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Advances in micromechatronics

Advances in micromechatronics

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

作者： P. Dario Scuola Superiore Sant'' Anna Pisa Italy

Summary form only given. The complete presentation was not made available for publication as part of the conference proceedings. Micromechatronics encompasses the same concepts as mechatronics in the "macro" world (that is the synergetic integration of precision mechanisms, sensors; actuators, signal conditioning and embedded control), aiming at further reduction of size and integration of functions. h4icromechatronics is at the forefront of the general "trend toward miniaturization" that features the current evolution of most industrial sectors, such as consumer electronics, telecoiriiriunicatioiis: medical devices: biotechnology, automotive, industrial control and space. In all of these sectors, the availability of microelectronic components which are increasingly smaller, cheaper and faster makes it possible to develop products which are smaller and possess better functionalities. Designing these products requires one to match the performance of microelectronic components with better mechanisms and actuators. Providing rules for designing such new products is exactly the objective of micromechatronics. In this sense, micromechatronics is having, and will certainly have, a revolutionary impact or1 the design and fabrication of a wide range of new industrial products. In this talk the speaker will discuss the aims and describe the state of the art in the field of micromechatronics, its perspectives, research needs and applications, with special attention to the biomedical field.

关键词： Robot kinematics robotics and automation Medical robotics Mechatronics Actuators Industrial control Microelectronics Product design Biosensors

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Data reduction for optical 3D-inspection in automotive application

Data reduction for optical 3D-inspection in automotive appli...

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

作者： R. Dillmann S. Vogt A. Zilker Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany Research and Technology DaimlerChrysler Aerospace Ulm Germany

Advances in optical sensors, computer graphics, and robotics provide new technology for the processes in styling, design, and quality management. They are used in optical inspection and reverse engineering to speed up the development process. One of the challenges of these new technologies for Daimler-Chrysler is the coupling to current CAD systems. The 3D data obtained from fast optical sensors have to be post-processed before they can be transferred to a commercial computer aided design system due to data format and the amount of the measured data. Reducing the measured data can remove important information or lower the accuracy of the data. This paper describes current and two new reduction algorithms for optical 3D data. It illustrates the need of data reduction in an application: a historic Mercedes Benz racing car is measured by a optical sensor delivering 98.3 million points. They are reduced down to 1 million points for reverse engineering of the car body surface.

关键词： Automotive applications Optical sensors Optical design Reverse engineering Computer graphics Robot sensing systems Process design Quality management Inspection Design automation

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Design and fabrication of an integrated three-dimensional tactile sensor for space robotic applications

Design and fabrication of an integrated three-dimensional ta...

引用

IEEE international conference on Micro Electro Mechanical Systems

作者： Tao Mei Yu Ge Yong Chen Lin Ni Wei-Hsin Liao Yangsheng Xu W.J. Li Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong China State Key Laboratories of Transducer Technology Institute of Intelligent Machines Chinese Academy and Sciences China

An integrated three-dimensional tactile sensor with robust structure and soft contact surface suitable for space robotic applications was developed. The sensor has a maximum force range of 50 N in the vertical direction and /spl plusmn/10 N in the x-y horizontal directions. The sensitivity of the sensor cells in the vertical direction is 13 m V/V and in the x and y horizontal directions are both 2.3 mV/N. The tactile sensor includes 4/spl times/8 sensing cells each exhibiting an independent linear response to the three components of forces. Post bulk-micromachining was performed on foundry fabricated CMOS chips to produce the sensor cells. With neural network training, the tactile sensor produced reliable 3-axes force measurements and repeatable response on tactile images. Design analysis, fabrication procedures, and experimental results are presented in this paper.

关键词： Fabrication Tactile sensors Robustness Robot sensing systems Orbital robotics Force sensors Foundries CMOS image sensors Neural networks Force measurement

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A generalized look-ahead method for adaptive multiple sequential data fusion and decision making

A generalized look-ahead method for adaptive multiple sequen...

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

作者： Tse Min Chen Ren C. Luo Intelligent Automation Laboratory Department of Electrical Engineering National Chung Cheng University Chiayi Taiwan

This paper presents a formulation of look-ahead decision-making algorithm for sensor fusion systems across levels with the I/O mode characterizations of feature in-decision out or data in-decision out methods. The sequential data fusion is conducted through a dynamic behavior modeling method capable of estimating the observed system parameters from the raw sensory measurements over period of time. The temporal estimated model is used for forward prediction of the observed system output for decision-making. A self-evaluation method to estimate the prediction quality is used to generate the individual decision confidence for final decision integration which is conducted through a multi-layered fuzzy linguistic reasoning engine. The validity of the proposed technique is confirmed by experimental results in which we perform sensor fusion of ultrasonic range data and vision detection information for motion decision on target tracking applications. The experimental results demonstrate the feasibility and accuracy of the multisensor fusion method.

关键词： Decision making Sensor fusion Intelligent sensors Time measurement Engines Target tracking Sensor systems robotics and automation Pixel Intelligent systems

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引用

conference on Digital Avionics Systems (DASC)

作者： M. Rosemblum B. Gothard J. Jaczkowski Center for Intelligent Syst. Sci. Applications Int. Corp. Englewood CO USA Center for Intelligent Systems Science Applications International Corporation Englewood CO USA U.S. Army Tank-Automotive and Armaments Command Warren MI USA

The authors have applied a systems philosophy to the computer vision problem, and they have designed a system called O-NAV (Object NAVigation) that can harness all of the computer vision technology to date, and combine these approaches into one integrated system. In O-NAV, no one sub-component bears the burden of the problem. In other words, it is not expected that algorithms alone will solve the computer vision problem. If we choose effective sensing that inherently performs some level of scene discrimination at the phenomenology level, algorithms will be handed a partially analyzed scene before they ever encounter the raw image data. The algorithms have been designed to exploit an optimized processing hardware infrastructure, to maximize computation for the "real-time" application of autonomous robot navigation.

