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international conference on Emerging Technologies and Factory automation (ETFA)

作者： W.J. Vieira L.M. Camarinha-Matos L. Octavio Castolo Department Telec. and Computer Science Rua Conselheiro Emidio Navano Institute Sup. de Engenharia de Lisboa Lisboa Portugal Faculty of Sciences and Technology New University of Lisbon Monte da Caparica Portugal

ISBN: (纸本)0780372417

This paper describes the concept of fitting autonomy for remote operation systems, which means that the autonomy of the remote place is defined in a case-by-case basis, taking into account the requirements of the applications and the characteristics of the communication channels. Thus, high levels of flexibility and independence on the characteristics of the communication channels are achieved. An architecture for mobile agents equipped with execution supervision is adopted as a solution to implement this approach. An application of these concepts in the context of the remote manipulation of a robot through the Internet is described.

关键词： Mobile agents Communication channels Internet Computer science Context Orbital robotics Space vehicles Machinery Telescopes Home appliances

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Open graphics system for 3D-mapping validation on robotics

Open graphics system for 3D-mapping validation on robotics

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IEEE international conference on Electronics, Circuits and Systems (ICECS)

作者： J.V. Catret M. Mellado D. Puig Departamento de Ingenieria de Sistemas y Automatica (DISA) Universidad Politecnica de Valencia Valencia Spain

An innovative product for 3D-mapping validation on robotics is introduced on this paper as result of the application of a multi-robot programming and simulation software to that purpose. The software, called Virtual Robot Simulator (VRS), has an open design that facilitates the integration of user applications by means of external components that give access to its main functionalities. For example, realistic and smart graphics representation of 3D-maps can be easily generated using simple functions. In fact, the user can concentrate the efforts on implementing sensor models, signal filters, 3D-mapping methods and so on, and leave the arduous work of graphics representation to VRS. Then VRS acts as a "true" virtual cell composed of robots with sensors moving on their environment and reflecting the actions of the user's application. Even more, the specific physical sensor and robot is transparent to the user when decides to take the best of the hierarchical software structure offered to manage this kind of system. A practical example is commented on in the paper.

关键词： Graphics Application software Robot programming Robot sensing systems robotics and automation Mobile robots Robot control Remote monitoring Control system synthesis Automatic programming

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Coordinated robots in a flexible manufacturing work cell

Coordinated robots in a flexible manufacturing work cell

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

作者： D.P. Garg C.D. Poppe Department of Mechanical Engineering and Materials Science Duke University Durham NC USA

ISBN: (纸本)0780367367

Flexible manufacturing work cells provide excellent opportunities for enhancing both efficiency and productivity in an automated manufacturing environment. Such cells typically integrate robots, a wide variety of machine tools, material handling equipment, packaging devices, sensors, actuators, controllers, and similar other hardware. The coordinated control of robots in flexible manufacturing work cells presents a particularly challenging problem since it has to respond to a need for adaptability for product change and minimization of online setup time and costs. The major emphasis of this paper is on machine tools and related hardware operating in flexible manufacturing work cells. It includes a discussion of motivation for flexible automation, past problems and recent advances, and guidelines for work cell design. Problems associated with complicated automated manufacturing applications are presented and their potential solutions are identified, An illustrative design example of a flexible manufacturing work cell is given that integrates component loading devices, several cooperating manipulators, conveyors, inspection stations, and a variety of machine tools.

关键词： Robot kinematics Flexible manufacturing systems Manufacturing automation Robot sensing systems robotics and automation Machine tools Automatic control Hardware Productivity Materials handling equipment

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A full-kinematic model of fixtures for precision locating applications

A full-kinematic model of fixtures for precision locating ap...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： M.Y. Wang Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China Department of Mechanical Engineering University of Maryland College Park MD USA

The conventional point-kinematic model of fixtures has only treated point geometry of the contacts between locators and workpiece. However, this model, which ignores the underlying surface properties of the locators-plus-workpiece system, is inherently incapable of capturing the effects of the geometric properties important to accurate positioning of the workpiece. In this paper, we present a fixture model based on the full kinematics of locator-workpiece contact. This model incorporates a "virtual" kinematic chain with meshing parameters of contact kinematics. It is shown that the conditions of deterministic localization are related to surface properties of both the workpiece and the locators, including the surface curvature, torsion and scale factors, as opposed to the conventional point-kinematic model. The full-kinematic model developed here has a strong implication for designing fixtures with high locating precision requirements.

