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IEEE International Conference on systems engineering

作者： Merat Radack Roumina Ruegsegger Department of Electrical Engineering and Applied Physics Center of Automation and Intelligent Systems Research Case Western Reserve University USA Department of Computer Engineering and Science Center of Automation and Intelligent Systems Research Case Western Reserve University USA

A methodology for automated inspection planning of machined parts within feature-based CIM in which part geometry and tolerances are represented as features is described. This representation of information as features is extended to inspection process planning where inspection plan fragments are inspection features containing specific information about how toleranced geometry is to be inspected. A rule base of methods and detailed procedures for evaluating tolerances based on industrial practices are used to generate the inspection plan fragments. A single tolerance can often be inspected in several ways, resulting in the generation of many inspection plan fragments. Inspection planing for computer-controlled coordinate measuring machines is emphasized. The inspection plan fragments for each tolerance in the design are combined into an overall time-efficient inspection plan. An algorithm for inspection process planning is described and applied to a sample part.< >

关键词： CADCAM Inspection Knowledge based systems Machining Industrial control Manufacturing data processing Artificial intelligence

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Registration of dissimilar featureless models for inspection

Registration of dissimilar featureless models for inspection

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IEEE International Conference on robotics and Automation (ICRA)

作者： G.H. Tarbox S.N. Gottschlich L.A. Gerhardt New York State Center for Advanced Technology in Automation and Robotics and Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute Troy NY USA

General-purpose CAD-based inspection of a manufactured workpiece often involves comparing a part model created using intensity or range images of the part to a toleranced reference model of the part. Before this comparison can be made, however, the sensed object model must be registered to the reference object model. Most registration approaches assume that it is possible to identify and match features in the models and that the object models represent very similar geometries. A registration approach that deals with featureless dissimilar models is presented, and experimental results are demonstrated. Although the need for such an approach was motivated by needs in inspection, the approach is very general and can be used in a variety of other applications.< >

关键词： Inspection Casting robotics and automation Solid modeling Data structures systems engineering and theory Geometry Valves Manufacturing processes Surface morphology

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Nonholonomic path planning with inequality constraints

Nonholonomic path planning with inequality constraints

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IEEE Conference on Decision and Control

作者： A.W. Divelbiss J. Wen New York State Center for Advanced Technology in Robotics and Automation Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

A class of Newton-type algorithms is effective in solving the kinematic path planning problem for a system with nonholonomic equality constraints. A key result in this approach has been the generic full rank condition of a certain gradient operator. We have extended this method to path planning problems with inequality constraints and shown its efficacy in solving some challenging problems, but a similar genericity result is not currently available. In this paper, we present some extension of our algorithm for nonholonomic path planning with equality and inequality constraints and show the generic full rank condition for a special case. Simulation examples involving a steerable tractor-trailer vehicle and experiment results of a quarter-scale car with a trailer are presented.< >

关键词： Path planning Control systems Nonlinear control systems Controllability robotics and automation systems engineering and theory Kinematics Space vehicles Velocity control Nonlinear systems

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Shape matching from grasp using a minimal representation size criterion

Shape matching from grasp using a minimal representation siz...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R. Joshi A.C. Sanderson New York Center for Advanced Technology in Automation and Robotics USA Electrical Computer and Systems engineering Department Rensselaer Polytechnic Institute Troy NY USA

A robust polynomial-time algorithm for model-based pose estimation from tactile grasp data is presented. A minimal representation criterion is used to formulate the matching problem as a global optimization. The hypothesize-and-test paradigm is invoked to search for the optimal solution. A three-on-three match of model features to data features is used to reduce the transform search space to polynomial size. A polynomial-time assignment algorithm is used to compute the optimal correspondence for each hypothesized pose. The strength of the algorithm lies in its ability to perform with noisy or incomplete data and with missing or spurious features. It is capable of rejecting outliers and finding partial matches, and it produces sensible results even in the presence of large noise. The algorithm has been implemented and tested on actual data.< >

关键词： Shape Polynomials robotics and automation Testing Robustness Kinematics Least squares approximation Fingers Data engineering systems engineering and theory

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Automatic synthesis and verification of compliance mappings

Automatic synthesis and verification of compliance mappings

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Vougioukas S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation USA Electrical Computer and Systems Engineering Department Rensselaer Polytechnic Institute NY USA

