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2005 IEEE International Conference on robotics and Biomimetics, ROBIO

作者： Guangping, Lan Shugen, Ma Dept. of Systems Engineering Faculty of Eng. Ibaraki University 4-12-1 Nakanarusawa-Cho Hitachi Ibaraki 316-8511 Japan Robotics Laboratory CAS Shenyang Institute of Automation 114 Nanta Street Shenyang 110015 China

ISBN: (纸本)0780393155

In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules. © 2005 IEEE.

关键词： Mobile robots

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Automobile lane detection System-on-Chip integrated with mixed signal mode CMOS image sensor

Automobile lane detection System-on-Chip integrated with mix...

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9th International Symposium on Consumer Electronics 2005, ISCE 2005

作者： Hsiao, Pei-Yung Cheng, Hsien-Chein Yeh, Chun-Wei Huang, Shih-Shinh Fu, Li-Chen IEEE Department of Electronic Engineering Chang Gung University Tao-Yuan Taiwan Department of Electrical Engineering National Taiwan University Taipei Taiwan Genesyslogic Co. Ltd. Circuit Layout Department Dept. of Electronic Engineering and Information Management Chang Gung University Department of Electrical Engineering Department of Computer Science and Information Engineering National Taiwan University Robotics and Automation Society Automatic Control Society Chinese Automatic Control Society Chinese Institute of Automation Engineers

In this paper, we aim at developing a System-on-Chip, SoC, which can capture image as well as produce vehicle lane map at the same time. We adopt Peak-Finding based lane detection algorithm that can achieve high recognition rate about 96% even under various weather conditions. The features of the proposed SoC are a single low-cost and compact chip which implements the lane detection algorithm with mixed signal mode CMOS image sensor. Therefore, it can be easily used in thousands of consumer electronics for intelligent automobile applications. © IEEE.

关键词： Image sensors

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Simulation and execution of event-driven robot teaching in a virtual environment

Simulation and execution of event-driven robot teaching in a...

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WCICA 2004 - Fifth World Congress on Intelligent Control and automation, Conference Proceedings

作者： Cui, Maoyuan Dong, Zaili Tian, Yantao Dept. of Contr. Sci. and Engineering Jilin University Changchun 130025 China Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

One of the most widely used robot working paradigms will surely be teaching-playback. Conventional teaching process is very tedious and time-consuming, even dangerous. This paper presents a new development method for event-driven robot teaching in a virtual environment. By using agent-oriented programming scripts the prior knowledge from task world and the new knowledge from sensors during the real-time execution are both integrated to the virtual workcell. With the help of event based control, a safe and efficient teaching system is developed. Simulation and execution experiment results with a MOTOMAN-k10s welding robot show that the method is effective.

关键词： Robots

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Fuzzy automata for fault diagnosis: A syntactic analysis approach

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3rd Hellenic Conference on Artificial Intelligence, SETN 2004

作者： Rigatos, Gerasimos G. Tzafestas, Spyros G Industrial Systems Institute University Campus of Patras Building A ’ Rion Patras26500 Greece National Technical University of Athens Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Lab Zografou Campus Athens15773 Greece

ISBN: (纸本)3540219374

Fuzzy automata are proposed for fault diagnosis. The output of the monitored system is partitioned into linear segments which are assigned to pattern classes (templates) with the use of fuzzy membership functions. A sequence of templates is generated and becomes input to fuzzy automata which have transitions that correspond to the templates of the properly functioning system. If the automata reach their final states, i.e. the input sequence is accepted by the automata with a membership degree that exceeds a certain threshold, then normal operation is deduced, otherwise, a failure is diagnosed. Fault diagnosis of a DC motor and detection of abnormalities in the ECG signal are used as case studies. © Springer-Verlag Berlin Heidelberg 2004.

关键词： DC motors

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Lean office in health care environments

Lean office in health care environments

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IIE Annual Conference and Exhibition 2004

作者： Johnson, Mary E. Priest, John W. Automation and Robotics Research Center University of Texas at Arlington 7300 Jack Newell Blvd. South Fort Worth TX 76118 Industrial and Manufacturing Systems Engineering Dept. University of Texas at Arlington Box 19017 Arlington TX 76019

This presentation will discuss lean six sigma methodologies and the research results reported from implementations in health care environments. Lean Six Sigma, while a universal methodology, must be adapted and modified to gain wide acceptance in service environments. The authors' previous research includes adaptation of lean for office environments. Further research into design requirements for application in health care environments reveals that familiarity with lean concepts is not the only barrier to successful implementation and reaping of results. Vocabulary, culture, and legacy systems are significant barriers. In addition, many in health care administration are familiar with TQM, and do not understand the differences with lean six sigma. Other research has focused on nursing applications. This research focuses on non-health related administrative processes that may or may not be performed by nursing personnel. This paper will discuss the research of a new design of lean six sigma methodologies and specific modifications and adaptations to lean tools to meet the specific needs of the health care environment.

关键词： Health care

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Hamilton-Jacobi-Isaacs Formulation for Constrained Input Systems: Neural Network Solution *

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IFAC Proceedings Volumes 2004年第21期37卷 1-6页

作者： Frank L. Lewis Murad Abu-Khalaf Jie Huang Automation and Robotics Research Institute University of Texas at Arlington Texas 76118 USA Dept. of Automation and Computer-Aided Engineering The Chinese University of Hong Kong Shatin N.T. Hong Kong

In this paper we consider the H ∞ nonlinear state feedback control for constrained input systems. The constraints on the input to the system are encoded via a quasi-norm that will enable us to perform a quasi- L 2 gain analysis of the corresponding closed-loop nonlinear system. The quasi-norm allows using nonquadratic supply rates along with dissipativity theory to formulate the robust optimal control problem using Hamilton-Jacobi-Isaacs (HJI) equations. An iterative computationally efficient solution technique based on the game theoretic interpretation of the HJI equation is presented. The relation between attenuation gain and the region of asymptotic stability of the H ∞ controller is discussed from the game theoretic perspective. The solution is approximated at each iteration with a neural network over a predefined domain of the region of asymptotic stability of an initially stabilizing controller. The result is a closed-loop control based on a neural net that has been tuned a priori off-line.

