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Flexible manufacturing cell: development, coordination, integration and control

Flexible manufacturing cell: development, coordination, inte...

引用

international conference on Control and automation (ICCA)

作者： A. Ferrolho M. Crisostomo Electrical Engineering Department Superior School of Technology of the Polytechnic Institute of Viseu Viseu Portugal Institute of Systems and Robotics University of Coimbra Coimbra Portugal

This paper describes the development, coordination, integration and control of a flexible manufacturing cell (FMC). FMC has industrial characteristics and was developed to study these types of manufacturing systems. The FMC hierarchical structure is based on five layers: engineering, planning, scheduling, control and data acquisition. The connection of all of the equipment in the FMC (manufacturing equipment and information processing) is carried out via computer network Ethernet. The connection of all the equipments in FMC (manufacturing equipment and processing of information) is done through a computer network Ethernet. In this work we present the layout, the hierarchical structure and the four sectors (manufacturing, assembly, handling and storage) that make up FMC. For the coordination, integration and control of FMC several software programmes and hardware were created. An interface was developed - direct numerical control (DNC) to control the CNC machines used in FMC. For the robots used in the FMC the "winATS" and "RAPComm" applications were developed.

关键词： Flexible manufacturing systems Computer aided manufacturing Manufacturing processes Computer networks Ethernet networks Computer numerical control Pulp manufacturing Electrical equipment industry Manufacturing industries Manufacturing systems

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Experimental study of a remote-controlled police dogbot

Experimental study of a remote-controlled police dogbot

引用

IEEE international conference on robotics and Biomimetics

作者： Y.L. Qu M.Y. Zhao Z.L. Dong Y.Ch. Wang Y.Y. Zou Chinese Academy of Sciences Shenyang Institute of Automation Shenyang P.R. China

A remote-controlled police dogbot, which is a new type of mobile robot based on a living German shepherd dog, is proposed and its experimental tested schematic system is implemented. The dogbot can achieve very flexible movement without complicated mechanical structure and complex control algorithm, but through living animal body and its intelligence. The motion control of this mobile robot is the operant behavior control of the animal. There are many possible important applications for the prototype developed in this paper, such as independently rescuing hostages, scouting, and public services et al. The key problems in police dogbot design, such as system architecture, operant behavior control, vision monitoring and feedback, wireless communication etc., are discussed and studied by experiments. The voice command system allows a prompt and effective guide of working dog. The test results show that this police dogbot, which combines life with electronic sensing, navigation technology and robotics, is a very valid mobile robot, and leads to a new branch for robot research

关键词： Mobile robots Motion control Communication system control Robot sensing systems System testing Animal structures Intelligent robots Intelligent structures Prototypes Control systems

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A real-time Linux execution environment for function-block based distributed control applications

A real-time Linux execution environment for function-block b...

引用

IEEE international conference on Industrial Informatics (INDIN)

作者： G.S. Doukas K.C. Thramboulidis Electrical & Computer Engineering University of Patras Patras Greece

The function block (FB) construct has been adopted by recent IEC standards for the design of reusable, interoperable, distributed control applications. Complete applications can be defined in the design level as networks of interconnected FB instances. In this paper an execution environment for FB-based distributed control applications is presented. The proposed environment favors the deployment and re-deployment of complex distributed control applications and provides the infrastructure that is required to satisfy real-time constraints for this application domain. Specific tools have been developed in the context of the model integrated mechatronics paradigm, to support the automatic code generation of implementation models from FB design models as well as their subsequent deployment on the proposed execution environment. Performance metrics prove the real-timeliness of the implemented environment.

