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RSI/ISM International Conference on robotics and Mechatronics

作者： Pedram Agand Hamid D. Taghirad Amir Molaee Advanced Robotics and Automation System (ARAS) Industrial Control Center of Excellence (ICEE) Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Iran

ISBN: (纸本)9781467372350

In this article, a method to obtain spatial coordinate of spherical robot's moving platform using a single camera is proposed, and experimentally verified. The proposed method is an accurate, flexible and low-cost tool for the kinematic calibration of spherical-workspace mechanisms to achieve the desired accuracy in position. The sensitivity and efficiency of the provided method is thus evaluated. Furthermore, optimization of camera location is outlined subject to the prescribed cost functions. Finally, experimental analysis of the proposed calibration method on ARAS Eye surgery Robot (DIAMOND) is presented;In which the accuracy is obtained from three to six times better than the previous calibration.

关键词： Kinematic Calibration Vision-Base Positioning Eye Surgery Robot Spherical Workspace

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Conditioning of Vitrified Bond CBN grinding wheels using a picosecond laser 17

Conditioning of Vitrified Bond CBN grinding wheels using a p...

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17th International Symposium on Advances in Abrasive technology, ISAAT 2014

作者： Zahedi, Ali Tawakoli, Taghi Akbari, Javad Azarhoushang, Bahman Furtwangen University SchwenningenBaden-W��rttemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Kuala Lumpur Malaysia

ISBN: (纸本)9783038352211

Laser ablation is a novel non-mechanical wheel preparation method for optimizing the treatment costs of superabrasive tools. In this study the thermal effects of picosecond laser radiation on CBN superabrasive grinding wheel surface is analytically and experimentally investigated. The analytical approach is intended to find threshold process parameters for selective ablation of cutting grains and bond material. It has been analytically and experimentally shown that, the extent of material degradation is defined by the maximum surface temperature induced by the laser radiation which is in turn defined by the laser beam energy. It is also suggested that, the depth of laser thermal effects is governed by the relative speed of the laser scanner with respect to the wheel surface. © (2014) Trans Tech Publications, Switzerland.

关键词： Grinding (machining)

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Investigating the effect of ultrasonic vibration on hole accuracy in drilling of metal matrix composites

Investigating the effect of ultrasonic vibration on hole acc...

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6th International Conference on Tribology in Manufacturing Processes and Joining by Plastic Deformation, ICTMP 2014

作者： Kadivar, Mohammadali Akbari, Javad Vakili Azghandi, Bijan Department of Mechanical Engineering Industries and Mines University Tehran Iran Tehran Iran Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Tehran Iran Center of Advanced Manufacturing and Material Processing Micro Mechanism Research Group Department of Engineering Design and Manufacture University of Malaya Malaysia School of Mechanical Engineering Amirkabir University of Technology Hafez street Tehran Iran

ISBN: (纸本)9783038351276

Generally in the drilling of new engineering materials such as metal matrix composites, problems frequently occur in terms of poor finished surface, tool stress, tool wear, high drilling forces as well as low process reliability. A useful and promising method to overcome these problems is the use of ultrasonic vibration as an assistance, where high-frequency and low amplitude vibration are added to the conventional movement of cutting tools or workpieces. This research presents the new design of an ultrasonic assisted system and the experimental investigation of ultrasonically assisted drilling of Al/SiC metal matrix composites under different cutting conditions. The effect of cutting conditions and ultrasonic amplitude on the circularity, cylindericity, and hole oversize of the ultrasonically and conventionally drilled workpieces were investigated. The obtained results show that the ultrasonic vibration can improve the hole quality. © (2014) Trans Tech Publications, Switzerland.

关键词： Cutting tools

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Ultrasonic-assisted cylindrical grinding of Alumina-zirconia ceramics

Ultrasonic-assisted cylindrical grinding of Alumina-zirconia...

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ASME 2013 International Mechanical Engineering Congress and Exposition, IMECE 2013

作者： Tawakoli, Taghi Akbari, Javad Zahedi, A.M. Furtwangen University Schwenningen Baden-Württemberg Germany Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology Azadi Ave. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing Department of Engineering Design and Manufacture University of Malaya 50603 Kuala Lumpur Malaysia

ISBN: (纸本)9780791856185

Due to its vast applications and stochastic nature, grinding has been the subject of investigations and modifications for decades. Applying ultrasonic vibration in grinding has been a successful innovation introducing benefits such as reduced forces and temperature, improved surface quality, and making higher removal rates possible. In this work a set-up is developed for utilizing ultrasonic vibrations in cylindrical grinding. This is done by rotating and simultaneously vibrating the workpiece material. The set-up is used for cylindrical grinding of Alumina-zirconia ceramic as a difficult-to-grind and widely used industrial ceramic. Optimized parameters for efficient grinding and surface characteristics of the ground ceramic are investigated and the effects of ultrasonic vibration are declared. Copyright © 2013 by ASME.

