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Robotic assistants for aircraft inspectors

IEEE Instrumentation and Measurement Magazine 1998年第1期1卷 16-30页

作者： Siegel, Mel Gunatilake, Priyan Podnar, Gregg Intelligent Sensor Msrmt. C. Robotics Institute Carnegie Mellon University University of Colorado JILA University of Virginia SUNY Buffalo NY United States Extranuclear Laboratories ABB-Extrel Aircraft Diagnostics Corporation University of Alaska Fairbanks AK United States Elec. and Comp. Eng. Department Carnegie Mellon University CMU Vis. Lab. of the Robotics Institute CMU Mobile Robot Laboratory Engineering Design Research Center CMU Computer Science Department JiangXi University Robotics Institute Measurement and Control Laboratory

Various alternative aircraft inspection methods are first discussed and advantages of using robots are analysed. ANDI (Automated NonDestructive Inspector) and CIMP (Crown Inspection Mobile Platform) are then described. Remote 3D stereoscopic visual inspection is outlined and algorithms developed for crack detection and surface and subsurface corrosion detection are described. Future development trends are also outlined.

关键词： Robots Aircraft Aerospace electronics Instruments

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Agent-based design of fault tolerant manipulators for satellite docking

Agent-based design of fault tolerant manipulators for satell...

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IEEE International Conference on robotics and Automation (ICRA)

作者： C.J.J. Paredis P.K. Khosla Engineering Design Research Center Carnegie Mellon University Pittsburgh PA USA Department of Electrical and Computer Engineering The Robotics Institute Carnegie Mellon University Pittsburgh PA USA

A rapidly deployable fault tolerant manipulator system consists of modular hardware and support software that allow the user to quickly configure and deploy a fault tolerant manipulator that is custom-tailored for a given task. The main focus of this paper is on the task based design component of such a system, that is, the determination of the optimal manipulator configuration, its base position and the corresponding joint space trajectory for a given task. We introduce a novel agent-based solution approach to task based design and illustrate it with a fault tolerant manipulator design for a satellite docking operation aboard the space shuttle.

关键词： Fault tolerance Satellites Manipulators Fault tolerant systems Trajectory Hardware Space shuttles design engineering Orbital robotics Space stations

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Just how effective is the Mathematics Diagnostic Test and Follow-up Support Combination?

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Teaching Mathematics and its Applications 1997年第3期16卷 118-121页

作者： Edwards, Peter Peter Edwards gained a B.Sc. (Hons) in Mathematics from Liverpool University and M.Sc D.I.C. qualifications from Imperial College in both Aeronautics and Robotics. He has over 25 years teaching experience in Higher Education and is currently a Senior Lecturer in Engineering Mathematics in the Department of Product Design and Manufacture at Bournemouth University. He has written a number of papers and other works relating to Mathematics Diagnostic Testing and Follow-up Support

Widening access is just one reason for the recent increase of students entering UK universities with non-standard qualifications. Currently, Higher Education providers face the possibility of having to dilute degree courses, especially those with analytical content, to accommodate mathematically less-capable undergraduates. A more acceptable alternative, however, is to test student ability on entry and provide follow-up support to those in need. Unfortunately, even this is no guarantee of success—not all students respond well to extra suppport, particularly if their foundation mathematics is weak. Only by carefully monitoring this test-and-support combination can its real effectiveness be maximised. © 1997 Oxford University Press. All rights reserved.

关键词： Students

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KINEMATIC CHAINS FOR ROBOT HANDS .1. ORDERLY NUMBER-SYNTHESIS

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MECHANISM AND MACHINE THEORY 1995年第8期30卷 1193-1215页

作者： TISCHLER, CR SAMUEL, AE HUNT, KH Robotics and Design Group Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville Victoria 3052 Australia

Number synthesis of kinematic chains usually involves the generation of a complete list of kinematic chains followed by a time-consuming, computer-intensive procedure for the elimination of isomorphs. A significant unsolved problem in number synthesis is the guaranteed precise elimination of all isomorphs. Since there is no efficient algorithm for always determining whether two kinematic chains are isomorphic, any ''efficient'' algorithm has a finite probability of rejecting a unique, potentially useful, chain. This paper reviews the history of number synthesis and presents a new orderly method for synthesising kinematic chains. This new Melbourne method guarantees to produce a complete list of chains, which, only when some doubt to the uniqueness of a chain exists, may include an isomorphic chain. As a consequence, this technique produces significantly fewer isomorphs in the output list than do previous techniques;often no isomorphs are produced by the method whatsoever. It is proposed that in many situations where the synthesis of kinematic chains is required, the processing of duplicate chains in the early stage of design is preferable to the omission of a potentially useful chain.

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KINEMATIC CHAINS FOR ROBOT HANDS .2. KINEMATIC CONSTRAINTS, CLASSIFICATION, CONNECTIVITY, AND ACTUATION

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MECHANISM AND MACHINE THEORY 1995年第8期30卷 1217-1239页

作者： TISCHLER, CR SAMUEL, AE HUNT, KH Robotics and Design Group Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville Victoria 3052 Australia

The work in this paper follows on from Part 1. We now consider the specific example of robot hands and identify several kinematic constraints of these devices. The method for number synthesis of kinematic chains in Part 1 is applied in several different ways in order to synthesise chains suitable for application as robot hands;several examples of the structures so found are presented. So as to identify those kinematic chains that are more promising than others, the new concept of minimal sets of kinematic chains is defined. Another new concept, the variety of a kinematic chain, is defined and used to make generalisations about relative connectivity within kinematic chains, which has application in the selection of actuated pairs. Fractionation of kinematic chains is reviewed in light of the concept of variety. The work presented here has application far beyond the number synthesis of alternative structures for robot hands.

