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SAPIR: Supervised and Adaptive Programming of Industrial Robots

SAPIR: Supervised and Adaptive Programming of Industrial Rob...

引用

IEEE International Conference on Intelligent Engineering Systems (INES)

作者： B. Solvang P. Korondi G. Sziebig N. Ando Department of Industrial Engineering Narvik University College Narvik Norway Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary National Institute for Advanced Industrial Science and Technology Chiyoda Tokyo Japan

Cast parts have inconsistent geometry and grinding and deburring operations is to be carried out based on individual observation of every single workpiece. Normally, these operations are carried out manually by humans. However, due to the health risk associated with the grinding process, there is a strong incentive to explore new automated solutions. The industrial robot is viewed as a strong component for this job. Programming industrial robots is traditionally done by teach or offline programming methodologies. Both methods encounter problems in grinding/deburring operations. In traditional offline programming the robot path is generated from a CAD model of the workpiece. This CAD model holds no information on the irregularities (burrs) and then the necessary path cannot be created. This paper presents a new approach for supervised robot programming, which allows new field of application of industrial robots. In the near future, automatization of manufacturing processes with industrial robots in small and medium sized enterprise would be common. Instead of a costly, but fully automated solution, which works only from CAD model of workpiece and does not provide 100% satisfying result, an operator is involved in robot programming. The result is a 90% automated solution with the expertise of the worker. This interactive vision-based robot programming adds the required information into the offline programming environment. Thus, location and shape of any irregularities can be identified and the necessary deburring path created.

关键词： Robot programming Service robots Robotics and automation Deburring Manufacturing industries Computational geometry Humans Educational robots Manufacturing processes Programming environments

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Optimal sampling in single photon counting using fuzzy logic

Optimal sampling in single photon counting using fuzzy logic

引用

Proceedings of the Biannual World Automation Congress

作者： L. Nadai L. Koczy P. Varlaki Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Hungary Computer and Automation Research Institute Hungarian Academy of Sciences HUNGARY Budapest University슠of슠Technology슠and슠Economics Hungary

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Vibro-tactile feedback for VR systems

Vibro-tactile feedback for VR systems

引用

Conference on Human System Interactions, HSI

作者： Gabor Sziebig Bjorn Solvang Csaba Kiss Peter Korondi Department of Industrial Engineering Narvik University College Narvik Norway Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary

Today, in production engineering we have already taken into usage complex virtual representations of the manufacturing environment were we can program, simulate, analyse and optimise key performances. Such systems are mainly working through keyboard/ mouse input while user feedback normally are direct visual through computer screen and text files. Such communication only relays on a limited spectre of our senses and the keyboard/mouse/screen systems cannot be said to be very human friendly, especially when the operator is expected to operate ldquoout of officerdquo in a unstructured, maybe dangerous or dirty, environment. In the near future we expect to see more advanced input/output devices like motion capturing and speech input systems while feedback will not be visual alone but include several other human senses. Combinatorial sensory information, interpreted by the human brain, becomes very handy when a stand alone sense is not enough to interpret the actual situation. Imitation of senses and feedback from virtual reality environments always meant a great problem. Realization of two (sight and hearing) out of the five human senses is indispensable. Simulation of these two senses is not complex issue; on the contrary the other three are quite challenging. This paper describes the development of a vibro-tactile glove which can provide sensory feedback from a virtual environment, either as a stand alone system but most important in combination with sight and audio feedback systems. Instead of implementing real force feedback, the focus is on tactile sensing, as an alternative way of achieving the same feedback. The glove contains six vibration motors on different locations on the hand. These locations include all five fingers, and the palm. Communication with the glove is wireless, enabling free movement for the user. The system is low cost and very small sized which allows for combining it with advanced input devices like a motion capturing suit.