关键词： Linux Distributed control Application software Context modeling Automatic control Electronic switching systems robotics and automation Design engineering Measurement IEC

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Uni-drive modular robots with pulse width modulation control

Uni-drive modular robots with pulse width modulation control

引用

IEEE international conference on Mechatronics and automation

作者： H. Karbasi A. Khajepour J. Huissoon Department of Mechanical Engineering University of Waterloo Waterloo ONT Canada

In this paper a newly developed concept and design in modular robots and relevant control methodology are introduced. This new class is called "uni-drive modular robots" whose design employs only a single drive for operating all the joints. The drive is mounted at the robot base and all joints tap power from a central rotating shaft inside each module using spring wrap clutches (SWC). This technique can effectively reduce the mass of each module which is the most important setback in design and applications of modular robots. From the control point of view, the uni-drive modular robot is controlled based upon the application of pulse width modulation (PWM) technique. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. In this work, we study the overall design of a planar uni-drive modular robot and obtain a self expansion formula which can automatically generate all equations of motion only based upon the number of modules. We further model SWCs and self locking mechanism which are parts of the proposed robot.

关键词： Pulse width modulation Space vector pulse width modulation Sliding mode control Robot control Shafts robotics and automation Nonlinear control systems Springs Automatic control Velocity control

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Reinforcement learning based group navigation approach for multiple autonomous robotic system

Reinforcement learning based group navigation approach for m...

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IEEE international conference on Mechatronics and automation

作者： O. Azouaoui A. Cherifi R. Bensalem A. Farah Centre de Dévelopment des Technologies Avancées Algiers Algeria ENP Ecole Nationale Polytechnique Algiers Algeria

In several complex applications, the use of multiple autonomous robotic systems (ARS) becomes necessary to achieve different tasks such as foraging and transport of heavy and large objects with less cost and more efficiency. They have to achieve a high level of flexibility, adaptability and efficiency in real environments. In this paper, a reinforcement learning (RL) based group navigation approach for multiple ARS is suggested. Indeed, the robots must have the ability to form geometric figures and navigate without collisions while maintaining the formation. Thus, each robot must learn how to take its place in the formation and avoid obstacles and other ARS from its interaction with the environment. This approach must provide ARS with capability to acquire the group navigation approach among several ARS from elementary behaviors by learning with trial and error search. Then, simulation results display the ability of the suggested approach to provide ARS with capability to navigate in a group formation in dynamic environments.

关键词： Learning Navigation Robot sensing systems Orbital robotics Space exploration Humans Intelligent robots Application software Costs Displays

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Effective geometrical calibration of a delta parallel robot used in neurosurgery

Effective geometrical calibration of a delta parallel robot ...

引用

2005 IEEE/RSJ international conference on Intelligent Robots and Systems

作者： D. Deblaise P. Maurine Department de Genie Mecanique et Automatique Laboratoire G.C.G.M. EA 3913 Institut National des Sciences Appliquees Rennes France

The increasing applications of parallel robots in domains such as medical or machine-tools require a high accuracy. As a result, the geometrical calibration of these mechanisms becomes a major step to reach the expected accuracy. An effective and simple calibration method based on 1D and 3D measurements of a new low cost artifact is presented and then validated on the Surgiscope/spl reg/, a structure based on a delta parallel robot used in neurosurgery.

关键词： Calibration Parallel robots Neurosurgery Microscopy Laser surgery Kinematics Neoplasms Intelligent robots Wrist robotics and automation

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Intelligent space with time sensitive applications

Intelligent space with time sensitive applications

引用

IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： Wai-Lun Danny Leung R. Vanijjirattikhan Zheng Li Le Xu T. Richards B. Ayhan Mo-Yuen Chow North Carolina State University Raleigh NC US

Intelligent space (iSpace) is a relatively new concept to effectively use distributed sensors, actuators, robots, computing processors and information technology over communication networks. iSpace is a large scale mechatronics system by integrating sensors, actuators, and control algorithms in a communication system using knowledge from various engineering disciplines such as automation and control, hardware and software design, image processing, communication and networking. This paper describes a project "Johnny6 plays fetch in iSpace" to prototype an iSpace at North Carolina State University. The description includes hardware, software and networking algorithms used for this project. Different challenges such as time delay issues in the time sensitive application of iSpace is also discussed

关键词： Intelligent sensors Intelligent actuators Intelligent robots Space technology Image sensors Sensor systems robotics and automation Automatic control Communication system control Control systems

