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Intelligent assist devices in industrial applications: a review

Intelligent assist devices in industrial applications: a rev...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： J.E. Colgate M. Peshkin S.H. Klostermeyer Department of Mechanical Engineering Northwestern University Evanston IL USA Stanley Assembly Technologies Cleveland OH USA

The state-of-the-art in intelligent assist devices (IADs) is reviewed. IADs are computer-controlled tools that enable production workers to lift, move and position payloads quickly, accurately, and safely. Several examples of industrial applications are given, illustrating typical configurations and functionality, including strength amplification and virtual surfaces. The concept of human intent sensing is introduced and discussed, as are IAD safety and control considerations.

关键词： Humans Production Ergonomics Robotic assembly robotics and automation Application software Payloads Product safety Costs Productivity

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Educational robotics in a systems design masters program

Educational robotics in a systems design masters program

引用

international conference on Advanced Learning Technologies (ICALT)

作者： U. Gerecke P. Hohmann B. Wagner Learning Laboratory Lower Saxony Hanover Germany

We present the concepts of our MoRob (modular educational robotic toolbox) project, which aims to provide a robot platform for university teaching and research. Characteristics are scalability, modularity, flexibility and ease of use. Within the context of this project, robots are used in student projects. Lego Mindstorms has been successfully applied at an introductory level, and insights from this are incorporated into a new masters degree in systems design, using other, higher-level platforms. With these, MSc. students will have the tools to tackle design tasks which are much more complex and sophisticated than the tasks that can be achieved with Lego. This also implies that, applying our concepts, a much broader range of engineering concepts can be taught. Our new system will be applicable as a vehicle for experimentation in a variety of courses. Therefore, a standardized teaching environment will emerge which will be easy to use in different applications.

关键词： Educational robots Education Robot sensing systems robotics and automation Automotive engineering Service robots Hardware Intelligent robots Scalability Remotely operated vehicles

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MEMS-fabricated ICPF grippers for aqueous applications

MEMS-fabricated ICPF grippers for aqueous applications

引用

international conference on Solid State Sensors and Actuators (TRANSDUCERS)

作者： J.W.L. Zhou W.J. Li Centre for Micro and Nano Systems HKSAR Chinese University of Hong Kong Hong Kong China Robotics Laboratory Shenyang Institute of Automation Chinese Academy and Sciences Shenyang China

This paper presents the results of our ongoing investigation of using Nafion solution to construct micron scale actuators as grippers for underwater manipulation. We have demonstrated MEMS-based fabrication of cantilever structures composed of Au/Nafion/Au film layers on silicon substrates is possible. The smallest actuators fabricated were 30 /spl mu/m wide, 300 /spl mu/m long and 0.4 /spl mu/m thick. We have shown that 2-finger actuators (each 100 /spl mu/m wide, 1200 /spl mu/m long and 0.4 /spl mu/m thick) could be fully actuated in water at /spl sim/7 V DC. In addition, we have found that micro Au/Nafion/Au cantilevers can respond to pH level changes in a solution environment, suggesting that they could potentially be used as biological sensors.

关键词： Grippers Polymer films robotics and automation Conducting materials Chemical technology Actuators Microactuators Micromechanical devices Fabrication Microinjection

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Modeling and index analysis of the hexaglide type mechanism

Modeling and index analysis of the hexaglide type mechanism

引用

international conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)

作者： Kuei-Shu Hsu Tian-Syung Lan Ming-Guo Her Department of Automation Engineering Kao-Yuan Institute of Technology Kaohsiung Taiwan Department of Mechanical Engineering De Lin Institute of Technology Tucheng Taiwan Department of Mechanical Engineering Tatung University Taipei Taiwan

Interest in the analysis and application of a parallel robot system is arising in the automation industry. A new type of 3D (three-dimensional) parallel robot arm manipulator with human interface, as well as the parallel motion control of a platform manipulator actuated by three AC servomotors are introduced in this paper. To comprehensively realize the performance of the parallel robot, the forward kinematics, inverse kinematics, Jacobian and singularity are theoretically derived for the application of quantified and graphical performance synthesis tools presented in by Gosselin (1990). In addition, the computer simulation of the parallel robot with MATLAB program is also proposed for the telerobotic system, and the experimental results of the telerobotic system showed good workability in the remote control. Moreover, the discussions and suggestions from the experiments are fully prepared. Through this study, the capability of this parallel robot in its applications as well as its future research and development are thus approached.

关键词： Parallel robots Manipulators Kinematics Telerobotics Mathematical model robotics and automation Electrical equipment industry Humans Motion control Motion planning

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On-line identification of language measure parameters for discrete event supervisory control

On-line identification of language measure parameters for di...

引用

IEEE conference on Decision and Control

作者： Xi Wang A. Ray A.M. Khatkhate Department of hiechanical Engineering Pennsylvania State University University Park PA USA

ISBN: (纸本)0780379241

The concept and construction of quantitative measures of regular languages have been recently reported in literature. Major applications of the language measure include quantitative analysis and synthesis of discrete-event supervisory control algorithms. This paper formulates and experimentally validates an on-line parameter identification procedure for the language measure based on a deterministic finite state automation model of the physical plant. The recursive algorithm of this identification procedure relies on observed simulation and/or experimental data. Efficacy of the language parameter identification procedure is demonstrated for real-time supervisory control by experiments on a mobile robotic system.

关键词： Supervisory control Parameter estimation Costs Formal languages Algorithm design and analysis Real time systems robotics and automation Discrete event systems Automata Automatic control

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High speed technique for automatic guidance of microrobotics in endoscopic procedures

High speed technique for automatic guidance of microrobotics...