关键词： Virtual reality Humans Keyboards Mice Force feedback Production engineering Virtual manufacturing Computational modeling Analytical models Performance analysis

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Minimizing TS controller via HOSVD

Minimizing TS controller via HOSVD

引用

IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： P. Baranyi D. Tikk A.R. Varkonyi-Koczy Yeung Yam I. Rudas Integrated Intelligent Systems Japanese HUngarian Laboratory Budapest University슠of슠Technology슠and슠Economics Hungary Automation and Computer Aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Budapest Polytechnic Hungary

One of the usual important criteria to be considered in real time control applications is the computational complexity of the controllers, observers and models applied. In the paper a higher order singular value decomposition (HOSVD) based complexity reduction technique is proposed for Takagi Sugeno (TS) fuzzy models, which is capable of defining the contribution of each local linear model included in the TS fuzzy model. This helps us with discarding the weakly contributing ones according to a given threshold. Reducing the number of models leads directly to the computational complexity reduction.

关键词： Fuzzy systems Tensile stress Automatic control Computational complexity Fuzzy sets Fuzzy logic Automation Intelligent systems Computational intelligence Laboratories

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LPV type model of deformational force in vehicle collisions

LPV type model of deformational force in vehicle collisions

引用

International Conference on Computational Cybernetics (ICCC)

作者： István A. Harmati András Rövid Péter Várlaki Department of Mathematics and Computational Sciences Széchenyi István University Hungary John von Neumann faculty of Informatics Budapest Tech Budapest Hungary Department of Chassis and Lightweight Structures Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Modeling of the deformational force and absorbed energy plays a very important role in different fields of vehicle engineering. The usually applied FEM based methods give good approximations, but they have extremely large computational complexity. On the other hand there exist simple force models, but they not approximate well in details the real data. The aim of this paper is to introduce a force model for vehicle deformation, which is able to describe the real process and have acceptable complexity.

关键词： Deformable models Vehicle crash testing Automotive engineering Computational complexity Vehicle safety Accidents Mechanical variables measurement Velocity measurement Time measurement Cybernetics

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Opto-Mechanical Filtering Applied for Orientation and Length Selective Contour Detection

Opto-Mechanical Filtering Applied for Orientation and Length...

引用

Annual Conference of Industrial Electronics Society

作者： B. Resko P. Baranyi P. Korondi H. Hashimoto Computer and Automation Research Institute Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Institute of Industrial Sciences University of Tokyo Tokyo Japan

Cognitive informatics is a very hot topic today, trying to provide solutions to problems in computation that are easily solved by the brain but are hard for a computer. The information processing properties of the brain are taken as the basis for such artificial systems. The first step of visual information processing, the extraction of orientation selective contours, is done in the primary visual cortex. A similar, orientation based filtering can be the first step in many vision systems of cognitive informatics. This paper presents a new approach to orientation selective contour detection. Oriented motion blur is used to filter for the desired orientations. The motion blur operation is performed before digitalization, using a vibrating mirror. The proposed technique not only provides a very high speed, high resolution contour detector, but also solves the problem of contour discontinuities.

关键词： Filtering Cognitive informatics Data mining Information processing Neurons Automation Machine vision Mirrors Humans Computer architecture

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Fractal and structural entropy calculations on the epitaxially grown fulleren structures with the help of image processing

Fractal and structural entropy calculations on the epitaxial...

引用

International Symposium on Intelligent Systems and Informatics (SISY)

作者： Akos Nemcsics Szilvia Nagy Imre Mojze Peter Turmezei Research Institute for Technical Physics and Material Sciences Budapest Hungary Institute of Microelectronics and Technology Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Department of Telecommunications Széchenyi István University Gyor Hungary Szechenyi Istvan Egyetem Gyor HU

Molecular beam epitaxially grown fullerene layers are investigated with the help of image processing. The layered structures are studied in morphological respect. The individual layer morphologies are derived from the atomic force microscopy picture of the surface. The pattern morphology of the certain layers is analysed by box counting method. The surface morphology shows fractal behaviour. The pattern of each layer shows different dimension. The actual dimension depends on the actual distance of the layer from the substrate. The change of the dimension is attributed to the change of the binding behaviour. The topology of the surface is also studied using participation ratio and structural entropy calculations.

关键词： Fractals Entropy Image processing Surface morphology Atomic force microscopy Molecular beam epitaxial growth Atomic layer deposition Pattern analysis Substrates Topology

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Acoustic source localization in sensor networks with low communication bandwidth

Acoustic source localization in sensor networks with low com...

