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IEEE International Conference on robotics and automation (ICRA)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we consider fixtures with frictionless point contacts and present a method for placement of contact points on a non-prismatic 3D workpart. It is a nondeterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures.

关键词： Fixtures Manufacturing automation robotics and automation intelligent robots Laboratories Computer science intelligent manufacturing systems Computer aided manufacturing Machining Assembly

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Force sensor for laparoscopic Babcock

Force sensor for laparoscopic Babcock

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作者： Morimoto, Alan K. Foral, R.D. Kuhlman, J.L. Zucker, Karl A. Curet, Myriam J. Bocklage, T. MacFarlane, T.I. Kory, L. Intelligent Systems and Robotics Center Sandia National Laboratories PO Box 5800 MS 1003 Albuquerque NM 87185-5800 United States Albuquerque Surgical Group PA 718 Encino Pl NE Albuquerque NM 87102 United States Department of Surgery Department of Surgical Pathology University of New Mexico Albuquerque NM 87131 United States ATI Industrial Automation 503D Highway 70 East Garner NC 27529 United States

General: A force sensor has been designed and fabricated that will fit to existing laparoscopic grasping forceps (Babcocks) from Ethicon Endosurgery Inc. The goal of the sensor development is to provide tool-tissue force information to the surgeons so that surgeons can regain the sense of touch that has been lost through laparoscopy. Eventually, force sensing will provide feedback for robotic laparoscopic surgical platforms. Objective: We have developed a prototype force sensor system with ATI Industrial automation. This tool is provided as an in-line transducer with six degrees of freedom that can retrofit current Babcocks. The sensor is currently being used in clinical trials with animals to determine the benefits. The sensor system utilizes industry proven technology in combination with a custom transducer and user interface. A GUI is part of the system and provides resolved force magnitude data in a graphical format for ease of interpretation. Sterilization, size, and ease of use are addressed by the current design. Operating room reliability and safety are currently being investigated. Clinical Trial: A three phase experimental trial using a porcine model is being completed that will test the hypothesis that force information can be used to minimize tissue trauma during laparoscopic surgery. Results: Based on our research, there is strong evidence that surgeons would benefit from information regarding the levels of force applied to tissues. In the future, robotic surgery will require force sensing. Surgical simulators could provide force feedback during simulated surgical procedures by using a sensor platform such as this. In addition, tool tip design in the future will benefit from the application of this technology and data base. © 1997 The authors.

关键词： Tissue

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A potential field algorithm for fixture synthesis in 2d

A potential field algorithm for fixture synthesis in 2d

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ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference, DETC-CIE 1996

作者： Penev, Kamen Requicha, Aristides A. G. Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA90089-0781 United States

ISBN: (纸本)9780791897621

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we address the fixturing problem in the plane. We consider fixtures with frictionless point contacts. The focus is on contact point placement and its integration with fixture analysis. A novel method for planar fixture synthesis has been developed. It is a non-deterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures. © 1996 by ASME.

关键词： Fixtures (tooling)

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An improved fuzzy modeling algorithm. II. System identification

An improved fuzzy modeling algorithm. II. System identificat...

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaMndustrial Engineering University of Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaUIndustrial Engineering University of Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhdustrial Engineering University of Toronto Canada

For pt.I see ibid. In this part we focus on the fuzzy system identification stage. The Fuzzy C-Means (FCM) clustering algorithm is investigated. Two indices are introduced for assignment of number of rules and level of "fuzziness". An efficient method is also suggested for choosing the initial location of cluster centers. The classification problem is addressed in fuzzy modeling; and an efficient strategy is proposed for assignment of dominant input variables and their membership functions.

关键词： Fuzzy systems System identification Input variables Laboratories robotics and automation Clustering algorithms intelligent systems intelligent robots Flowcharts Parameter estimation

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An improved fuzzy modeling algorithm. I. Inference mechanism

An improved fuzzy modeling algorithm. I. Inference mechanism

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M.R. Emami I.B. Turksen A.A. Goldenberg Robotics and Automation Laboratory Department of MechanicaLlIndustnal Engineering University of Toronto Toronto Canada Intelligent Fuzzy Systems Laboratory Department of MechanicaVIndusuial E University of Toronto Toronto Canada Robotics and Automation Laboratory Department of Mechanicalhndustrial Engineering University of Toronto Toronto Canada

We attempt to improve the objectivity of fuzzy modeling and control by introducing a general and unified parameterized formulation to the reasoning process. As a result, we are no longer restricted to a few reasoning ... 详细信息

关键词： Inference algorithms Inference mechanisms Fuzzy systems Fuzzy reasoning Fuzzy sets Laboratories Flowcharts robotics and automation intelligent systems intelligent robots

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Integration of feature based design and feature recognition 15

Integration of feature based design and feature recognition

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ASME 1995 15th International Computers in Engineering Conference, CIE 1995 and the ASME 1995 9th Annual Engineering Database Symposium collocated with the ASME 1995 Design Engineering Technical Conferences

