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Using genetic algorithms with niche formation to solve the minimum distance problem amongst concave objects

Using genetic algorithms with niche formation to solve the m...

引用

作者： Carretero, J.A. Nahon, M.A. Ma, O. Department of Mechanical Engineering University of New Brunswick Fredericton NB E5B 5A3 Canada Department of Mechanical Engineering McGill University Montréal QC H3A 2K6 Canada MacDonald Dettwiller Space and Advanced Robotics Ltd. Brampton ON L6S 4J3 Canada

ISBN: (纸本)0791836215

In this paper an optimization approach is used to solve the problem of finding the minimum distance between concave objects, without the need for partitioning the objects into convex sub-objects. Since the optimization problem is not unimodal (i.e., has more than one local minimum point), a global optimization technique, namely a Genetic Algorithm, is used to solve the concave problem. In order to reduce the computational expense of evaluating the constraints at runtime, the objects' geometry is replaced by a set of points on the surface of the body. This reduces the problem to a combinatorial problem where the combination of points (one on each body) that minimizes the distance will be the solution. Additionally, niche formation is used to allow the minimum distance algorithm to track multiple minima rather than exclusively looking for the global minimum. Copyright © 2002 by ASME.

关键词： Genetic algorithms

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Design and integration of a torque sensor beam based masterarm

Design and integration of a torque sensor beam based mastera...

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2001 ASME International mechanical engineering Congress and Exposition

作者： Lee, Sooyong Kim, Yoon Sang Cho, Changhyun Kim, Munsang Department of Mechanical Engineering Texas A and M University College Station TX 77843-3123 United States Advanced Robotics Research Center Korea Inst. of Sci. and Technology Seoul 130-650 Korea Republic of

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in this paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and it can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Sensors

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Solving distance problems with concave bodies using simulated annealing

Solving distance problems with concave bodies using simulate...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： J.A. Carretero M.A. Nahon Ou Ma Space and Subsea Robotics Laboratory Department of Mechanical Engineering University of Victoria Victoria BC Canada Space and Advanced Robotics Limited Brampton ONT Canada

Determining the minimum distance between two convex objects is a problem that has been solved using many different approaches. On the other hand, computing the minimum distance between combinations of convex and concave objects is known to be a more complicated problem. Some methods propose to partition the concave object into convex sub-objects and then solve the convex problem between all possible sub-object combinations. While this method has been shown to work reliably, it adds a large computational expense when the concave objects in the scene are complicated, or when a quadratically bound object is to be linearized. An optimization approach is used to solve the concave problem without the need for partitioning the concave object into convex sub-objects. Since the optimization problem is no longer unimodal, a global optimization technique is used. Simulated annealing is used to solve the concave problem. In order to reduce the computational expense, it is proposed to replace the objects' geometry by a set of points on the surface of each body. This reduces the problem to a combinatorial problem where the combination of points that minimizes the distance will be the solution. Some examples using this method are presented.

关键词： Simulated annealing Interference Computational geometry Robots Orbital robotics Optimization methods Path planning Trajectory Robotic assembly Laboratories

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Visual tracking manipulator with redundancy and its application to robotic wheel assembly

Visual tracking manipulator with redundancy and its applicat...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Chang-hyun Cho Sungchul Kang Munsang Kim Jae-Bok Song Sunkyoo Min Jeasun Kim Hyunoh Shin Department of Mechanical Engineering Korea University Seoul South Korea Advanced robotics research center KIST Seoul South Korea Hyundai Motor Company Ulsan South Korea

A new wheel assembly automation system is proposed which assembles a wheel into a hub on a car body on a moving hanger in the car manufacturing line. A vision system is used to track the position of the hub on the moving hanger A macro-micro structure is applied to increase a system bandwidth and accuracy to meet an insertion tolerance. The redundancy problem is solved without complicated calculations by assigning different functions that the macro manipulator tracks a velocity error and the micro regulates the position error. Experimental results show that the proposed system can be applied to the wheel assembly task on a moving hanger in the car manufacturing line.

关键词： Robotic assembly Manipulators Mobile robots Wheels Redundancy robotics and automation Assembly systems Service robots Tracking Manufacturing

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A passive multiple trailer system for indoor service robots

A passive multiple trailer system for indoor service robots

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： Jaehyoung Lee Woojin Chung Munsang Kim Chongwon Lee Jeabok-Song Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Mechatronics and Control Laboratory Department of Mechanical Engineering Korea University Seoul South Korea

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passive trailers are introduced, and then the analysis of path tracking performance is carried out, in order to show that the proposed off-hooked trailer is advantageous in a practical sense. Stability, issues are discussed with constant reference velocity. Numerical simulation results and experimental results are presented.

