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Haptic displays implemented by controllable passive elements

Haptic displays implemented by controllable passive elements

引用

IEEE international conference on robotics and automation (ICRA)

作者： T. Mitsuda S. Kuge M. Wakabayashi S. Kawamura Faculty of Health Sciences Okayama University Medical School Okayama Japan SHARP Corporation Japan Department of Robotics Ritsumeikan University Shiga Japan

Conventional robot systems consist of hard mechanical elements and actuators for exerting a force to objects efficiently. These systems are taking remarkable activities in industrial field but not in daily life of human. Main disadvantage of these robot systems is the fatal risk to human body when they lose control in the case of breakdown. On the contrary, we focus on flexible robot systems that work passively without actuators. These systems are intrinsically safe to human body since they never exert any excessive forces. In this paper, we present a novel passive element that varies its stiffness to internal vacuum pressure. This passive element is a soft vinyl tube embedded with Styrofoam beads, and is therefore soft and light contrary to conventional passive elements. Using the flexibility and the controllable stiffness, we developed a wearable haptic display that provides a sensation of elasticity and viscosity. The design of this new passive element and the applications to haptic displays are discussed.

关键词： Haptic interfaces Displays Service robots Humans Actuators Electrical equipment industry Control systems Electric breakdown Elasticity Viscosity

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Real-time combinatorial tracking of a target moving unpredictably among obstacles

Real-time combinatorial tracking of a target moving unpredic...

引用

IEEE international conference on robotics and automation (ICRA)

作者： H.H. Gonzalez-Banos Cheng-Yu Lee J.-C. Latombe HondaE28099s Fundamental Research Laboratories Mountain View CA USA CS Robotics Laboratory Stanford University Stanford CA USA

Many applications require continuous monitoring of a moving target by a controllable vision system. Although the goal of tracking objects is not new, traditional techniques usually ignore the presence of obstacles and focus on imaging and target recognition issues. For a target moving among obstacles, the goal of tracking involves a complex motion problem: a controllable observer must anticipate that the target may become occluded by an obstacle and move to prevent such an event from occurring. The paper describes a strategy for computing the motions of a mobile robot operating in a 2-D workspace without prior knowledge of the target's intention or the distribution of obstacles in the scene. The proposed algorithm governs the motion of the observer based on current measurements of the target's position and the location of the local obstacles. The approach is combinatorial in the sense that the algorithm explicitly computes a description of the geometric arrangement between the target and the observer's visibility region produced by the local obstacles. The algorithm computes a continuous control law based on this description. The new tracking strategy has been implemented in a real-time robotic system.

关键词： Target tracking Monitoring Control systems Machine vision Target recognition Motion control Distributed computing Mobile robots Layout Current measurement

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A low-voltage electrostatically actuated MEMS scanner for in vivo biomedical imaging

A low-voltage electrostatically actuated MEMS scanner for in...

引用

international conference on Microtechnologies in Medicine and Biology

作者： T.W. Yeow K.Y. Lim B. Wilson A.A. Goldenberg Robotics and Automation Laboratory Department of Mechanical & Industrial Engineering Contact Author: University of Toronto Toronto Ontario Canada Robotics and Automation Laboratory Canada Department of Medical Biophysics

With the inherent advantages of micromachining technologies such as small size, small mass, low cost, low power consumption and high reliability, there will be radical changes to biomedical devices and how clinical diagnoses are made. One of the most promising applications of microtechnologies is in the biomedical field. This paper presents a low-voltage high-torque MEMS 2D scanner well suited for in vivo biomedical imaging.