关键词： Layout Navigation Computer vision Vehicles Humans Biology computing robotics and automation Machine vision Eyes Algorithm design and analysis

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A probabilistic roadmap planner for flexible objects with a workspace medial-axis-based sampling approach

A probabilistic roadmap planner for flexible objects with a ...

引用

IEEE international Workshop on Intelligent Robots and Systems (IROS)

作者： L.J. Guibas C. Holleman L.E. Kavraki Department of Computer Science University of Stanford Stanford CA USA Department of Computer Science Rice University Houston TX USA

Probabilistic roadmap planners have been used with success to plan paths for flexible objects such as metallic plates or plastic flexible pipes. This paper improves the performance of these planners by using the medial axis of the workspace to guide the random sampling. At a preprocessing stage, the medial axis of the workspace is computed using a recent efficient algorithm. Then the flexible object is fitted at random points along the medial axis. The energy of all generated configurations is minimized and the planner proceeds to connect them with low-energy quasi-static paths in a roadmap that captures the connectivity of the free space. Given an initial and a final configuration, the planner connects these to the roadmap and searches the roadmap for a path. Our experimental results show that the new sampling scheme is successful in identifying critical deformations of the object along solution paths which results in a significant reduction of the computation time. Our work on planning for flexible objects has applications in industrial settings, virtual reality environments, and medicine.

关键词： Sampling methods Path planning Assembly robotics and automation Drugs Computer industry Service robots Animation Catheters Computer science

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START: An application builder for industrial robotics 15

START: An application builder for industrial robotics

引用

IEEE international conference on robotics and automation

作者： Mazer, E Boismain, G des Tuves, JMB Douillard, Y Geoffroy, S Dubourdieu, JM Tounsi, M Verdot, F Inria Lab Gravir CNRS F-38330 Montbonnot St Martin France

ISBN: (纸本)078034300X

The repair of nuclear pourer plants often necessitates the development of special robots which should be operational readily. This requires a software architecture which quickly permits the design of a controller for an entire telerobotic system in a minimum period of time. We have developed such a software architecture to facilitate the design of applications dealing with non standard robot systems and complex industrial processes. In this paper we describe the requirements for this architecture and hour we address them.

关键词： Nuclear power plants

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Robotic based Thermoplastic Fibre Placement Process 15

Robotic based Thermoplastic Fibre Placement Process

引用

IEEE international conference on robotics and automation

作者： Ahrens, M Mallick, V Parfrey, K Asea Brown Boveri Corp Res CH-5405 Baden Switzerland

ISBN: (纸本)078034300X

Carbon fibre reinforced composites offer excellent specific stiffness and strength and are therefore interesting for rotating machinery applications. The main disadvantage of high performance composites is the manufacturing process which is labor intensive and thus slow and expensive. The Thermoplastic Fibre Placement process overcomes these difficulties due to its high degree of automation. During the process, an impregnated thermoplastic tape is heated up and then consolidated insitu under pressure. This process has been implemented on a 6-axis robot in our lab and on a 3-axis robotic workcell in the ABB motor factory in Switzerland. This workcell is used to wind overhang bandages for motors.

关键词： robotics

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Executing motion plans for robots with many degrees of freedom in dynamic environments

Executing motion plans for robots with many degrees of freed...

引用

IEEE international conference on robotics and automation

作者： Brock, O Khatib, O Stanford Univ Dept Comp Sci Robot Lab Stanford CA 94305 USA

ISBN: (纸本)078034300X

In many robotic applications motions must be executed robustly in dynamic and partially unknown environments. Despite this requirement most motion planning algorithms assume the environment to be known and changes to be predictable. The planning problem in dynamic environments can be decomposed into a planning and an execution phase. In this paper we describe a new framework for the execution of motion plans for robots with many degrees of freedom in dynamic environments. An initial valid trajectory is incrementally modified according to changes in the environment to maintain a collision free path. This framework achieves real-time performance for robots with many degrees of freedom. A is particularly well suited for redundant systems and mobile manipulation, since it allows motion specification of a subset of the degrees of freedom of the robot, greatly simplifying the task of robot programming.

关键词： robotics

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Integration of knowledge-based systems and neural networks: Neuro-expert Petri net models and applications 15

Integration of knowledge-based systems and neural networks: ...

引用

IEEE international conference on robotics and automation

作者： Zha, XF Lim, SYE Fok, SC Nanyang Technol Univ Sch Mech & Prod Engn Singapore 639798 Singapore

ISBN: (纸本)078034300X

There is now a growing realization in the intelligent systems community that many complex: problems require hybrid solutions. This paper identifies and describes how knowledge based systems (KBSs), fuzzy logic (FL) a?ld artificial neural networks (ANNs) can be integrated, and provides a novel (fuzzy) expert Petri net (EPN,FEPN) based approach for the integration of KBSs and ANNs. A generic expert Petri net model of single neuron is presented, and a two-layer generic Petri net model for (fuzzy) neural networks neural (fuzzy) expert Petri nets (NEPN, NFEPN) that use this neuron model as a building block is described. The NEPN and NFEPN models can be used for representing a (fuzzy) knowledge base and (fuzzy) reasoning. And also, they can be utilized to develop ANN-like multilayered Petri net architectures of distributed hybrid intelligence having learning *** application examples are illustrated for validation of the proposed models.

关键词： robotics

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