关键词： Fixtures Kinematics Automotive components Solid modeling Cooling USA Councils Machining Drilling Intelligent robots Computational geometry

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Performance evaluation of sensorimotor primitives using eigenvector learning method

Performance evaluation of sensorimotor primitives using eige...

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IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： M.S. Sutton A. Larson R. Voyles Trinity University San Antonio TX USA Department of Computer Science University of Minnesota Minneapolis MN USA

We present a method to evaluate the performance of an eigenvector learned sensorimotor primitive for mobile robots. At runtime, the learning system projects sensor data onto the eigenspace using eigenvectors determined in training. The result of the projection is a set of sensor values and actuator values. We developed an error metric based on comparing the projected values with the actual sensor values. When the system performs closely to how it was trained, the difference between projected and actual sensors is small and hence the error metric is small. The error increases as the performance degrades. This method is not task specific and can be used for any eigenvector learned primitive. Two example applications of the error metric are shown using wall following skills for a mobile robot. First, the metric is used as a transition cue for multiprimitive sequential tasks. Second, the error metric is used to create an adaptive system that chooses the best performing skill.

关键词： Learning systems robotics and automation Robot sensing systems Actuators Robot programming Sensor systems Mobile robots Adaptive systems Programming profession Artificial neural networks

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High accuracy piezoelectric-based microrobot for biomedical applications

High accuracy piezoelectric-based microrobot for biomedical ...

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international conference on Emerging Technologies and Factory automation (ETFA)

作者： J. Lopez-Sanchez P. Miribel-Catala E. Montane M. Puig-Vidal S.A. Bota J. Samitier U. Simu S. Johansson Instrumentation & Communication Systems University of Barcelona Instrumentation & Communication Systems Electronics Department University Autònoma de Barcelona Spain Department of Material Science University of Uppsala Uppsala Sweden

ISBN: (纸本)0780372417

Today, the use of robots for self acting tasks in applications ranging from biology and medicine to microsystems technology demand miniaturized dimensions and high-precision handling techniques. Transport and manipulation of biological cells or assembly of micromechanical parts are the best-suited applications for microrobots with sizes about cm/sup 3/. The kind of actuator used for locomotion is a crucial part when a miniaturised robot for micropositioning and micromanipulating is developed. Demands on low cost, high resolution and small size make piezoceramic actuators an attractive alternative. A "Smart Piezoactuator Unit" (SPU) has been developed and will be used in a new generation of microrobots with a size of a few cm/sup 3/. The main characteristics of this "Smart Piezoactuator Unit" are presented in this paper. An integrated circuit containing power drivers and a digital control system with a fast serial interface protocol has been designed. Integrating this circuit close to the piezoceramic actuators results in a compact and a minimal number of connecting wires to the robot.

关键词： Actuators Robots Piezoelectric materials Medical robotics Cells (biology) Biological cells Robotic assembly Micromechanical devices Costs Digital integrated circuits

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Automatic generation of pragmatic and intelligible fuzzy rules

Automatic generation of pragmatic and intelligible fuzzy rul...

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IEEE international conference on Systems, Man and Cybernetics

作者： S.H. Huang R. Kothamasu Hao Xing Intelligent CAM Systems Laboratory Department of Mechanical Industrial and Manufacturing Engineering University of Tolctlo and Eötvös Lárand University Toledo OH USA

