this work it is attempted to share the experiences faced while attempting to migrate a PLC controlled centralized laboratory application into an IEC 61499 compliant distributed control application. The targeted distributed control system consists of network-enabled controllers where the IEC 61499 compliant control sub-applications should run. It needs to be mentioned that the development process did not start from analysis of the specification of the instrument to be controlled but rather from a formal specification of it written in Signal Interpreted Petri Nets (SIPN).

关键词： Programmable control Control systems IEC standards Distributed control Programming Computer industry Electrical equipment industry Industrial control Area measurement Software measurement

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Human Mental Models of Humanoid Robots

Human Mental Models of Humanoid Robots

引用

IEEE international conference on robotics and automation (ICRA)

作者： Sau-lai Lee Ivy Yee-man Lau S. Kiesler Chi-Yue Chiu Human Computer Interaction Institute Carnegie Mellon University Pittsburgh PA USA Department of Psychology University of Hong Kong Pokfulam Hong Kong China Department of Psychology University of Illinois Urbana-Champaign Champaign IL USA

Effective communication between a person and a robot may depend on whether there exists a common ground of understanding between the two. In two experiments modelled after human-human studies we examined how people form a mental model of a robot’s factual knowledge. Participants estimated the robot’s knowledge by extrapolating from their own knowledge and from information about the robot’s origin and language. These results suggest that designers of humanoid robots must attend not only to the social cues that robots emit but also to the information people use to create mental models of a robot.

关键词： Cognitive science Humanoid robots Human robot interaction Psychology Interactive systems Human computer interaction Communication effectiveness Animals Computer applications robotics and automation

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Preliminary Design and Testing of a Novel Robot Design for Metal Finishing applications

Preliminary Design and Testing of a Novel Robot Design for M...

引用

IEEE international conference on robotics and automation (ICRA)

作者： S.D. Somes M.E. Dohring W.S. Newman Western Robotics Company Kirtland OH USA Lewis Stokes Cleveland V. A. Medical Center Cleveland OH USA Case Western Reserve University Cleveland OH USA

We present a novel robot design concept intended for material removal in finishing operations. A key component of the design is a cable-driven transmission that exhibits low friction, negligible backlash and high linearity. Use of this transmission in a 2-DOF test rig demonstrated the capacity for stable, smooth performance in grinding and polishing operations. The prototype could be programmed quickly to remove surface flaws using compliant lead-through for teaching. During grinding, the robot was capable of measuring surface profiles to monitor grinding progress. A full-mobility design concept is proposed for an advanced surface-finishing robot.

关键词： Testing Robots Force control Deburring Fixtures Medical robotics Casting Machining Surface finishing Humans

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Robotic deployment for environmental sampling applications

Robotic deployment for environmental sampling applications

引用

international conference on Control and automation (ICCA)

作者： D.O. Popa K. Sreenath F.L. Lewis Automation and Robotics Research Institute (ARRI) University of Technology Arlington TX USA

The use of robotics in environmental monitoring applications requires distributed sensor systems optimized for effective estimation of relevant models subject to energy and environmental constraints. The sensor carrying robots are in fact agents that facilitate the repositioning of network nodes in order to increase their coverage and accuracy. Wireless or acoustic network communication is an essential technology in transmitting the sensed as well as telemetry information between robots. Each mobile sensing node (robot) is characterized by sensing or measurement noise, localization uncertainty, and navigates in a region with a parameterized field model. This paper addresses a problem of great importance to the SN robotic deployment: adaptive sampling by selection and repositioning of mobile sensing nodes in order to optimally estimate the parameters of distributed variable field models. We present simulation results using deployment scenarios that will be experimentally validated at a future date.

关键词： Sampling methods Robot sensing systems Mobile robots Monitoring Sensor systems Constraint optimization Sensor phenomena and characterization Acoustic sensors Wireless sensor networks Mobile communication

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Toward High-Speed Switching Motor Control for Human-Interactive robotics

Toward High-Speed Switching Motor Control for Human-Interact...

引用

IEEE international conference on robotics and automation (ICRA)

作者： J. Fiene G. Niemeyer Telerobotics Laboratory University of Stanford USA

Traditionally focused on applications where humans have been kept safely out of reach, the field of robotics is undergoing a major shift as recent developments have brought humans much closer to robots. While device hardware has progressed to fill this new field, the underlying controller and amplifier architecture has remained nearly the same as that developed for industrial robots decades ago. Herein we develop a new, integrated control architecture designed to address the unique requirements of human-interactive robotic devices. This new architecture takes advantage of recent technological advances to produce a single-loop, third order controller integrating both switching control and a fullstate observer. In this paper, we explore the performance on a simplified, first-order system, specifically focusing on the interaction between the controller and the DC motors found in many devices. Experimental testing demonstrates improvements compared to existing PWM and linear amplifiers, with the promise of future improvements for the field of human-interactive robotics.

关键词： Motor drives Service robots Humans Pulse width modulation Hardware Industrial control Centralized control Control systems DC motors Testing

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A study on design and manufacturing of a micro brushless DC motor

A study on design and manufacturing of a micro brushless DC ...