引用

Workshop on Intelligent Solutions in Embedded Systems

作者： Gyula Simon Laszlo Sujbert Embedded Information Technology Research Group Hungarian Academy of Sciences (ATOMKI) Budapest Hungary Department of Computer Science Pannon University Veszprem Hungary Department of Measurement and Information Systems Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

A new acoustic localization scheme is proposed, which can be applied in sensor networks with low communication bandwidth. The first step of the two-stage algorithm is distributed and is evaluated at the sensors having possibly low communication capabilities. The sensors detect various events in the acoustic signal and transmit only the event descriptors to the base station where the sensor fusion is calculated in the second step using a novel generalized consistency function. Test results validate the performance of the proposed system in a noisy and reverberant environment. According to experiments, the proposed system decreases the necessary communication bandwidth with multiple orders of magnitude and still provides high accuracy comparable with that of the sophisticated beam-forming methods

关键词： Acoustic sensors Bandwidth Sensor fusion Sensor phenomena and characterization Acoustic signal detection Event detection Base stations Acoustic testing System testing Acoustic noise

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Tensor Product Transformation Based Friction Model

Tensor Product Transformation Based Friction Model

引用

IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Y. Kunii B. Solvang G. Sziebig P. Korondi Department of Electrical and Electronic Engineering Chuo University Bunkyo Tokyo Japan Department of Industrial Engineering Narvik University College Narvik Norway Department of Automation and Applied Informatics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary

Friction is a very old and universal issue in all mechanical systems. Since friction is non-linear, it is an ever challenging problem. Several empirical nonlinear friction models have been proposed in the technical literature. This paper does not propose any new model but it presents a new, tensor product (TP) based representation of the existing friction models which is suitable for control design. The TP model transformation is a relatively new method for transforming certain nonlinear models into polytopic model form. The main advantage of the TP model transformation is that the most of the linear state feedback design methods including Linear Matrix Inequality (LMI) can immediately applied to the resulting polytopic models to yield controllers with guaranteed performance.

关键词： Tensile stress Friction Control design Mechanical systems Linear matrix inequalities Industrial electronics Educational institutions Industrial engineering Automation Informatics

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Conceptual design of optical path related elements in the port plug of ITER core lidar diagnostic

Conceptual design of optical path related elements in the po...

引用

IEEE/NPSS Symposium on Fusion Engineering

作者： B. Meszaros G. Porempovics M. Walsh Department of Plasma Physics KFKI Research Institute of Particle and Nuclear Physics Budapest Hungary Department of Applied Mechanics Budapest University슠of슠Technology슠and슠Economics Budapest Hungary Culham Laboratory UKAEA-Euratom Fusion Association UK

The present paper describes the engineering conceptual design of the optical labyrinth and the first and second mirror mounts of the ITER core LIDAR diagnostics. The optical labyrinth, being in a very sensitive location close and open to the plasma, has been examined carefully to be able to provide different solutions satisfying the needs of the diagnostics. Therefore the conceptual design considered the covering of the light path, the integration of the labyrinth into the port plug as well as the shape, color and material of the labyrinth inner surface to be able to handle the undesirable phenomena of scattered light and sputtered particles reaching the mirroring surface. Nevertheless, cooling/ baking has also been considered and appropriate solutions presented. Regarding the mirror mounts, concepts have been created. It has been identified, that the mirrors must be conditioned at a certain temperature, therefore cooling/ baking options were developed. The cooling/ baking and especially the neutron absorption functions were detected to be essential for the extension tubes. The development basically focused on the different installation methods of the neutron shielding plates in a way to be also able to provide the tubes kept in the required temperature range. The result of the development was that a water-steel mixture varied through the length of the extension tubes could provide the maximum neutron shielding, hence satisfying the very strict requirement of 6 orders of magnitude neutron absorption required to maintain the post operation safety. The conceptual engineering design has been supported by preliminary thermal analysis of the mirror extension tubes.

关键词： Optical design Plugs Laser radar Optical scattering Mirrors Neutrons Optical sensors Cooling Design engineering Plasma temperature

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