关键词： Surface roughness

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Applying Ultrasonic Vibration to Decrease Drilling-Induced Delamination in GFRP Laminates

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Procedia CIRP 2013年 6卷 577-582页

作者： P. Mehbudi V. Baghlani J. Akbari A.R. Bushroa N.A. Mardi Center of Excellence in Design Robotics and Automation School of Mechanical Engineering Sharif University of Technology AzadiAve. 14588-89694 Tehran Iran Center of Advanced Manufacturing and Material Processing - Micro Mechanism Research Group Department of Engineering Design and Manufacture Faculty of Engineering University of Malaya 50603 Kuala Lumpur Malaysia

Delamination is a major problem in drilling of fiber-reinforced composite materials. Thrust force is an important factor leading to propagation of delamination during drilling process. One of effective methods to reduce machining forces is application of ultrasonic vibrations. In this study ultrasonic assisted drilling is applied to reduce thrust force in drilling of GFRP laminates. In order to conduct experiments a setup is designed and fabricated to apply both vibrations and rotation to drill bits. Using Taguchi method, a set of experiments is conducted with feed rate, spindle speed, and ultrasonic vibration amplitude as control factors. The results show that applying ultrasonic vibration reduces the thrust force and therefore the drilling induced delamination dramatically.

关键词： Ultrasonic assisted drilling GFRP laminates Drilling induced delamination Taguchi method

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A positive tensions PID controller for a planar cable robot: An experimental study

A positive tensions PID controller for a planar cable robot:...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Reza Oftadeh Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran Intelligent Hydraulics and Automation Department (lHA) Tampere University of Technology Finland

In this paper design and control of planar cable-driven parallel robots are studied in an experimental prospective. Since in this class of manipulators, cable tensionability conditions must be met, feedback control of such robots becomes more challenging than for conventional robots. To meet these conditions, internal force control structure is introduced and used in addition to a PID control scheme to ensure that all cables remain in tension. A robust PID controller is proposed for partial knowledge of the robot, to keep the tracking errors bounded. Finally, the effectiveness of the proposed control algorithm is examined through experiments on K.N. Toosi planar cable-driven robot and it is shown that the proposed control structure is able to provide suitable performance in practice.

关键词： PD control Assembly Logic gates Servomotors Force

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Non-Markovian quantum input-output networks

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Physical Review A 2013年第3期87卷 032117-032117页

作者： Jing Zhang Yu-xi Liu Re-Bing Wu Kurt Jacobs Franco Nori Department of Automation Tsinghua University Beijing 100084 China Center for Quantum Information Science and Technology TNList Beijing 100084 China Advanced Science Institute RIKEN Wako-shi Saitama 351-0198 Japan State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Institute of Microelectronics Tsinghua University Beijing 100084 China Department of Physics University of Massachusetts at Boston Boston Massachusetts 02125 USA Physics Department The University of Michigan Ann Arbor Michigan 48109-1040 USA

Quantum input-output response analysis is a useful method for modeling the dynamics of complex quantum networks, such as those for communication or quantum control via cascade connections. Non-Markovian effects are expected to be important in networks realized using mesoscopic circuits, but such effects have not yet been studied. Here we extend the Markovian input-output network formalism to non-Markovian networks. The general formalism can be applied to various examples: (i) we show how non-Markovian coherent feedback can reduce the speed of decoherence for an atom in an optical cavity; (ii) we examine the effect of finite-cavity bandwidths in a superconducting circuit.

关键词： QUANTUM networks (Optics) MARKOV processes MATHEMATICAL models FEEDBACK control systems BANDWIDTHS SUPERCONDUCTORS ELECTRIC circuits MESOSCOPIC systems

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Robotic Force Control Assembly Parameter Optimization for Adaptive Production

Robotic Force Control Assembly Parameter Optimization for Ad...

