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检索条件"机构=Advanced Robotics Development"

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Intelligent product-driven manufacturing control: A mixed genetic algorithms and machine learning approach to product intelligence synthesis

Intelligent product-driven manufacturing control: A mixed ge...

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XXII International Symposium on Information, Communication and Automation Technologies, ICAT

作者： Mehdi Gaham Brahim Bouzouia Division of Computer-Integrated Manufacturing and Robotics Advanced Technologies Development Center Algiers Algeria

As a specialisation of Holonic agent-based distributed manufacturing control, intelligent product-driven manufacturing control paradigm has recently emerged as one of the most promising paradigms for the development of next generation manufacturing intelligent control systems. But major issue to be solved to make this paradigm effective in real world industrial environment is related to the lack of efficiency of agent-based local decision-making approaches employed. The research work presented in this paper focuses on this pending issue and proposes and formalizes the combination of main capabilities of agent-based intelligent product-driven manufacturing control paradigm and computational intelligence genetic algorithm optimisation tool for the development of effective and efficient intelligent product driven agent-based distributed dynamic scheduling and control strategy. This challenging combination is achieved by neural network-based machine learning technique and enables enhancing manufacturing system reactivity, flexibility and fault tolerance, as well as maintaining behavioural stability and optimality.

关键词： Learning systems Intelligent control Manufacturing Genetic algorithms Machine learning Competitive intelligence Intelligent agent Computational intelligence Control systems Control system synthesis

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Multi-agent control architecture of mobile manipulators: Following an operational trajectory

Multi-agent control architecture of mobile manipulators: Fol...

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International Conference on Signals, Circuits and Systems, SCS

作者： A. Hentout B. Bouzouia I. Akli E. Ouzzane R. Benbouali M. A. Bouskia Advanced Technologies Development Centre CDTA Computer-Integrated Manufacturing and Robotics Algiers Algeria University of Sciences and Technology Houari Boumediene Algiers Algeria

ISBN: (纸本)9781424443970;9781424443987

This paper presents a trajectory planning methodology for a mobile manipulator whose end-effector has to follow a predefined operational trajectory while considering obstacles in its environment. The robot is controlled by a multi-agent architecture that consists of six agents: Four agents are installed on an off-board PC and two others installed on the onboard PC of the robot. The validity of the methodology is demonstrated using the RobuTER/ULM mobile manipulator. The end-effector of the robot is asked to follow a straight-line while the non-holonomic differentially driven mobile base has to avoid obstacles in the environment. The end-effector of the robot is positioned at the preferred configuration progressively as the mobile base moves due to messages (current position coordinates and orientation angle of the mobile base, etc.) exchanged between the various agents of the control architecture.

关键词： Robot kinematics Control systems Mobile robots Trajectory Manipulator dynamics Mobile computing Paper technology Navigation Humans Fuzzy control

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Multi-agent control architecture of mobile manipulators: Extraction of 3D coordinates of object using an eye-in-hand camera

Multi-agent control architecture of mobile manipulators: Ext...

引用

International Conference on Signals, Circuits and Systems, SCS

作者： A. Hentout B. Bouzouia I. Akli M. A. Bouskia R. Benbouali E. Ouzzane Advanced Technologies Development Centre (CDTA) Computer-Integrated Manufacturing and Robotics Algiers Algeria University of Sciences and Technology Houari Boumediene Algiers Algeria

ISBN: (纸本)9781424443970;9781424443987

This research is part of the development of a multi-agent control architecture of mobile manipulators. The control architecture consists of six agents: Supervisory, Local Mobile Robot, Local Manipulator Robot, Vision System, Remote Mobile Robot and Remote Manipulator Robot. The first four agents are installed on an off-board PC while the two others are installed on the on-board PC of the robot. This paper proposes the development of the Vision System agent in order to give the robot the ability to manipulate in an indoor environment. It presents a position-based control of mobile manipulators with a single camera mounted at its end-effector (eye-in-hand camera). The cooperative manipulation can be carried out due to messages exchanged between the various agents of the control architecture (3D coordinates of object, joints angles of the manipulator for capturing images, current position coordinates and orientation angle of the mobile base, etc.). Experimental results, using the RobuTER/ULM mobile manipulator, are presented to verify the correctness, the effectiveness and the performances of the implemented agent.