关键词： Service robots Control systems Trajectory Costs Stability mechanical systems Open loop systems Robot kinematics Performance analysis Transportation

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Advantage of low complexity in digital controllers with finite wordlength

Advantage of low complexity in digital controllers with fini...

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SICE Annual Conference

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group OPAL-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal QUE Canada Institute of Engineering Mechanics and Systems University of Tsukuba Tsukuba Japan

ISBN: (纸本)0780373065

The paper shows the main advantage of certain low-complexity digital control strategies over techniques resulting in more complex control systems; that is, the superior level of performance when subjected to finite wordlength effects. Examples demonstrate the performance limitations associated with highly complex control laws and the benefits of using properly selected, simple control schemes when implemented with fixed- and floating-point arithmetic and restricted number of bits.

关键词： Digital control Control systems Sampling methods Finite wordlength effects Costs Stability Computational modeling mechanical engineering Robot control Paper technology

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A framework for discrete-time models of continuous-time systems

A framework for discrete-time models of continuous-time syst...

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American Control Conference (ACC)

作者： C.A. Rabbath N. Hori Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada Department of Mechanical Engineering McGill University Montreal Montreal QUE Canada Institute of Engineering Mechanics University of Tsukuba Tsukuba Japan

This paper shows that the analysis and the design of discrete-time models of continuous-time systems can be carried out within a single framework. Briefly, all classes of discrete-time models, namely the invariant models, the mapping models and the matched pole-zero models, are shown to incorporate the common structure of a hold followed by a continuous-time system and the ideal sampler. This interpretation of discrete-time models of continuous-time systems facilitates the understanding of the differences and similarities among the various discrete-time models. A numerical example illustrates the concepts involved.

关键词： Transfer functions Poles and zeros State-space methods mechanical engineering Robot control Design engineering Signal processing System identification Control systems Hardware

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A new exoskeleton-type masterarm with force reflection based on the torque sensor beam

A new exoskeleton-type masterarm with force reflection based...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Yoon Sang Kim Sooyong Lee Changhyun Cho Munsang Kim Chong-Won Lee Department of Electrical Engineering University of Washington Seattle WA USA Advanced Robotics Research Center Korea Institute of Science and Technology Seoul South Korea Department of Mechanical Engineering Texas A and M University College Station TX USA

ISBN: (纸本)0780365763

A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in the paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator's arm precisely, and its can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

关键词： Force sensors Optical reflection Torque Humans Service robots Kinematics Shoulder Wrist Elbow Capacitive sensors

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Effective modeling and simulation of internal combustion engine control systems

Effective modeling and simulation of internal combustion eng...

引用

American Control Conference (ACC)

作者： C.A. Rabbath H. Desira K. Butts Advanced Robotics and Control Group Opal-RT Technologies Inc. Montreal QUE Canada IDepartment of Mechanical Engineering McGill University Montreal Montreal QUE Canada Powertrain Control Systems Department Ford Motor Company Limited Dearborn MI USA

The paper presents an integrated software-hardware solution to effectively model and simulate internal combustion engine control systems. The solution is based on RT-LAB/sup TM/. The characteristics of the proposed modeling and simulation approach are the preservation of accuracy in the face of relatively large fixed simulation steps and the achievement of real-time and faster than real-time simulation execution. The results of numerical simulations, which show a relatively high accuracy and the gains in execution speeds obtained with various physical configurations, are also provided.

关键词： Internal combustion engines Control system synthesis Electronic mail Discrete event simulation Fuels Control systems mechanical engineering Robot control Paper technology Numerical simulation

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Using a compliant wrist for a teleoperated robot

Using a compliant wrist for a teleoperated robot

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： S.W. Choi Y.J. Choi Seungho Kim School of Electrical & Mechanical Engineering Yonsei University Seoul South Korea Advanced Robotics Laboratory Korea Advanced Energy Research Institute Taejon South Korea

Presents the development of a 6 degrees-of-freedom compliant wrist with force/torque sensor capability that can be used to simultaneously control the displacements and forces. The compliant wrist/sensor has the geometry of a 6-6 type Stewart platform using six linear springs and encoders. Based on the kinestatic control theory, some experiments of the kinestatic control of a robot have been performed and the results are presented. The experimental results demonstrate that the simple compliant wrist/sensor can be utilized for a complicated robot tasks which require a contact with an environment. It is also proposed that the wrist/sensor be used in a teleoperating robotic system with a force-reflecting hand-controller in order to provide an operator with more practical kinesthetic information.

关键词： Wrist Robot sensing systems Force sensors Displacement control Force control Torque control Computational geometry Springs Control theory Robot control

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