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Design and implementation of a real-time wireless sensor/actuator communication system

Design and implementation of a real-time wireless sensor/act...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： D. Dzung C. Apneseth J. Endresen J.-E. Frey ABB Corporate Research Center Baden Switzerland ABB Corporate Research Center Billingstad Norway ABB Corporate Research Center Vasteras Sweden

For industrial automation applications using production machines and robotic installations, truly wireless systems offer advantages in terms of cost and flexibility. Requirements on power supply and real time communication for such applications are highly demanding, and cannot be satisfied with today's off-the-shelf systems. A novel factory communication system, called WISA (wireless interface for sensors and actuators), has thus been developed which provides both wireless communication and wireless power supply. The power supply is based on magnetic coupling while real time wireless communication uses a new TDMA protocol combined with frequency hopping. The TDMA protocol uses optimized parameters for reliable and low delay transmission for a high number of active nodes. The frequency hopping sequences are optimized to mitigate effects of multi-path propagation, interference from other systems operating in the 2.4 GHz ISM band, and self-interference. The new design re-uses existing RF transceivers. The paper explains design concepts of the WISA communication system, and describes practical experience gained with its deployment in industrial environments

关键词： Real time systems Wireless sensor networks Sensor systems Actuators Power supplies Wireless communication robotics and automation Time division multiple access Spread spectrum communication Electricity supply industry

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Efficient image region and shape detection by perceptual contour grouping

Efficient image region and shape detection by perceptual con...

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IEEE international conference on Mechatronics and automation

作者： Huiqiong Chen Qigang Gao Faculty of Computer Science Dalhousie University Halifax Canada Faculty of Computer Science Dalhousie University Canada

Image region detection aims to extract meaningful regions from image. This task may be achieved equivalently by finding the interior or boundaries of regions. The advantage of the second strategy is that once a closure is detected not only its shape information is available, but also the interior property can be estimated with a minimum effort. In this paper, we present a novel method that detects region though region contour grouping based on generic edge token (GET). GETs are a set of perceptually distinguishable edge segment types including linear and non-linear features. In our method, an image is first transformed into GET space on the fly represented by a GET graph. A GET graph presents perceptual organization of GET associations. Two types of perceptual closures, basic contour closure and object contour closure, based upon which all meaningful regions are conducted, are defined and then detected. The detection is achieved by tracking approximate adjacent edges along the GET graph to group the contour closures. Because of the descriptive nature of GET representation, the perceptual structure of detected region shape can be estimated easily based its contour GET types. By using our method, all and only perceptual closures can be extracted quickly. The proposed method is useful for image analysis applications especially real time systems like robot navigation and other vision based automation tasks. Experiments are provided to demonstrate the concept and potential of the method.

关键词： Shape Image edge detection Image segmentation Object detection Computer science Data mining Image color analysis Image texture analysis Real time systems robotics and automation

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An analytical method for design of compliant grippers with macro/micro manipulation and assembly applications

An analytical method for design of compliant grippers with m...

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IEEE/ASME (AIM) international conference on Advanced Intelligent Mechatronics

作者： Chao-Chieh Lan Kok-Meng Lee Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA USA

A compliant gripper gains its dextral manipulation by the flexural motion of its fingers. It is a preferable device to grippers with actuations because of reduced fabrication complexity and increased structural reliability. The prediction of contact forces and deflected shape are essential to the design of a compliant gripper. We present here a formulation based on nonlinear constrained optimization (NCO) techniques to analyze contact problems of compliant grippers. For a planar compliant gripper this formulation essentially reduces the domain of discretization by one dimension. Hence it requires simpler formulation and is computationally more efficient than other methods such as finite element analysis. As this method is rather generic, its use would facilitate design analysis and optimization of compliant devices. We illustrate these attractive features with two types of compliant grippers; macro-handling and micro-assembly applications

关键词： Design methodology Grippers Assembly Fingers Contacts Shape Actuators Fabrication Production robotics and automation

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