关键词： Actuator saturation Hamilton-Jacobi-Isaacs Optimal Control Robust Control Neural network approximation

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Investigation of train dynamics in passing through curves using a full model

Investigation of train dynamics in passing through curves us...

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ASME/IEEE Joint Conference on Rail

作者： M. Durali M.M.J. Bahabadi Robotics and Automation Mechanical Engineering Center of excellence for Design Tehran Iran Center of excellence for Design Robotics & Autom. Dept. of Mechanical Eng. Tehran Iran

In this article a train model is developed for studying train derailment in passing through bends. The model is three dimensional, nonlinear, and considers 43 degrees of freedom for each wagon. All nonlinear characteristics of suspension elements as well as flexibilities of wagon body and bogie frame, and the effect of coupler forces are included in the model. The equations of motion for the train arc solved numerically for different train conditions. A neural network was constructed as an element in solution loop for determination of wheel-rail contact geometry. Derailment factor was calculated for each case. The results are presented and show the major role of coupler forces on possible train derailment.

关键词： Railway accidents Rail transportation Wheels Mechanical engineering Friction Couplings Differential equations Nonlinear equations Neural networks Geometry

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Fractional order adaptive active vibration damping designed on the basis of simple kinematic considerations

Fractional order adaptive active vibration damping designed ...

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ICCC 2004 - Second IEEE International Conference on Computational Cybernetics

作者： Tar, József K. Rudas, Lure J. Bitó, János F. Tenreiro Machado, J.A. Institute of Mathematics and Computational Sciences Budapest Polytechnic Népszínház u. 8 H-1081 Budapest Hungary Centre of Robotics and Automation Budapest Polytechnic Népszínház u. 8 H-1081 Budapest Hungary Dept. of Electrotechnical Engineering Institute of Engineering of Porto R. Dr. Antonio Bernardino de Almeida 4200-072 Porto Portugal

ISBN: (纸本)0780385888

In this paper a simple nonlinear, adaptive control using fractional order derivatives is applied for damping the vibration of a car forced during passing along a bumpy road. Its key idea is the partial replacement of the integer order derivatives in a traditional PD controller with a time-shift invariant, causal approximation of Caputo's fractional derivative that behaves like a Green function. Since its physical essence is rather frequency filtering than providing integer order derivatives in limit cases, the approximation applied numerically is quite convenient. In this way simple kinematic design of the desired damping becomes possible. The adaptive part of the controller guarantees the realization of this kinematic design without making it necessary for the designer to have accurate and complete dynamic model of the system to be controlled or to design a sophisticated linear "CRONE" controller that has to take the responsibility for the unknown dynamics of the system. The applicability of the approach is illustrated via simulations for a paradigm that is a rough model of a car. It was found that both adaptivity and the use of fractional order derivatives in the control are essential parts of the success of the method. © 2004 IEEE.

关键词： Vibrations (mechanical)

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A dependable open platform for industrial robotics - A case study

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2004年 3069卷 307-329页

作者： Mustapić, Goran Andersson, Johan Norström, Christer Wall, Anders ABB Automation Technology Products Robotics Hydrovägen 10 SE-721 68 Västerås Sweden Dept. of Computer Science and Engineering Mälardalen University PO Box 883 SE-721 23 Västerås Sweden

Industrial robots are complex systems with strict real time, reliability, availability, and safety requirements. Robot controllers are the basic components of the product-line architecture of these systems. They are complex real time computers which control the mechanical arms of a robot. By their nature, robot controllers are generic and open computer systems, because to be useful, they must be programmable by end-users. This is typically done by using software configuration parameters and a domain and vendor-specific programming language. For some purposes, this may not be sufficient. A means of adding low-level software extensions to the robot controller, basically extending its base software platform is needed when, for example, a third party wants to add a completely new sensor type that is not supported by the platform. Any software platform evolution in this direction introduces a new set of broad quality issues and other concerns. Dependability concerns, especially safety, reliability and availability, are among the most important for robot systems. In this paper, we use the ABB robot controller to show how an architecture transformation approach based on quality attributes can be used in the design process for increasing the platf openness. © Springer-Verlag Berlin Heidelberg 2004.

关键词： Industrial robots

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Influence of end-effector velocities on robotic manipulator dynamic performance: An analytical approach

Influence of end-effector velocities on robotic manipulator ...

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2003 ASME Design engineering Technical Conferences and Computers and Information in engineering Conference

作者： Kim, ChangHwan Bowling, Alan Automation and Robotics Laboratory Dept. of Aerospace Engineering University of Notre Dame Notre Dame IN 46556 United States

This article explores the effect that end-effector velocities have on a nonredundant robotic manipulator's ability to accelerate its end-effector as well as to apply forces/moments to the environment at the end-effector. The velocity effects considered here are the Coriolis and Centrifugal forces, and the reduction of actuator torque with rotor velocity, as described by the speed-torque curve. Analysis of these effects is accomplished using optimization techniques, where the problem formulation consists of a cost function and constraints which are all purely quadratic forms, yielding a nonconvex problem. An analytical solution, based on the dialytic elimination technique, is developed which guarantees that the globally optimal solution can be found. The PUMA 560 manipulator is used as an example to illustrate this methodology.

关键词： robotics

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