关键词： Micromechanical devices In vivo Biomedical imaging Mirrors Etching Voltage Electrostatics Biomedical optical imaging Silicon Resists

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SIRIUS: improving the maneuverability of powered wheelchairs

SIRIUS: improving the maneuverability of powered wheelchairs

引用

IEEE conference on Control Technology and applications (CCTA)

作者： A. Civit-Balcells F. Diaz Del Rio G. Jimenez J.L. Sevillano C. Amaya S. Vicente Escuela Supenor de lngemeria Infomática Uruversidad de Sevllla Seville Spain

The indoor maneuverability of powered wheelchairs may be difficult or bothersome in several circumstances. In this paper, we describe an experimental powered wheelchair named SIRIUS, developed at the University of Seville, which introduces some simple but effective navigation aids. Special emphasis is placed on the implementation of recorded trajectory playback and in the shared control modes, i.e., the chair's guiding where both the user and the computer collaborate. Furthermore, SIRIUS is an open platform to essay another kinds of functional or navigational aids, because its hardware architecture is based on a commercial PC. This would permit many devices that are frequently needed by the chair driver to be integrated smoothly into the chair controller.

关键词： Wheelchairs Navigation Mobile robots Prototypes Costs Rehabilitation robotics Power engineering and energy robotics and automation Collaboration Fuzzy control

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Computer based robot training in a virtual environment

Computer based robot training in a virtual environment

引用

IEEE international conference on Industrial Technology (ICIT)

作者： A. Sett K. Vollmann KUKA Roboter GmbH Augsburg Germany

As more market segments are welcoming automation, the robotic field continues to expand. With the accepted breadth of viable industrial robotic applications increasing, the need for flexible robotic training also grows. In the area of simulation and offline programming there have been innovative developments to Computer Aided robotics (CAR) Systems. New and notable releases have been introduced to the public, especially among the small, affordable, and easy to use systems. These CAR-Systems are mainly aimed at system integrators in general industry business fields to whom the complex, powerful software tools used by the automotive industry (and its suppliers) are oversized. In general, CAR-Systems are used to design robot cells and to create the offline programs necessary to reduce start-up time and to achieve a considerable degree of planning reliability. Another potential yet to be fully considered, is the use of such CAR-Systems as an inexpensive and user-friendly tool for robotics training. This paper will show the educational potential and possibility inherent in simulation and introduce a successful example of this new method of training. Finally, this presentation should be seen as an attempt to outline novel methods for future education in an industrial environment characterized by the increased occurrence and implementation of the virtual factory.

关键词： Virtual environment Service robots robotics and automation Industrial training Computer industry Application software Computational modeling Computer simulation Programming profession Robot programming

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Robot design for applications in intensive agriculture

Robot design for applications in intensive agriculture

引用

IEEE international conference on Industrial Technology (ICIT)

作者： G. Belforte R. Deboli P. Gay A. Giglio Dipartimento di Automatica e Informatica Politechnico di Torino Torino Italy Istituto per la Meccanizzazione Agricola CNR Italy D.E.I.A.F.A. Dipartimento di Economia e Ingegneria Agraria ForeState e Ambientale Università degli Studi di Torino Torino Italy

Many agricultural operations, like precise fertilization, plant disease detection, spraying and selective harvesting, could be routinely performed by robots. In this paper some preliminary results are presented about the design and the realization of a multipurpose low cost robot devoted to agricultural applications and particularly minded for working in greenhouses. The proposed manipulator is a structurally simple but reliable device that can operate in high level of automation greenhouses. Some details about the mechanical design of the manipulator are reported and topics related to a vision based control of the robot are discussed.

关键词： Robots Agriculture robotics and automation Greenhouses Manipulators Plants (biology) Diseases Spraying Costs Automatic control

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Decision making in external beam radiation therapy based on fuzzy cognitive maps

Decision making in external beam radiation therapy based on ...