When the uncertainty is large compared to clearances between objects, some form of compliance is required for a robot to manipulate these objects. Such situations include, but are not restricted to, assembly operations. Compliance can be thought of as a task-dependent mapping from sensed forces to corrective motions which bring the robot closer to its goal. A methodology for the automated synthesis of this mapping is described. The possible erroneous configurations of the robot together with their resulting contact forces are computed, and a corrective motion is identified for each configuration. The validity of the mapping is checked to ensure that the sensed forces will provide unambiguous information during the actual execution of the planned compliant motion.< >

关键词： robotics and automation Robot sensing systems Uncertainty Robotic assembly Path planning Motion planning Damping systems engineering and theory Technology planning Sensor systems

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Positioning features within the Rapid Design System

Positioning features within the Rapid Design System

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IEEE International Conference on systems engineering

作者： Radack Jacobsohn Merat Department of Computer Engineering and Science Center of Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA Department of Electrical Engineering and Applied Physics Center of Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH USA

A method for representing and manipulating information on dimensioning and positioning within a feature-based environment for mechanical parts design is described. In the feature-based design paradigm, designs are constructed using form features which are high-level representations of part geometry, i.e. block, hole, slot, pocket, chamfer, fillet, etc. In the system discussed two modes of positioning form features are supported. The first is a layout mode, which allows the user to position form features relative to each other, in order to layout the general geometry of the part. The second is a dimensioning mode, in which the user specifies which dimensions on the part are critically important, and what they should be. The system completes the dimensioning on request, producing enough dimensions to generate an engineering drawing.< >

关键词： Design automation Computational geometry engineering drawings

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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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A bottom-up algorithm for state-space size estimation of Petri nets

A bottom-up algorithm for state-space size estimation of Pet...

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IEEE International Conference on robotics and Automation (ICRA)

作者： J.F. Watson A.A. Desrochers Electrical Computer and Systems Engineering Department Center for Intelligent Robotic Systems for Space Exploration Rensselaer Polytechnic Institute Troy NY USA Dept. of Electr.-Comput.-Syst. Eng. Rensselaer Polytech. Inst. Troy NY USA

A bottom-up state-space size estimation algorithm for Petri nets (PNs) is described. The algorithm permits fairly arbitrary subnets and interconnections. State counting (SC) functions are associated with subnets and manipulated by the interconnections. As illustrated by a flexible manufacturing system (FMS) example, if no approximations of the subnets are needed, the state-space size estimation is exact. Other benefits include simple tabular representation of SC functions, and the ability to interject hand-computed results. While all conceivable PNs cannot be handled by any bottom-up method, the interconnection can be extended to permit analysis on a larger class of systems.< >

关键词： State estimation Petri nets intelligent robots Algorithm design and analysis intelligent systems Orbital robotics Space exploration Explosions Flexible manufacturing systems systems engineering and theory

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An approach to the direct analysis of transient stability

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European Transactions on electrical Power 1993年第3期3卷 241-248页

作者： Djukanovic, M.B. Sobajic, D.J. Pao, Y.‐H. Miodrag B. Djukanovic (1959) received his B.S. M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976 respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU) Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department

The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propose the Potential Energy Boundary Surface (PEBS) based method for direct analysis of transient stability. The critical value of transient energy and the Critical Clearing Time (T_CCT) are evaluated without the need for successive calculation and memorization of the system kinetic and potential energy values along the sustained fault trajectory. The method is used for determination of output features in the training phase of the neural‐net based transient security assessment. The proposed approach is tested on the well‐known ten‐generator New England test system demonstrating the validity and accuracy of obtained results. Copyright © 1993 John Wiley & Sons, Ltd.

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Tactile sensing and grasp security

Tactile sensing and grasp security

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1992 IEEE International Workshop on Emerging Technologies and Factory Automation, ETFA 1992

作者： Russell, R. Andrew Intelligent Robotics Research Center Department of Electrical and Computer Systems Engineering Monash University ClaytonVIC3168 Australia

ISBN: (纸本)0780308867

This paper describes a project to investigate methods of using touch sensory information for establishing and/or maintaining objects in a secure grasp. The project makes use of a robotic workcell comprising a novel design of robot gripper equipped with touch sensory skin to provide information about regions of contact between fingers and external objects and strain gauge load cells to monitor gripping forces. A six-axis load cell measures forces and torques acting on an external work surface. This system is being used to investigate techniques for using touch sensory information to detect unstable grasps and to assist in improving grasp stability. © 1992 IEEE.

关键词： Strain gages

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