Rule-based systems have been the forerunner among contemporary techniques for systems engineering. A doyen of the intelligent systems, they have undergone philosophical and methodological transformations and have proven to be very successful in applications such as robotics, geometric information systems, medical instrumentation, image processing, natural language processing and interactive systems. However, due to the knowledge acquisition bottleneck, the development of rule-based systems is time-consuming, carries high costs, and has high risks. In this paper, we propose a methodology that aims at overcoming the bottleneck by automatically generating intelligible and robust rules based on empirical data. With statistics as its foundation and bolstered by heuristic search, the, proposed methodology has been successful in cutting through the maze of complex systems in generating more than a plausible solution. This was confirmed by real-world engineering applications. Techniques that can automatically generate and refine fuzzy rules do exist in the literature. A popular method is the adaptive neural-fuzzy inference system (ANFIS) that refines fuzzy rules obtained using clustering techniques. However, ANFIS utilizes the Sugeno type fuzzy rules. The rules generated are not easy to comprehend, since the consequents are a crisp functions rather than fuzzy linguistic terms. Moreover, the approach cannot deal with discrete outputs. Our methodology generates the more popular, versatile, and easily understood Mamdani type fuzzy rules. Neural network-type learning algorithms are then used to optimize parameters of fuzzy membership functions and relieve the defuzzification impediment.

关键词： Knowledge based systems Intelligent robots Biomedical engineering Systems engineering and theory Intelligent systems Medical robotics robotics and automation Information systems Biomedical imaging Instruments

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Machining feature-based comparisons of mechanical parts

Machining feature-based comparisons of mechanical parts

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international conference on Shape Modeling and applications

作者： V. Cicirello W.C. Regli The Robotics Institute Carnegie Mellon University Pittsburgh PA USA Geometric and Intelligent Computing Laboratory Department of Mathematics and Computer Science Drexel University Philadelphia PA USA

ISBN: (纸本)0769508537

Solid models are the critical data elements in modern computer-aided design (CAD) environments, describing the shape and form of manufactured artifacts. Their growing ubiquity has created new problems in how to effectively manage the many models that are now stored in the digital libraries of large design and manufacturing enterprises. Existing techniques from the engineering literature and from industrial practice, such as group technology, rely on human-supervised encoding and classification, while techniques from the multimedia database and computer graphics/vision communities often ignore the manufacturing attributes most significant in the classification of models. This paper presents our approach to the manufacturing similarly assessment of solid models of mechanical parts based on machining features. Our technical approach is three-fold: (1) perform machining feature extraction to map the solid model to a set of STEP AP 224 machining features; (2) construct a model dependency graph from the set of machining features; and (3) find the nearest neighbors to the query graph using an iterative improvement search across a database of other models. We also present empirical experiments to validate our approach using our testbed, the National Design Repository ( ). The contribution of this research is the first fully automated technique for machining feature-based comparisons of mechanical artifacts. We believe that this work can lead to radical changes in the way in which design data is managed in modern engineering enterprises.

关键词： Machining Solid modeling Virtual manufacturing Design automation Computer aided manufacturing Data engineering Shape Software libraries Computer industry Manufacturing industries

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Neural network-based target differentiation using sonar for robotics applications

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IEEE TRANSACTIONS ON robotics AND automation 2000年第4期16卷 435-442页

作者： Barshan, B Ayrulu, B Utete, SW Bilkent Univ Dept Elect Engn TR-06533 Ankara Turkey Univ Oxford Dept Engn Sci Robot Res Grp Oxford OX1 3PJ England

This study investigates the processing of sonar signals using neural networks for robust differentiation of commonly encountered features in indoor robot environments. The neural network can differentiate more targets with higher accuracy, improving on previously reported methods. It achieves this by exploiting the identifying features in the differential amplitude and time-of-flight (TOF) characteristics of these targets. Robustness tests indicate that the amplitude information is more crucial than TOF for reliable operation. The study suggests wider use of neural networks and amplitude information in sonar-based mobile robotics.

关键词： artificial neural networks evidential reasoning learning majority voting sensor data fusion sonar sensing target classification target differentiation target localization ultrasonic transducers

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Active and passive range sensing for robotics

Active and passive range sensing for robotics

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ICRA 2000: IEEE international conference on robotics and automation

作者： Hebert, Martial Carnegie Mellon Univ Pittsburgh United States

In this paper, we present a brief survey of the technologies currently available for range sensing, of their use in robotics applications, and of emerging technologies for future systems. The paper is organized by type of sensing: laser range finders, triangulation range finders, and passive stereo. A separate section focuses on current development in the area of non-scanning sensors, a critical area to achieve range sensing performance comparable to that of conventional cameras. The presentation of the different technologies is based on many recent examples from robotics research.

关键词： robotics

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