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Planning of Remote Laser Welding Processes

Procedia CIRP 2013年 7卷 222-227页

作者： Gábor Erdős Zsolt Kemény András Kovács József Váncza Fraunhofer Project Center on Production Management and Informatics Computer and Automation Research Institute Hungarian Academy of Sciences H-1111 Budapest Kende u. 13-17 Hungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics H-1111 Budapest Egry József u. 1 Hungary

The paper discusses the technical background of the remote laser welding (RLW) technology, its novel opportunities and implica- tions for planning processes. Our ultimate goal is to develop a complete off-line programming toolbox for RLW which can provide an automated method for computing close-to-optimal robot programs. We suggest a workflow for the complete planning process, and propose new models and algorithms for solving the sequencing of welding tasks in conjunction with path planning, as well as for generating the inverse kinematics of the robot. The paper summarizes results of first computational experiments in an automo- tive case study using an industrial robot. The proposed method leads to a substantial reduction in the cycle time of the welding op- eration compared to an earlier approach.

关键词： Planning robot task sequencing remote laser welding

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Fuzzy Situational Maps: A new approach in mobile robot cooperation

Fuzzy Situational Maps: A new approach in mobile robot coope...

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IEEE International Conference on Intelligent Engineering Systems (INES)

作者： Á. Ballagi C. Pozna P. Földesi L.T. Kóczy Department of Automation Széchenyi István University Gyor Hungary Department of Informatics Széchenyi István University Gyor Hungary Department of Logistics and Forwarding Széchenyi István University Gyor Hungary Department of Telecommunications and Media Informatics Budapest University of Technology and Economics Budapest Hungary

Intelligent robot cooperation tasks have very complex decision-making and computational processes. Collecting and calculating with a high amount of data is one of the weakest point of such system. In addition all of these it is necessary to process in real-time with limited computational capacity. In this paper we propose some novel algorithms for coping with these problems and give some information about the Fuzzy Situational Maps as a special case of the Fuzzy Signatures. An example takes to the field of warehouse logistics, managing and arranging boxes will be presented.

关键词： Robot sensing systems Lattices Educational institutions Vectors Conferences Artificial intelligence

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Designing Cooperation Mechanisms for Supply Chains

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Procedia CIRP 2013年 12卷 306-311页

作者： J. Váncza P. Egri Fraunhofer Project Center on Production Management and Informatics Computer and Automation Research Institute Hungarian Academy of Sciences H-1111 Budapest Kende u. 13-17 Hungary Department of Manufacturing Science and Technology Budapest University of Technology and Economics H-1111 Budapest Egry József u. 1 Hungary

The paper defines generic requirements towards cooperative planning in the nucleus of any supply network that is constituted by a pair of autonomous manufacturer and supplier who possess asymmetric information on demand forecast and costs, respectively. Then a novel way is suggested for investigating this problem by means of the apparatus of mechanism design. The analysis results in some provable generic properties as for efficiency and truthfulness, and shows the impossibility of fair cost and profit sharing. Further on, design principles towards a payment scheme are devised that provide incentive for the partners to cooperate in order to minimize costs. This payment can be considered the price for a flexible supply service. As examples, the generic framework is instantiated with two particular cooperative supply mechanisms.

关键词： Supply chain management cooperation mechanism design

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DC components and subharmonics generated by naturally sampled PWM techniques

DC components and subharmonics generated by naturally sample...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Stumpf, Peter Jardan, Rafael K. Nagy, Istvan Budapest University of Technology and Economics Department of Automation and Applied Informatics Hungary Budapest University of Technology and Economics Department of Mechatronics Optics and Engineering Informatics Budapest Hungary

ISBN: (纸本)9781467324212

One possible implementation form of Pulse Width Modulation is the naturally sampled one (NS-PWM). Its favourable properties are that no distortion or delayed response are introduced by it. The paper compares three different realizations of NS-PWM techniques by simulations and experimental measurements when the carrier over reference frequency ratio mf is small number as in inverters supplying ultrahigh speed induction motor (USIM). The three NS-PWM techniques are the Sinusoidal, Sinusoidal and third-harmonic reference injection and the Space Vector Modulation. The paper verifies both by simulation and laboratory results that the three techniques generate DC voltage component in the output voltage of the inverter contrary to many previous publications. In addition subharmonic currents and fluxes with considerable amplitudes are produced as well due to the small mf and very low subharmonic frequency even though the subharmonic voltage component is very small. © 2012 IEEE.

关键词： Pulse width modulation

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Realizing system poles identification on the unit disc based on Laguerre representations and hyperbolic metrics

Realizing system poles identification on the unit disc based...

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Mediterranean Conference on Control and automation (MED)

作者： Alexandros Soumelidis József Bokor Ferenc Schipp Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary MTA-BME Control Engineering Research Group Budapest University of Technology and Economics Budapest Hungary Department of Numerical Analysis Faculty of Informatics Eotvos Lorand University Budapest Hungary

ISBN: (纸本)9781479909964

In a series of paper the authors proposed a new frequency-domain approach to identify poles in discrete-time linear systems. The discrete rational transfer function is represented in a rational Laguerre-basis, where the basis elements are expressed by powers of the Blaschke-function. This function can be interpreted as a congruence transform on the Poincaré unit disc model of the hyperbolic geometry. The identification of a pole is given as a hyperbolic transform of the limit of a quotient-sequence formed from the Laguerre-Fourier coefficients. In this paper the opportunities of reliably computing the poles are analyzed, and some algorithms are proposed for practical use.