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An ANDECS-MATLAB Multicriteria design for a Maglev Vehicle Comparing a ’Classical’ and a ’Modern’ Control Structure

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IFAC Proceedings Volumes 1995年第23期28卷 113-118页

作者： J. Bals J.E. Paddison DLR-Oberpfaffenhofen Control Design Engineering Institute for Robotics & System Dynamics D-82230 Wessling Germany Loughborough University of Technology Department of Electronic and Electrical Engineering Loughborough UK

For a low speed Maglev system of the single stage suspension type a control design study is described where a ’classical’ dynamic compensator control structure is compared with a ’modern’ LQG control structure. To properly tune the free parameters in the respective controller synthesis procedures the ANDECS-MATLAB design environment is used. The multi-objective design approach of ANDECS allows to simultaneously satisfy the suspension requirements corresponding to both random and deterministic inputs.

关键词： Computer-Aided Multi-Objective design Magnetic Suspension Transportation

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Implementation of real time spatial mapping in robotic systems through self-organizing neural networks

Implementation of real time spatial mapping in robotic syste...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： V. Morellas J. Minners M. Donath Robotics Laboratory Department of Mechanical Engineering and the Center for Advanced Manufacturing Design and Control University of Minnesota Minneapolis MN USA

Presents a methodology which allows an autonomous agent i.e., a mobile robot, to learn and build maps of its operating environment by relying only on its range sensors. The maps, described with respect to the robot's inertial frame, are developed in real time by correlating robot position and sensory data. This latter feature characterizes part of the uniqueness of the authors' approach. These maps are topologically isomorphic to the maps created for the same room(s) by humans. The methodology exploits the principle of self-organization, implemented as an artificial neural network module which processes incoming sensor range data. The generation of environmental maps can be visualized as an elastic string of neurons whereby every neuron represents a finite portion of the physical world. This elastic string stretches dynamically so as to take on the shape of the environment, a unique characteristic of the authors' methodology. In this respect, the neural net provides a discretized representation of the "continuous" physical environment as the latter is seen through the robot's own sensors. Experiments, focused on indoor applications, have successfully demonstrated the ability of a robot to build maps of geometrically complex environments. The results presented in this paper, compared with the authors' earlier efforts, show significant improvement in that every single sensor data point contributes equally to the location of the neurons of the spatial map at the end of the learning process. This is important because the authors wish to minimize the effect of the order in which data points are processed.

关键词： Real time systems Robot sensing systems Sensor phenomena and characterization Neurons Autonomous agents Mobile robots Humans Artificial neural networks Data visualization Shape

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Systematic design of novel architectures for implementation of Radon Transform

Systematic design of novel architectures for implementation ...

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Midwest Symposium on Circuits and Systems (MWSCAS)

作者： D. Soudris T. Chronopoulos N. Koussoulas T. Stouraitis Department of Electrical & Computer Engineering Democritus University of Thrace Xanthi Greece Lab of Automation and Robotics Department of Electrical Engineering University of Patras Achaia Greece VLSI Design Laboratory Department of Electrical Engineering & Computer Technology University of Patras Achaia Greece

A systematic methodology is introduced for designing highly pipelined array architectures for implementation of Discrete Radon Transform and its Inverse, starting from the algorithmic level and ending with the architectural (hardware) level. Due to large amount of data, the original algorithm is partitioned into nested loops that can be easily mapped onto fixed-size hardware. The proposed methodology derives a plethora of alternative architectures, which meet various parameters such as high-throughput rate, maximum hardware utilization, and pipelinability. Moreover, the derived architectures are piecewise regular and consist of linear and/or 2-D systolic arrays.

关键词： Discrete transforms Computer architecture Algorithm design and analysis Partitioning algorithms Hardware Systolic arrays Geophysics computing Concurrent computing Image reconstruction robotics and automation

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Towards a coordinated development of numerical CACSD software: the RASP/SLICOT compatibility concept

Towards a coordinated development of numerical CACSD softwar...

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IEEE International Symposium on Computer Aided Control System design (CACSD)

作者： G. Grubel A. Varga A. van den Boom A.J. Geurts Control Design Engineering Institute for Robotics and System Dynamics DLR-Oberpfaffenhofen Wessling Germany Department of Electrical Engineering Eindhovan University of Technology Eindhoven Netherlands Department of Mathematics & Computer Science Eindhovan University of Technology Eindhoven Netherlands

The concept of mutual compatibility is introduced. It has arisen from the cooperation of the developers of the RASP and SLICOT libraries. With this concept it becomes feasible to coordinate the development of several libraries leading to a reduction of software implementation and testing efforts without giving up the identity of the separate libraries. A first development along the lines of the mutual compatibility concept is the recently developed model reduction library RASP-MODRED.< >

关键词： Software libraries MATLAB Data structures Software testing Mathematics Size control Lighting control Control design design engineering Robot kinematics

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A fast approach for the path planning of telerobotic manipulators

A fast approach for the path planning of telerobotic manipul...

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IEEE International Conference on robotics and Automation (ICRA)

作者： R.V. Mayorga K.S. Ma A.K.C. Wong B. Ressa Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics Department Tecnopolis-CSATA Italy

A fast procedure for the robust path planning of telerobotic manipulators is presented. The approach is based on solving a linear system of equations taking into account a null space vector for obstacle avoidance, and an original scheme for the appropriate perturbation of the pseudoinverse matrix. This method allows the simultaneous pursuit of both obstacle avoidance and singularities prevention on-line in a sensor based environment.< >

关键词： Path planning Telerobotics Manipulators Robustness Master-slave Kinematics Null space Vectors End effectors Orbital robotics

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