引用

international IEEE conference on Intelligent Systems, IS

作者： E. Papageorgiou C.D. Stylios P.P. Groumpos Laboratory for Automation & Robotics University of Patras Patras Greece

This work introduces the use of the soft computing technique of Fuzzy Cognitive Maps to model the decision-making process of radiation therapy and develop an advanced system to estimate the delivered dose to the target volume. During radiotherapy planning numerous factors are taking into consideration that increase the complexity of the decision-making problem. The modeling methodology of FCM has the ability to integrate and consider different, discipline and conflicting factors to determine the dose. A Fuzzy Cognitive Map Model is developed, that can handle imprecise and uncertain information and is used as the decision-making model determining the radiation dose and the complex radiation therapy system. The proposed FCM model is implemented for a practical radiotherapy treatment planning case of gynecological cancer.

关键词： Decision making Biomedical applications of radiation Fuzzy cognitive maps robotics and automation Tumors Medical treatment Cancer Neoplasms Scholarships Laboratories

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An intuitionistic fuzzy sets application in multiagent systems of metamorphic robotic systems

An intuitionistic fuzzy sets application in multiagent syste...

引用

international IEEE conference on Intelligent Systems, IS

作者： D. Minchev Center of Biomedical Engineering Bulgarian Academy of Sciences

The metamorphic robotic systems are a new and rather perspective sphere of robotics because of their different and useful applications. An implementation of intuitionistic fuzzy sets (IFS) in multiagent systems (MAS) is chosen for presenting a useful control techniques of metamorphic robots. They could be considered as a collection of identical modules and each unit has the ability to connect, disconnect and climb over its near neighbours (modules). So changing the overall shape of a robot is possible to be applied in different task decisions. The leading scope of this issue is to present a method of IFS application in MAS for solving chain locomotion and ameboid movement tasks.

关键词： Fuzzy sets Multiagent systems Robot kinematics Artificial intelligence Lattices Shape robotics and automation Control systems Intelligent agent Two dimensional displays

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A system to automate the generation of program variants for industrial robot applications

A system to automate the generation of program variants for ...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： E. Freund B. Luedemann-Ravit Institute of Robotics Research University of Dortmund Germany

This paper presents a novel system that allows us to generate variants of industrial robot programs. Such a system is widely needed in different areas of application. First, product scenarios change often slightly and thereby cause high programming costs. Using our system reduces these costs, because nonspecialists can create a specific program variant by themselves. Second, an engineer needs numerous program variants to find an optimized cell layout, e.g. regarding robot execution time. Present systems require too much manual effort and are very limited in considering application-specific requirements. Consequently, we have implemented a system that contains an interpreter to execute user-defined scripts. A script contains the information on how to generate the program variants. Each change of the parameter values inside the script results in a different program. We simulate the program execution and use the simulation results to further improve the programs. We prove the usefulness of our system by industrial applications.

关键词： Service robots robotics and automation Robot programming Polishing machines Costs Computational geometry Welding Programming profession Electrical equipment industry Industrial control

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Real-time wide area tracking: hardware and software infrastructure

Real-time wide area tracking: hardware and software infrastr...

引用

international conference on Intelligent Transportation

作者： G.T. Kogut M.M. Trivedi The Computer Vision And Robotics Research Laboratory University of California La Jolla CA USA

In recent years, large number of cameras have been installed in freeway and road environments. While the use of some of these cameras is being automated through computer vision, few computer vision systems allow for true wide-area large scaled automation. This paper describes a distributed computing system capable of managing an arbitrarily large sensor network using only common computing and networking platforms. The architecture is capable of handling many common computer vision tasks, as well as the inter-sensor communication necessary for developing new algorithms which employ data from multiple sensors. This system is tested with an algorithm which tracks moving objects through a prototype camera network with non-overlapping fields or view in a college campus environment This algorithm allows the system to maintain the identity of a tracked objects as it leaves and enters the fields of view of individual sensors. Such an algorithm is necessary for applications which require tracking objects over large distances or over long periods of time in an environment without complete sensor coverage.

关键词： Hardware Cameras Computer vision Distributed computing Sensor systems Traffic control Roads automation Computer network management Sensor phenomena and characterization

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