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检索条件"主题词=Automatic Programming"

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Using configuration and force sensing in assembly task planning and execution

Using configuration and force sensing in assembly task plann...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： R. Suarez L. Basanez J. Rosell Instituto de Cibernética UPC-CSIC Barcelona Spain

A geometric trajectory ensuring the success of an assembly task cannot be determined when the geometric uncertainty is significant. Several solutions like, for instance, passive compliance devices have been applied in order to decrease the influence of geometric uncertainty. However, the general solution appears to be the use of active compliance which implies reaction force/torque feedback, but this use gives rise to some particular problems in the task planning and execution. Sensorial configuration and force information becomes a key point in this field. This paper describes how this sensor information can be used in an assembly fine-motion planner and also during the task execution. The basic concepts have already been implemented and the peg-into-hole assembly task serves as an example to illustrate the results.

关键词： Robotic assembly Uncertainty Torque Force feedback Robotics and automation Force sensors Robot sensing systems automatic programming Robot programming Government

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Robot tasks sequence planning using Petri nets

Robot tasks sequence planning using Petri nets

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： J. Rosell N. Munoz A. Gambin Institute de Organización y Control de Sistemas Industriales (IOC-UPC) Barcelona Spain Institut d'Organització i Control de Sistemes Industrials Barcelona SPAIN Barcelona SPAIN

The automatic programming of robots to assemble products must cope with assembly planning and task planning problems. These problems are not independent, since an assembly operation may be performed by a different robot task depending on the previous assembly operations performed. Therefore, the cost of assembly operations vary depending on the assembly sequence. This paper deals with the problem of finding the optimum sequence of robot tasks taking into account this variable cost of assembly operations. The proposed approach can cope with products with AND/OR/XOR relations and uses Petri nets as a modelling methodology. The search of a near-optimum sequence of robot tasks is done with an heuristic search of the reachability tree of the Petri net.

关键词： Petri nets Robotic assembly Service robots Robotics and automation Orbital robotics automatic control Industrial control automatic programming Cost function Assembly systems

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Teaching by demonstration of assembly motion in VR-detection of nondeterministic search-type motion and developing of its skillful motion primitive

Teaching by demonstration of assembly motion in VR-detection...

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Annual Conference of Industrial Electronics Society

作者： H. Onda T. Suehiro K. Kitagaki National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

"Teaching by demonstration" is a method of generating a robot program that makes a robot do the same task as the task that a human operator demonstrates. We have developed a "teaching by demonstration in VR" system that automatically generates a robot program to work in the real world after a task is demonstrated by an operator in the virtual world. This system generates a program that detects each contact state extracted from demonstration in VR and produces it by skillful motion primitives. In this paper, based on our observation that a human has the skill wherein contact state transitions are made nondeterministically, we propose a method of dealing with one of the important nondeterministic motions, "nondeterministic search type motion." Experimental results show the feasibility of the method.

关键词： Education Virtual reality Motion detection Robotic assembly Humans Robotics and automation Educational robots Assembly systems Service robots automatic programming

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Data access services and automatic generation of cooperating interfaces

Data access services and automatic generation of cooperating...

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International Conference on Cooperative Information Systems

作者： G. Moro A. Natali C. Sartori DEIS University of Bologna Bologna Italy DEIS University of Bologna Italy

An important issue for the success of a database application is the effectiveness of its interface and frequently a relevant part of programming effort is devoted to the generation of interfaces. The visual programming environments reduce only partly this effort and in particular things become more complicated when data coming from different sources (different views in the same database or even views from different databases or systems) are to be related and must cooperate in the data access task. Our proposal is to define a new database access paradigm, called "service", including in itself the bare aspects of data access, such as browsing and selecting a tuple, and a compositional algebra for services, to automatically generate a comprehensive interface when separate services which were not designed for the cooperation, are combined. In addition, the architecture we adopt for the implementation of services is based on Java and JDBC. Services and combination of services expressed with the service algebra are automatically compiled into Java objects, allowing the rapid development of platform independent data access services. The paper formally introduces the notion of "service" with its semantics for data access; shows the compositional algebra for services and discusses a set of properties for this algebra which can be used when combining the components for simplification and optimization purposes, and describes the architecture for the implementation.

关键词： Relational databases Costs User interfaces Decision support systems automatic programming Marine vehicles Postal services Computer languages Assembly Libraries

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automatic Test Program Generation for Transition Delay Faults in Pipelined Processors

Automatic Test Program Generation for Transition Delay Fault...

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International Test Conference in Asia (ITC-Asia)

作者： Kai-Hsun Chen Bo-Yi Yang Jia-Ruei Liang Hung-Lin Chen Jiun-Lang Huang Department of Electrical Engineering National Taiwan University Taiwan Graduate Institute of Electronics Engineering

ISBN: (纸本)9781665413350

For processor cores, software-based self-test (SBST) is a promising complement to scan-based testing, especially for applications that demand high reliability. However, most prior SBST techniques only target stuck-at faults and thus fall short in detecting aging induced timing violations. In this paper, we propose an automatic test program generator for detection of transition delay faults (TDFs) in pipelined processors. The key technique is the conversion of scan-based launch-on-capture (LoC) TDF test patterns to instruction sequences, which are combined to form the self-test program. In the field, the processor under test can execute the test program on demand, in its functional mode, to detect TDFs. To facilitate the pattern-to-instruction conversion, a test program template is developed. Derived from the pipelined processor operation, the template helps systematically and efficiently set the flip-flop values specified in LoC test patterns. The proposed technique is validated on a MIPS32 processor and achieves 97.82% transition delay fault coverage.