关键词： Cameras Robot vision systems Manipulators Mobile robots Robot kinematics Control systems Machine vision Mobile computing Indoor environments Humans

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Objective metric study for DOE-based parameter optimization in robotic torque converter assembly

Objective metric study for DOE-based parameter optimization ...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Dave Gravel George Zhang Arnold Bell Biao Zhang Advanced Manufacturing Technology Development Ford Motor Company Limited Livonia MI USA ABB Corporate Research Center Windsor USA ABB Robotics AB Auburn Hills MI USA

This paper presents the objective metric study on design of experiments (DOE)-based robotic force control parameter optimization in transmission torque converter assembly. Based on a real-world assembly production process, investigation and analysis are performed on the optimization metrics of assembly cycle time mean (MEAN), its mean plus three times of standard deviation (MEAN+3*STDEV), and first time through (FTT) rate. Simulations have been conducted to illustrate and explain the findings in the parameter optimization practice. Practical metric criteria have been proposed and discussed. An on-pendant robotic assembly parameter optimization tool with the objective metric concept is introduced. And automatic parameter optimization or online robot learning feature is also mentioned in terms of the objective metrics for the particular robot assembly parameter optimization tasks. Finally conclusions are drawn and discussion and further investigation is proposed.

关键词： Robotic assembly Torque converters Force control Robot sensing systems Service robots robotics and automation Force sensors Industrial control Intelligent robots Assembly systems

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Adaptive CPG based coordinated control of healthy and robotic lower limb movements

Adaptive CPG based coordinated control of healthy and roboti...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jae-Kwan Ryu Nak Young Chong Bum Jae You Henrik Christensen Mechanical Engineering Research and Development Laboratory Gyeonggi South Korea School of Information Science Japan Advanced Institute of Science and Technology Ishikawa Japan Center of Cognitive Robotics Research Korea Institute of Science and Technology Seoul South Korea College of Computing Georgia Institute of Technology Atlanta GA USA

This paper proposes an adaptive CPG based controller for a lower limb prosthesis consisting of online trajectory generation and interlimb coordination. The adaptive CPG can produce multidimensional rhythmic patterns and modulate their frequency by tuning relevant parameters in an autonomously way adapting to a changing periodicity of external signals. Also, to increase the stability of the prosthesis, a spring-damper component is attached between the hip and ankle joints, allowing the absorption of impulsive ground reaction forces at landing. We verify the validity of the proposed controller with a simulated humanoid robot through the investigation of the self-coordination between the healthy and robotic legs.

关键词： Programmable control Adaptive control Robot kinematics Prosthetics Humanoid robots Multidimensional systems Frequency modulation Tuning Stability Hip

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Pneumatic excavator and regolith transport system for lunar ISRU and construction

Pneumatic excavator and regolith transport system for lunar ...

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Space 2008 Conference

作者： Zacny, Kris A. Mungas, Greg Mungas, Chris Fisher, Dave Hedlund, Magnus Drilling and Excavation Systems Honeybee Robotics 460 West 34th Street New York NY 10001 United States Firestar Engineering Advanced Development 557 Burbank St. Unit J. Broomfield CO 80020 United States

ISBN: (纸本)9781563479465

In this paper, we discuss our initial experimental results and preliminary theoretical model for transporting fine regolith particles as would be found in planetary environments (lunar or Mars) using high Mach number excitation, low pressure gases in tubing. This technique, coined "vacuum jet-lift method" selectively excites particles through transfer of gas momentum into the particles in the vicinity of a gas injection head. The resultant dusty-gas flow is subsequently transported along a tube containing the particles as the gas attempts to ultimately escape into the low pressure environment (controlled exit port to local atmosphere). At the gas injection point, a "leaky" seal between the injector and regolith or soil is permitted that allows some gas loss. The head loss through this leaky seal must be much greater than head loss through the rest of the transport system. We discuss experimental tests in ∼5 torr atmosphere demonstrating regolith-mass-to-gas-mass transport efficiencies exceeding 1000:1 utilizing this technique. We also describe a theoretical model for scaling that demonstrates much higher efficiencies are achievable with lower pressure gases. Once the particles are entrained in the gas, the carrier gas can also be used to efficiently heat the particles as compared to attempting to drive heat flow directly through the highly insulating regolith. Copyright © 2008 by K. Zacny.