关键词： Convergence Estimation Transforms Transfer functions Measurement Geometry Hafnium

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Analyzing the resource requirements of usage statistics gathering on online newspapers

Analyzing the resource requirements of usage statistics gath...

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13th IEEE International Symposium on Computational Intelligence and informatics, CINTI 2012

作者： Kocsis, Gergely Ekler, Peter Origo Zrt Budapest Hungary Budapest University of Technology and Economics Department of Automation and Applied Informatics Hungary

ISBN: (纸本)9781467352062

Web analytics is a process through which website usage statistics and user behavior data are gathered. Such an analytics program can be used as a tool to get anonym information about users, for example who they are, from which site are they are coming, how often they are visiting the website, how much time do they spent on a site, etc. In this paper we focus on the performance of large websites from the perspective of web analytics and the required extra storage space. © 2012 IEEE.

关键词： Search engines

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Viewpoint normalized images for feature based landmark detection

Viewpoint normalized images for feature based landmark detec...

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7th IEEE International Symposium on applied Computational Intelligence and informatics, SACI 2012

作者： Kovács, V. Tevesz, G. Department of Automation and Applied Informatics Budapest University of Technology Budapest Hungary

ISBN: (纸本)9781467310116

Image feature based landmark detection is widely used in machine vision for mobile robotics applications. Advanced image feature extraction algorithms offer robust keypoint detection as being invariant to numerous transformations such as translation, rotation, scale change. Even slight changes in brightness, contrast or viewpoint do not affect feature point matching abilities. The most widely used advanced image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) both have these features. Both algorithms implement feature point detection and descriptor generation. Descriptor vectors are calculated around feature points to distinguish and match these points based on the image content. In the application of mobile robotics viewpoint invariance is essential. As the robot moves in its environment it must detect landmarks from widely different viewpoints to improve efficiency of SLAM algorithms. This is essential in loop closing situations. In this paper we evaluate a method to improve viewpoint invariance based on the additional data provided by range image sensors to supplement traditional feature extraction algorithms. Planes are extracted from range images based on local surface normal histograms and feature point matching is evaluated in viewpoint normalized image planes. We present a simulation framework and results for the selected algorithm. We compare feature point matching with and without the improvement. ©2012 IEEE.

关键词： Object recognition

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Improving viewpoint invariance of image feature extraction methods using intensity and range images

Improving viewpoint invariance of image feature extraction m...

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2012 13th International Carpathian Control Conference, ICCC 2012

作者： Kovács, V. Tevesz, G. Department of Automation and Applied Informatics Budapest University of Technology Budapest Hungary

ISBN: (纸本)9781457718687

The most common image feature extraction algorithms such as SIFT (Scale Invariant Feature Transform) and SURF (Speeded Up Robust Feature) have been proven to be invariant to changes in rotation, scale and with restrictions to illumination and viewpoint changes. These algorithms generate descriptor vectors around keypoints in 2D images. Close descriptors suggest similar image patch. In case of mobile robotics applications it is important to achieve good viewpoint invariance and stability to detect landmarks and objects with high reliability. Improving viewpoint invariance for image feature detection increases the efficiency of SLAM algorithms. In this paper we present and evaluate a method to use additional data provided by range image sensors to supplement traditional feature extraction algorithms to improve viewpoint invariance. We present the method and results of computer simulation and also real world examples comparing the SURF (OpenSURF) with and without the improvement. An active structured light based range and intensity image sensor was used to acquire real world test images. © 2012 IEEE.

关键词： Object recognition

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Predicting Availability of Mobile Peers in Large Peer-to-Peer Networks

Predicting Availability of Mobile Peers in Large Peer-to-Pee...

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Eastern European Regional Conference on the Engineering of Computer Based Systems

作者： Márton ákos, Sipos Péter, Ekler Department of Automation and Applied Informatics Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar Tudósok k?rútja 2. 1117 Budapest Hungary

ISBN: (纸本)9781479908530

Peer-to-peer (P2P) applications for mobile devices are becoming more and more popular because of increasing bandwidth, computational performance and storage capabilities. Such a mobile based distributed architecture offers significant advantages in several scenarios from the perspective of both users and network operators. In these situations, a certain redundancy must be built into the system because the availability of the nodes can vary greatly. The goal of this paper is to present a methodology to minimize the necessary redundancy by predicting the number of available nodes. The prediction is performed in two steps, first an estimation is done locally at the node level, then a centralized aggregation is executed. We propose a hypothesis which highlights the key advantages of our solution when compared to single step estimation. Finally we discuss about the correctness of the computed redundancy.

关键词： Peer-to-peer networks Availability prediction Distributed storage Mobile devices Redundancy optimization

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Target surrounding solution for swarm robots

Target surrounding solution for swarm robots

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18th EUNICE/IFIP WG 6.2, 6.6. International Conference on Information and Communication Technologies, EUNICE 2012

作者： Blázovics, László Lukovszki, Tamás Forstner, Bertalan Department of Automation and Applied Informatics Budapest University of Technology and Economics Budapest Hungary Faculty of Informatics Eötvös Lóránd University Budapest Hungary

ISBN: (纸本)9783642328077

In this paper we present a distributed algorithm, which enables to follow and surround moving objects by a swarm of homogenous robots that only use local sensing. We introduce the multi orbit surrounding problem and present a solution for it. We prove that our solution always guarantees that the robots enclose the target and circulate around them. We also evaluate our solution by simulations. © 2012 IFIP International Federation for Information Processing.

关键词： Swarm intelligence

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