关键词： automatic programming Conferences Asia Built-in self-test Aging Delays Behavioral sciences

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Object-oriented architecture of measurement systems: The user-interface

Object-oriented architecture of measurement systems: The use...

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IEEE Instrumentation and Measurement Technology Conference

作者： P. Daponte L. Nigro F. Tisato Dip. di Elettronica Informatica e Sistcmistica Universita degli Studi della Calabria Rende Italy Dip. di Elettronica Inf. e Sistmistica Univ. della Calabria Italy Dip. di Scienze dell'Informazione Universita di Milano Milan Italy

The authors give an overview of a concurrent, object-oriented (OO) programming paradigm suited to the development of measurement systems. They show how the design of the graphical user-interface can also fit naturally within the chosen OO architecture and can be implemented in terms of reusable object libraries supporting the construction of user-interfaces. An approach has been proposed to the development of the software of an intelligent measurement system, which is based on the adoption of a concurrent, OO programming model named RTO - real time objects, which is described. RTO integrates in a natural way the OO development of the graphical user-interface. View objects are introduced which mirror the physical object features and help the user to take control of the data required in the stages of a test method.< >

关键词： Software measurement Application software Software reusability Particle measurements Software testing Computer architecture Instruments Modular construction automatic programming Object oriented programming

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Evolutionary algorithm considering program size: efficient program evolution using grape 08

Evolutionary algorithm considering program size: efficient p...

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Proceedings of the 10th annual conference companion on Genetic and evolutionary computation

作者： Shinichi Shirakawa Tomoharu Nagao Yokohama National University Yokohama Kanagawa Japan

ISBN: (纸本)9781605581316

Today, a lot of automatic programming techniques have been proposed and applied various fields. Graph Structured Program Evolution (GRAPE) is one of the recent automatic programming techniques. GRAPE succeeds in generating the complex programs automatically. In this paper, a new generation alternation model for GRAPE, called Evolutionary Algorithm Considering Program Size (EACP), is proposed. EACP maintains the diversity of program size in the population by using particular fitness assignment and generation alternation. We apply EACP to three test problems, factorial, exponentiation and sorting a list. And we show the effectiveness of EACP and confirm evolution of maintaining the diversity of program size.

关键词： automatic programming generation alternation model graph-based genetic programming genetic algorithm genetic programming evolutionary algorithm

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Efficient list algorithms for irregular block redistribution in parallelizing compilers

Efficient list algorithms for irregular block redistribution...

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International Conference on Computer and Information Technology (CIT)

作者： Hui Wang Minyi Guo Darning Wei School of Computer Science and Engineering University of Aizuwakamatsu Fukushima Japan

ISBN: (纸本)0769522165

In parallelizing compilers on distributed memory systems, distributions of irregular sized array blocks are provided for load balancing and irregular problems. The irregular redistribution is different from the regular block-cyclic redistribution. This paper is devoted to developing algorithms for irregular redistribution that attempt to obtain near optimal scheduling while satisfying the minimal communication costs condition and the minimal step condition. Efficient algorithms are developed and their experimental results are compared. One improved list algorithm provides more chance for conflict messages in its relocation phase. It allocates conflict messages through methods used in a divide-and-conquer algorithm and a relocation algorithm proposed previously. The method of selecting the smallest relocation cost guarantees that the improved list algorithm is more efficient than others in average.

关键词： Scheduling algorithm Optimal scheduling Load management Parallel programming Processor scheduling Computer science Cost function Program processors automatic programming Message passing

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Automated test program generation for automotive devices

Automated test program generation for automotive devices

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IEEE International Test Conference

作者： Anke Drappa Peter Huber Jon Vollmar Robert Bosch GmbH Reutlingen Germany Teradyne GmbH Munich Germany Teradyne Inc. Brookfield WI USA

A code generator is developed to produce automotive ATE programs from a tester-independent test specification. Requirements and features of the specification interface which were necessary for successful automated program generation are discussed. Generated tests are evaluated on tester hardware and found to be production-worthy. Results and advantages of the approach are observed in practice.

关键词： Automotive engineering XML Voltage measurement automatic programming Hardware Generators

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Acquisition method of regrasping motion with tolerance for object size

Acquisition method of regrasping motion with tolerance for o...

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Annual Conference of Industrial Electronics Society

作者： Y. Hasegawa J. Matsuno T. Fukuda Department of Micro System Engineering University of Nagoya Nagoya Japan Center of Cooperative Research in Advanced Science & Technology University of Nagoya Nagoya Japan

We have studied generation method of regrasping motion for four-fingered robot using evolutionary programming (EP). EP has advantage of finding the alley of optimal numerical values but it requires much iteration to find it. This obtained regrasping strategy can not be applied to the other shaped-object except an object used in finding process. Therefore the generated regrasping strategy by EP should be reused for other sized-object. In this paper we proposed the adaptation algorithm for different size of grasping object. We show the effectiveness of the method with the experimental results.

关键词： Grasping Fingers Genetic programming Robotics and automation Solids Systems engineering and theory Robot programming Grippers automatic programming Algorithm design and analysis

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