关键词： Gases

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Time-delay compensation and disturbance rejection in the control of robots with visco-elastic joints using loop-shaping approach

Time-delay compensation and disturbance rejection in the con...

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2007 IEEE International Workshop on Robotic and Sensor Environments, ROSE 2007

作者： Torabi, Meysam Taher, Mahdieh Ardekani, Reza Dehestani Jahed, Mehran Sharif University of Technology Robotics and Machine Vision Laboratory Amirkabir University of Technology Research and Development of Advanced Software System Laboratory

ISBN: (纸本)1424415276

In many medical applications, it is necessary to precisely control a robot to achieve exact positioning. In such cases, some components of robot which had been considered rigid should be modeled with visco-elastic elements to present more exact model of robot, and hence controllers designed under the assumption of rigidity may not accurately control them, especially when time-delay and disturbances have been appeared in the closed-loop system. In this study, we present a new control approach to force such robots to have rigid and exact motions, while they have visco-elastic components. Time-delay in the feedback path defects transient state response, while disturbances change the steady state response. Therefore different controllers are required to correct the robot behaviors. In this regard, robot dynamics is extracted and converted to the characteristic equation. Then, by an appropriate system identification method, an order-reduced model is obtained. Loop-shaping technique is exploited on the magnitude frequency response to design different model-based controllers for principal zones of the frequency response. The simulation results illustrate appropriate time-delay compensation and disturbance rejection in the time response. ©2007 IEEE.

关键词： Disturbance rejection

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors Computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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Singular perturbation control for vibration rejection in HDDs with a PZT active suspension

Singular perturbation control for vibration rejection in HDD...

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45th IEEE Conference on Decision and Control 2006, CDC

作者： Pang, Chee Khiang Lewis, Frank L. Ge, Sam Shuzhi Guo, Xiao Chen, Ben M. Lee, Tong Heng IEEE Central Research Laboratory Research and Development Group Hitachi Ltd. 2880 Kozu Odawara Kanagawa 256-8510 Japan A STAR Data Storage Institute Singapore Singapore Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)1424401712

In this paper, the SPT (Singular Perturbation Theory) is applied to decompose the VCM's (Voice Coil Motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (Degrees-Of-Freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (Laser Doppler Vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3σ PES (Position Error Signal) during track following when compared to conventional notch-based servos. © 2006 IEEE.

关键词： Hard disk storage

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Singular Perturbation Control for Vibration Rejection in HDDs with a PZT Active Suspension

Singular Perturbation Control for Vibration Rejection in HDD...

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IEEE Conference on Decision and Control

作者： Chee Khiang Pang Frank L. Lewis Sam Shuzhi Ge Guoxiao Guo Ben M. Chen Tong Heng Lee Research Laboratory Research & Development Group Hitachi and Limited Odawara Kanagawa Japan Department of Electrical and Computer Engineering National University of Singapore Singapore Data Storage Institute Singapore Advanced Controls and Sensors Group Automation and Robotics Research Institute University of Texas Arlington USA

ISBN: (纸本)1424401704

In this paper, the SPT (singular perturbation theory) is applied to decompose the VCM's (voice coil motor) and induced PZT active suspension's dynamics into fast and slow subsystems, respectively. The control system is decomposed into fast and slow time scale for controller designs, and control effectiveness is increased to tackle more DOFs (degrees-of-freedom) via inner loop vibration suppression with measured high frequency VCM's and PZT active suspension's dynamics from the piezoelectric elements in the suspension. Experimental results on a commercial HDD with LDV (laser Doppler vibrometer) show effective suppression of the VCM and PZT active suspension's flexible resonant modes as well as an improvement of 39.9% in 3sigma PES (position error signal) during track following when compared to conventional notch-based servos

关键词： Vibration control Control systems Vibration measurement Coils Frequency measurement Time measurement Laser modes Vibrometers Resonance Servomechanisms

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