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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

2012 IEEE International Conference on Automation Science and engineering: Green Automation Toward a Sustainable Society, CASE 2012

作者： Kim, Hyungsik Cheong, Joono Lee, Seungik Kim, Joongbae Department of Control and Instrumentation Engineering Korea University Jochiwon Korea Republic of Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon Korea Republic of

ISBN: (纸本)9781467304283

As manufacturing systems become increasingly more automated and complicated, there is a need for supervision systems to operate and control production. In complex manufacturing environments, robots can make errors that can cause serious product damages. This paper focuses on the efficient supervision systems, called the sequential task-oriented supervision, using multiple sensors for achieving task status monitoring, automated error analysis in robotic manufacturing process. As with the designed task sequence, a status monitoring system runs synchronously to detect errors in the current robot task. In order to continue performing tasks without human intervention, task status monitoring systems use multiple sensors including a vision sensor, a force-torque(F/T) sensor and a tactile sensor is developed. Detailed structure and working principle of the monitoring system are addressed in this paper. © 2012 IEEE.

关键词： Manufacture

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Some aspects of the modular walking robot MERO's new architecture

Some aspects of the modular walking robot MERO's new archite...

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14th IFAC Symposium on Information control Problems in Manufacturing, INCOM'12

作者： Ion, Ion Ion, Simionescu Adrian, Curaj Vasile, Aurelian Cornel, Dinu Manufacturing Technology Department POLITEHNICA University of Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University of Bucharest Romania Automatic Control and System Engineering Department POLITEHNICA University of Bucharest Romania

ISBN: (纸本)9783902661982

The new modular walking robots MERO by reconfiguring their architecture are built to displace the heavy loads on the unaligned terrain. The main characteristic of the modular walking robots is that they are able to move away on unarranged, horizontal and rough terrain The modular walking system protects much better the environment when its contact with the soil is discrete, a fact that limits appreciately the area that is crushed. The new modular walking robots may have a lower or higher autonomy degree. This autonomy has in view the power source's supply capability but also orientation and perception capabilities as regards the terrain configuration the robot is running upon and its decision making and the motion manner towards a target. Architecture of the reference structure of the walking robot has three two-legged modules. Every leg has three degrees of freedom (RRP), a slip sensor and tactile sensor to measure the contact which consists of lower and upper levels. The body of the MERO (MEchanism robot) walking robot carries a gyroscopic bearing sensor to measure the pitch and roll angles of the platform. The legs are powered by hydraulic drives and are equipped with transducers and sensors. They are used to control the walking robot in the adaptability to a natural ground. In this paper presents some aspects of the new modular walking robot. © 2012 IFAC.

关键词： Decision making

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (development of controller for experiments on frequency characteristics of running microrobot)

Locomotion mechanism and control method for a microrobot usi...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan

In recent years, various investigations have been conducted on microrobots by many researchers, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. To date, the author's research group has been studying a locomotion mechanism and a control method for an electromagnet-type microrobot, which has a volume of 1cm3. In a previous study by the author, a structure and a control method that enable a microrobot with only one electromagnet coil to turn were proposed, and the characteristics of a running microrobot were investigated through some experiments. Here, theoretical confirmation of the effectiveness of the proposed method requires a mathematical model of the motion of the microrobot and some experiments with sinusoidal signals to indicate the validity of the mathematical model. So, the purpose of this paper is to develop experimental equipment including a controller which can generate sinusoidal signals. The basic function of the developed controller was confirmed through some experiments.

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Tracking Algorithm Compensating Acceleration for 3D Maneuvering Target with PSO-FCM

Tracking Algorithm Compensating Acceleration for 3D Maneuver...

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IEEE International Conference on Fuzzy Systems

作者： Hyun Seung Son Jin Bae Park Young Hoon Joo Department of Electrical and Electronic Engineering Yonsei University South Korea Department of Control and Robot Engineering Kunsan National University South Korea

This paper presents an intelligent tracking method for nonlinear maneuvering target by compartmentalizing external noises of 3D maneuvering target. Proposed method makes the filter recognize the maneuvering target as linear one by separating acceleration properly from the overhaul noises. For achieving that, we use the particle swam optimization-fuzzy c-means (PSO-FCM) clustering as the criteria of methodology. The positional difference between measured point and predicted one is separated into acceleration and noise. Compartmentalized external noises plays the role of acceleration in accordance with assigned position and its quantity. Proposed algorithm makes approximated acceleration to be compensated and approximated noise is filtered by Kalman filter (KF). To depict the real maneuvering target and track the target with unlimited condition, we handle 3D dynamic model. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

关键词： Noise Acceleration Target tracking Computer aided software engineering Noise measurement Clustering algorithms Adaptation models

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Some aspects of the modular walking robot MERO's new architecture

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IFAC Proceedings Volumes 2012年第6期45卷 900-905页

作者： Ion Ion Simionescu Ion Curaj Adrian Aurelian Vasile Dinu Cornel Manufacturing Technology Department POLITEHNICA University of Bucharest Romania Mechanism and Robot Theory Department POLITEHNICA University of Bucharest Automatic Control and System Engineering Department POLITEHNICA University of Bucharest Romania

关键词： autonomous mobile robot walking robot mechanism gait stability level control

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Wireless remote control for an electromagnet-type moving microrobot (fabrication of prototype microrobot and experimental results)

Wireless remote control for an electromagnet-type moving mic...