作者： Han, JungHyun Requicha, Aristides A.G. Programmable Automation Laboratory Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA United States

ISBN: (纸本)9780791817018

Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a part interpretation in terms of machining features, by utilizing information from a variety of sources such as nominal geometry, tolerances and attributes, and design features. The feature finder strives to produce a desirable interpretation of the part as quickly as possible. If this interpretation is judged unacceptable by a process planner, alternatives can be generated on demand. The feature finder uses a hint-based approach, and combines artificial intelligence techniques, such as blackboard architecture and uncertain reasoning, with the geometric completion procedures first introduced in the OOFF system previously developed at USC. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Gas turbines

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Fixture foolproofing for polygonal parts

Fixture foolproofing for polygonal parts

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

A modular fixture is an arrangement of fixturing elements (fixels) that locate and immobilize a workpart. A complete algorithm for designing fixtures for polygonal parts in 2-D was proposed by Brost and Goldberg (1994). The algorithm finds all fixtures consisting of three fixed-size locators and one clamp on a regular grid of holes. However, often it is possible to load the workpart into the fixture in an incorrect pose. An incorrect loading may have disastrous consequences when the part program is executed. Therefore, fixtures that permit only one pose for the loaded workpiece are very desirable. We call them foolproof fixtures. In this paper we present an algorithm that accepts a fixture design, produced by the Brost-Goldberg algorithm, and augments it by inserting in certain grid holes foolproofing pins that make the incorrect loading impossible. The algorithm is complete in the sense that it either (i) produces a solution; (ii) terminates without a solution because none exists; or (iii) detects and flags those nongeneric situations it cannot handle. (These occur rarely.) The produced set of foolproofing pins may not be minimal. However, it is not much worse than the minimal one. Experimental results and complexity analysis are provided.

关键词： Fixtures Clamps Pins Algorithm design and analysis robotics and automation intelligent robots Laboratories Computer science intelligent systems

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Model development of MIMO nets: a H-EPN based approach

Model development of MIMO nets: a H-EPN based approach

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IEEE Conference on Decision and Control

作者： S. Ramaswamy K.P. Valavanis S. Barber The Laboratory for Intelligent Processes and Systems The Department of Electrical and Computer Engineering University of Texas Austin Austin TX USA The Robotics and Automation Laboratory The Center for Advanced Computer Studies and the Apparel-CIM Center University of Southwestern Louisiana Lafayette LA USA

The construction and analysis of multiple-input multiple-output (MIMO) subnets is discussed. It is shown that hierarchical time-extended Petri nets (H-EPNs) allow the development of structured MIMO subnets through the use of bottom-up Petri net synthesis techniques. The paper analyzes Petri net extensions that allow a truly hybrid approach to Petri net based systems modeling, analysis and development. The case study emphasizes the advantage of the activator arc extension in studying issues such as static priority scheduling, dynamic failure recognition, and rescheduling in manufacturing systems. The SPNP package, suitably modified to handle the H-EPN extensions, is used to analyze the properties of the derived H-EPN model.

关键词： MIMO Petri nets Failure analysis Job shop scheduling Dynamic scheduling Modeling Timing Manufacturing Packaging Solids

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A new method for kinematic parameter calibration via laser line tracking

A new method for kinematic parameter calibration via laser l...

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IEEE International Conference on robotics and automation (ICRA)

作者： W.S. Newman D.W. Osborn Center for Automation and Intelligent Systems Research and Department of electrical engineering and Applied Physics Case Western Reserve University Cleveland OH USA Fanuc Robotics Corporation Auburn Hills MI USA

A robot kinematic calibration technique is presented. The process assumes the use of an optical detector mounted on the robot's end-effector, which is used in position feedback. By this method, calibration data can be acquired for detector positions along a straight laser beam, and the detector is precisely centered on the laser line at each sample point. By structuring the data collection process this way, post processing to deduce kinematic parameters is simplified. A goodness-of-fit metric is given which exploits the straight-line constraint of the data. This metric is well suited for use within a numerical search for best-fit kinematic parameters. Illustrations of the technique's virtues and limitations are presented. An experimental apparatus for evaluating the technique on industrial robots is described. The approach is shown to be simple, inexpensive, and feasible.< >

关键词： Calibration Robot kinematics Robot sensing systems Laser feedback Service robots robotics and automation intelligent robots Gears Laser theory Laser beams

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Industrial machine vision: lessons and challenges

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Optics News 1987年第2期13卷 12-17页

作者： Steven W. Holland Robert B. Tilove STEVEN W. HOLLAND is an assistant department head in the Computer Science Dept. of General Motors Research Laboratories (GMR). He is responsible for research projects involving computer vision robotics mobile robotics process planning knowledge systems natural language advanced programming environments parallel processing and statistics. ROBERT B. TILOVE is senior staff research scientist and project leader of the machine perception project at GMR. His research interests include geometric modeling model-based programming and control of intelligent automation systems.

No abstract available.

关键词： Integral imaging Machine vision Measurement and metrology Optical systems Sensors Statistics

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