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IEEE EMBS international conference on Information Technology applications in Biomedicine (ITAB)

作者： C.S. Lim H. Tian G. Sadana T. Srikanthan Centre for High Performance Embedded Systems Nanyang Technological University Singapore Indian Institute of Technology Roorkee India

This paper presents a novel technique in locating centre of mass of lumen region in endoscopic images. The computation of the centre of mass is weighted by the pixels' intensity-level within a defined window. The proposed technique involves a unique iterative intensity threshold operation to eradicate most of the unwanted background information leaving behind post-thresholded images where the lumen region predominates. An intelligent windowing operation is thereafter applied to the post-thresholded images to facilitate in the accurate determination of centre of mass of lumen region. Simulations demonstrate that the proposed technique is capable of rapid convergence in determining centre of mass of lumen region and thereby justifying its use in real-time micro-robotic guidance based endoscopic procedures.

关键词： High-speed electronics robotics and automation Image segmentation Endoscopes Navigation Convergence Surgery Surges Lighting Embedded system

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Advanced traction rechargeable battery system for cableless mobile robot

Advanced traction rechargeable battery system for cableless ...

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

作者： Chenghui Cai Dong Du Zhiyu Liu Department of Mechanical Engineering Tsinghua University Beijing China

ISBN: (纸本)0780377591

Mobile robot often relies on a battery system as its power supply and such kind of mobile robot is called cableless mobile robot. In the past years, while there are many researches on automation and control techniques, mechanical and sensor designs of mobile robot, very little systematic and comprehensive work has been done in the design of rechargeable battery power system for cableless mobile robot. This paper discusses the above problem from three different aspects: selection of rechargeable battery type, battery management technique and energy renewal. In the section on selection of rechargeable battery, many different types of traction rechargeable battery are introduced and the factors that are crucial for cableless mobile robot applications are compared. The section on battery management technique focuses on battery state-of-charge (SOC) estimation. In the section on energy renewal, two typical charging techniques, conductive charging and inductive charging are discussed. In the final section, one implementation example, high power Ni-MH rechargeable battery system for TH-1 humanoid robot which is being developed by Tsinghua University, is introduced.

关键词： Mobile robots Power cables Battery management systems Power system management Power supplies Design automation robotics and automation Automatic control Control systems Mechanical sensors

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Automatic model refinement for 3D reconstruction with mobile robots

Automatic model refinement for 3D reconstruction with mobile...

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international conference on 3D Imaging, Modeling, Processing, Visualization and Transmission (3DIMPVT)

作者： A. Nuchter H. Surmann J. Hertzberg Fraunhofer Institute for Autonomous Intelligent Systems (AIS) Sankt Augustin Germany

Precise digital 3D models of indoor environments are needed in several applications, e.g., facility management, architecture, rescue and inspection robotics. We present a new algorithm that transforms a 3D volumetric model into a very precise compact 3D map and generates semantic descriptions. Our system is composed of a robust, autonomous mobile robot for the automatic data acquisition and a precise, cost effective, high quality 3D laser scanner to gage indoor environments. The reconstruction method consists of reliable scan matching and feature detection algorithms. The 3D scene is matched against a coarse semantic description of general indoor environments and the generated knowledge is used to refine the 3D model.

关键词： Mobile robots Indoor environments Environmental management Inspection robotics and automation Robustness Data acquisition Costs Laser modes Reconstruction algorithms

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Developing evolutionary neural controllers for teams of mobile robots playing a complex game

Developing evolutionary neural controllers for teams of mobi...

引用

IEEE international conference on Information Reuse and Integration (IRI)

作者： A.L. Nelson E. Grant G. Lee Center for Robotics and Intelligent Machines Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA Department of Electrical and Computer Engineering San Diego State University San Diego CA USA

This research develops methods of automating the production of behavioral robotics controllers. Population-based artificial evolution was employed to train neural network-based controllers to play a robotic version of the team game Capture the Flag. The robot agents used processed video data for sensing their environment. To accommodate the 35 to 150 sensor inputs required, large neural networks of arbitrary connectivity and structure were evolved. An intra-population competitive genetic algorithm was used and selection at each generation was based on whether the different controllers won or lost games over the course of a tournament. This paper focuses on the evolutionary neural controller architecture. Evolved controllers were tested in a series of competitive games and transferred to real robots for physical verification.

关键词： Mobile robots Automatic control Games Robot sensing systems robotics and automation Artificial neural networks Production Robot control Genetic algorithms Testing

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Multi-agent simulation using discrete event and soft-computing methodologies

Multi-agent simulation using discrete event and soft-computi...

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IEEE international conference on Systems, Man and Cybernetics

作者： P. Sridhar S. Sheikh-Bahaei Shan Xia M. Jamshidi Center for Autonomous Control Engineering (ACE) and Department of Computer Science University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineenng (ACE) and Department of Electncal & ComputerEngmeenng Engmeenng University of New Mexico Albuquerque NM USA Center for Autonomous Control Engineering (ACE) and Department of Electrical & Computer Engineering University of New Mexico Albuquerque NM USA

With the emerging applications of multi-agent systems, there is always a need for simulation to verify the results before actual implementation. Multi-agent simulation provides a test bed for several soft-computing algorithms like fuzzy logic, learning automata, evolutionary algorithms, etc. In this paper we discuss the fusion of these soft-computing methodologies and existing tools for discrete event simulation (DEVS) for multi-agent simulation. We propose a methodology for combining the agent-based architecture, discrete event system and soft-computing methods in the simulation of multi-agent robotics and network security system. We also define a framework called Virtual Laboratory (V-Lab/spl reg/) for multi-agent simulation using intelligent tools.

关键词： Discrete event simulation Multiagent systems Automatic testing Logic testing Fuzzy logic Learning automata Evolutionary computation Discrete event systems robotics and automation Laboratories

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