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IEEE/SICE International Symposium on System Integration

作者： Masahiro Isogai Yoshiteru Nishiura Department of Electronic Control and Robot Engineering Aichi University of Technology Gamagori Japan Aichi University of Technology Japan

In recent years, a large number of studies have focused on micro-robots. Moreover, yearly contests have been held in order to develop micro-robot technologies. As a result of these activities, various types of microrobot have been proposed, including motor-type, piezoelectric-element-type, and electromagnet-type micro-robots. To date, the authors' research group has been studying a locomotion mechanism and control method for an electromagnet-type microrobot, which has a volume of 1[cm 3 ]. The proposed microrobot has a feature of being able to turn with single electromagnet coil using the difference of the vibration characteristics of the legs. In this paper, we propose a wireless remote control method for the microrobot, using the feature of the locomotion mechanism and control method. We report on some experimental results to confirm the fundamental function of the wireless remote control method proposed.

关键词： Vibrations Batteries Receivers robots Acceleration Wheels Brushes

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Task-oriented synchronous error monitoring framework in robotic manufacturing process

Task-oriented synchronous error monitoring framework in robo...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Hyungsik Kim Joono Cheong Seungik Lee Joongbae Kim Department of Control and Instrumentation Engineering Korea University South Korea Intelligent Robot Control Research Team Electronics and Telecommunications Research Institute Daejeon South Korea

关键词： Monitoring Sensor fusion robot sensing systems Sensor systems Manufacturing processes

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Development of real-time flight simulator for quadrotor

Development of real-time flight simulator for quadrotor

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International Conference on Advanced Computer Science and Information System (ICACSIS)

作者： Joga D. Setiawan Yuhanes D. Setiawan Mochammad Ariyanto Agus Mukhtar Agus Budiyono Laboratory of Control System and Robotics Faculty of Engineering Diponegoro University Indonesia Smart Robot Center AeroSpace Engineering Department Konkuk University South Korea

The purpose of this research is to build a real-time flight simulator for quadrotor systems and verify if the simulator runs in real time. The simulator was constructed by writing the mathematical models of quadrotor dynamic in MATLAB/Simulink. Using xPC Target software environment, three PCs were set up to work in sync to make the simulation run in real time. This paper shows several simulation results of the quadrotor dynamic in three flight directions. These results validate the stable performance of PD controller being used. At the same time it can be revealed that the simulation runs in real time by observing the percentage processing usage of the computer as function of simulation time. The simulator can be very useful for researchers to understand the character of the quadrotor system being developed and for pilots to complete a mission using the quadrotor system.

关键词： Solid modeling Computational modeling Mathematical model Real-time systems Computers Propellers PD control

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Homographic tracking algorithm of moving objects for multiple video surveillance system (ICCAS 2012)

Homographic tracking algorithm of moving objects for multipl...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Kyung-Taek Hong Jae-Hong Shim Byoung-Doo Kang Il-Kyun Jung Department of Robot Intelligence Control Korea Polytechnic University Siheung South Korea Department of Mechatronics Engineering Korea Polytechnic University Siheung South Korea Department of Mechatronics Korea Electronics Technology Institute Bucheon South Korea

When a video surveillance system tracks a specific object, it is very important to get quickly the information of the object through fast image processing. Usually one camera surveillance system for tracking the object made results in various problems such like occlusion, image noise during the tracking process. It makes difficulties on image based moving object tracking. Therefore, to overcome the difficulties the multi video surveillance system which installed several camera within interested area and looking the same object from multi angles of view could be considered as a solution. If multi cameras are used for tracking object, it is capable of making a decision having high accuracy in more wide space. This paper proposes a method of recognizing and tracking a specific object like a car using the homography in which multi cameras are installed at the crossroad.

关键词： Cameras Equations Video surveillance Mathematical model Object recognition Electronic mail

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Sound source tracking of moving speaker using multi-channel microphones in robot environments

Sound source tracking of moving speaker using multi-channel ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Kwak, Keun-Chang Control Instrumentation and Robot Engineering Department Chosun University Gwangju 501-759 Korea Republic of

ISBN: (纸本)9781457721373

This paper is concerned with multiple microphone-based sound source tracking of moving speaker in home robot environments. For this purpose, we use the Excitation Source Information (ESI) based on linear predication residuals and Hilbert transform to determine the time-delay between each two microphones from speech signals obtained through three microphones and sound board. Thus, it can be used as a core technique in conjunction with human-robot interaction that can naturally interact between human and robots in home robot applications. The experimental results on tracking of moving sound reveal that the presented method shows good tracking performance in various speech periods. © 2011 IEEE.

关键词： Microphones

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