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2011 IEEE International Conference on robotics and automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

作者： Jianjun Wang Biao Zhang Dave Gravel George Zhang Arnold Bell Corporate Research Center of ABB Inc. WindsorCT 06095US Advanced Manufacturing Technology Development Ford Motor CompanyLivoniaMI US Powertrain Automation Department in Robotics Division in ABB Engineering ShanghaiChina ABB Robotics Auburn HillsMI US

This paper presents a study on the Design Of Experiments (DOE)-based parameter optimization technique to adapt to the manufacturing environment changes in robotic force control assembly. Based on a real-world transmission torque converter assembly production process, investigation and analysis are performed in production. An on-pendant robotic assembly parameter optimization tool is introduced. When manufacturing environment changes such as the changes of geometrical dimension of part and tool (the location of feature on part, the size of the feature, the dimension of the tool, etc.), the changes of position and orientation of part, fixture or robot;the changes of properties of part (weight, spring constant, etc.), the performance metrics such as mean of the cycle time, mean plus 3 sigma of the cycle time, first time through (FTT) rate are degraded. The on-pendant optimization tool applies full factorial experiments on the most influential parameters. Then the results are subjected to statistical analysis to find the optimal parameter set. Finally verifying the optimized parameter set through running a number of experiments and checking on performance of the force control assembly to adapt the changes. The efficiency of proposed method is proved in the Ford Powertrain assembly production. The program continues running in production and adjusting the process parameters to adapt the manufacturing variations. The real factory acceptance testing results are presented and analyzed. Finally, conclusions are drawn and discussion and further investigation is proposed.

关键词： Assembly Robots Optimization Production Force control Torque converters

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Obstacle-navigation control of power transmission lines inspection robot

Obstacle-navigation control of power transmission lines insp...

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IEEE International Conference on robotics and Biomimetics

作者： Ludan wang Hongguang Wang Lijin Fang Center for Robot Engineering Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Shenzhen Guangdong China CAS-Designated Key Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning China

ISBN: (纸本)9781424417612;1424417619

This paper presents an inspection robot suspended on power transmission lines based on a novel movement mechanism with two manipulators and a body. After the inspection robot configuration is described, the process of obstacle-navigation are analyzed in details. During the process of auto obstacle-navigation, power line grasping control should be realized exactly with the arm of inspection robot. According to the transmission line geometry characteristic and the theory of perspective projection, a single camera stereovision method has been set up to detect the orientation and position vector of the power transition line. Based on that arithmetic and theory of visual servoing, line grasping servoing model is built up to achieve line-grasping control. Experimental results show that the robot can realize auto obstacle-navigation control and proves the valid of the control method.

关键词： Power transmission lines Inspection Mobile robots Automatic control robotics and automation Visual servoing Control systems Poles and towers Manipulators Arithmetic

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A Study On Iterative Learning Control With Adjustment Of Learning Interval For Monotone Convergence In The Sense Of Sup-Norm

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Asian Journal of Control 2008年第1期4卷

作者： Kwang-Hyun Park Zeungnam Bien Division of EE Department of EECS Korea Advanced Institute of Science and Technology 373–1 Kusong-dong Yusong-gu Taejon 305–701 Korea. Zeungname Bien:received the B.S. degree in electronics engineering from Seoul National University Seoul Korea in 1969 and the M.S. and Ph.D. degrees in electrical engineering from the University of Iowa Iowa City Iowa U.S.A. in 1972 and 1975 respectively. During 1976–1977 academic years he taught as assistant professor at the Department of Electrical Engineering University of Iowa. Then Dr. Bien joined Korea Advanced Institute of Science and Technology summer 1977 and is now Professor of Control Engineering at the Department of Electrical Engineering and Computer Science KAIST. Dr. Bien was the president of the Korea Fuzzy Logic and Intelligent Systems Society during 1990–1995 and also the general chair of IFSA World Congress 1993 and for FUZZ-IEEE99 respectively. He is currently co-Editor-in-Chief for International Journal of Fuzzy Systems (IJFS) Associate Editor for IEEE Transactions on Fuzzy Systems and a regional editor for the International Journal of Intelligent Automation and Soft Computing. He has been serving as Vice President for IFSA since 1997 and is now Chief Chairman of Institute of Electronics Engineers of Korea and Director of Humanfriendly Welfare Robot System Research Center. His current research interests include intelligent control methods with emphasis on fuzzy logic systems service robotics and rehabilitation engineering and large-scale industrial control systems. Kwang-Hyun Park:received the B.S. M.S. and Ph.D. degrees in electrical engineering and computer science from KAIST Korea in 1994 19997 and 2001 respectively. He is now a researcher at Human-friendly Welfare Robot System Research Center. His research interests include learning control machine learning human-friendly interfaces and service robotics.

It has been found that some huge overshoot in the sense of sup-norm may be observed when typical iterative learning control (ILC) algorithms are applied to LTI systems, even though monotone convergence in the sense of λ-norm is guaranteed. In this paper, a new ILC algorithm with adjustment of learning interval is proposed to resolve such an undesirable phenomenon, and it is shown that the output error can be monotonically converged to zero in the sense of sup-norm when the proposed ILC algorithm is applied. A numerical example is given to show the effectiveness of the proposed algorithm.

关键词： Iterative learning control monotone convergence learning interval sup-norm

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