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international conference on Electrical Machines and Systems (ICEMS)

作者： In-Soung Jung Joo-Han Kim Jun-Hyuk Choi Ha-Gyeong Sung Intelligent Mechatronics Research Center Korea Electronics and Technology Institute Puchon Gyeonggi South Korea

ISBN: (纸本)7506274078

The reduction of size and weight is very often one of the most important requirements in product design. Many applications in robotics, automation, medicine systems etc require powerful micro motor and actuator. In this paper, a design and fabrication result of an ultra-small brushless DC motor is presented. The outer diameter of the designed motor is 2 mm. This motor is designed to 3-phase slotless winding type, and operated with both a synchronous type driver and a sensorless type one. The experimental results for back EMF value and speed characteristics are presented and discussed.

关键词： Brushless DC motors robotics and automation DC motors Synchronous motors Product design Medical robotics Manufacturing automation Micromotors Actuators Fabrication

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Parametric Excitation Mechanisms for Dynamic Bipedal Walking

Parametric Excitation Mechanisms for Dynamic Bipedal Walking

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IEEE international conference on robotics and automation (ICRA)

作者： F. Asano Zhi-Wei Luo S. Hyon Environment Adaptive Robotic Systems Laboratory Bio-Mimetic Control Research Center Nagoya Japan Department of Bioengineering and Robotics University of Tohoku Sendai Japan

It is already clarified throughout studies of passive dynamic walking mechanisms that the common nec essary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation using telescopic leg actuation. We first introduce a simple walking model and a control law for the telescopic leg motion, and show the typical walking pattern by numerical simulations. We then analyze the gait performance by adjusting some control and physical parameters. In addition, some extensions of the mechanism and control applications are investigated.

关键词： Legged locomotion Leg Mechanical energy Torso Foot Torque control Adaptive systems Biomedical engineering Motion control Numerical simulation

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Learning-Assisted Multi-Step Planning

Learning-Assisted Multi-Step Planning

引用

IEEE international conference on robotics and automation (ICRA)

作者： K. Hauser T. Bretl J.-C. Latombe University of Stanford Stanford CA USA

Probabilistic sampling-based motion planners are unable to detect when no feasible path exists. A common heuristic is to declare a query infeasible if a path is not found in a fixed amount of time. In applications where many queries must be processed – for instance, robotic manipulation, multi-limbed locomotion, and contact motion – a critical question arises: what should this time limit be? This paper presents a machine-learning approach to deal with this question. In an off-line learning phase, a classifier is trained to quickly predict the feasibility of a query. Then, an improved multi-step motion planning algorithm uses this classifier to avoid wasting time on infeasible queries. This approach has been successfully demonstrated in simulation on a four-limbed, free-climbing robot.

关键词： Motion planning Orbital robotics Machine learning Climbing robots Motion detection Machine learning algorithms Path planning Sampling methods Testing Robustness

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Autonomous Modular Optical Underwater Robot (AMOUR) Design, Prototype and Feasibility Study

Autonomous Modular Optical Underwater Robot (AMOUR) Design, ...

引用

IEEE international conference on robotics and automation (ICRA)

作者： I. Vasilescu P. Varshavskaya K. Kotay D. Rus Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA CSAIL-MIT Cambridge MA USA Dartmouth Robotics Laboratory Dartmouth College Hanover NH USA

We propose a novel modular underwater robot which can self-reconfigure by stacking and unstacking its component modules. applications for this robot include underwater monitoring, exploration, and surveillance. Our current prototype is a single module which contains several subsystems that later will be segregated into different modules. This robot functions as a testbed for the subsystems which are needed in the modular implementation. We describe the module design and discuss the propulsion, docking, and optical ranging subsystems in detail. Experimental results demonstrate depth control, linear motion, target module detection, and docking capabilities.

关键词： Robots Optical design Prototypes Stacking Monitoring Surveillance Testing Propulsion Motion control Motion detection

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Learning to control a real micropositioning system in the STM-Q framework

Learning to control a real micropositioning system in the ST...

引用

IEEE international conference on robotics and automation (ICRA)

作者： C. Adda G.J. Laurent N. le Fort-Piat Laboratoire d''Automatique de Besançon UMR CNRS 6596 Besancon France

This paper presents a new reinforcement learning algorithm named Short Term Model-based learning (STM-Q) able to learn quickly to control stochastic systems. Our objective is to control the positioning of small mechanical parts with a micromanipulation system for microfactory applications. The micropositioning platform is made of three linear actuators that move points to push the object toward a goal position. At the micrometric scale, it is really difficult to model the behaviour of manipulated objects. Moreover, due to the gap between real world and discrete world perceived by the camera, the motion of parts can be seen as a little stochastic. To overcome these problems and design an automated device, we use reinforcement learning methods and develop a new model-based algorithm taking into account the stochastic behaviour of the positioning task.

关键词： Control systems Learning Hydraulic actuators Cameras Stochastic processes robotics and automation Robot vision systems Atomic force microscopy Robot sensing systems Uniform resource locators

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