States that manufacturing lines cannot be used for production during commissioning and that it is therefore always the goal to reduce the necessary efforts to a maximum extent. Starts with a description of the state-o...
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States that manufacturing lines cannot be used for production during commissioning and that it is therefore always the goal to reduce the necessary efforts to a maximum extent. Starts with a description of the state-of-the-art in this field based on the situation in the automotive industry. Additionally lists RTD fields to overcome these problems. Goes on to present methods and software tools aiming at a tremendous decrease in efforts required today.
This paper proposes a new neural architecture (Nessy) which uses evolutionary optimization for learning. The architecture, the outline of its evolutionary algorithm and the learning laws are given. Nessy is based on s...
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This paper proposes a new neural architecture (Nessy) which uses evolutionary optimization for learning. The architecture, the outline of its evolutionary algorithm and the learning laws are given. Nessy is based on several modifications of the multilayer backpropagation neural network. The neurons represent genes of evolutionary optimization, referred to as solutions. Weights represent probabilities and are used for selection. The training value of the output layer is set to zero, the theoretical limit of every cost-oriented optimization, and the crossover operator is replaced by a transduction operator. Mutation is used as usual. Nessy algorithm can be characterized as an individual evolutionary algorithm, but as a neural network too. It was designed for image processing applications. A short example is presented, where the discriminative feature of two images is successfully detected by the proposed evolutionary neural network.
Contact stability has been considered based on simplified linearized models of a robot and its environment. It is shown that the most crucial parameter for contact stability is the target damping ratio. When a high co...
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Contact stability has been considered based on simplified linearized models of a robot and its environment. It is shown that the most crucial parameter for contact stability is the target damping ratio. When a high compliance is required, the stability boundary requires a significantly overdamped impedance to ensure a stable contact with a stiff environment. These conditions for a SISO system are defined in the analytic form. Obtained minimal damping ratio values are significantly lower than those previously proposed in the literature.
Learning image processing systems are a flexible, intelligent inspection tool. Those systems are based on the experience and know how of its users, and can be adjusted comparatively easy to different product variation...
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Learning image processing systems are a flexible, intelligent inspection tool. Those systems are based on the experience and know how of its users, and can be adjusted comparatively easy to different product variations and forms of error appearance by user oriented information technique. The design and the implementation of a flexible system learning module is explicated. Through its operation, inspection results will be objective. easier to document and reproducible. Workers who are now doing the inspections could be further qualified in order to become trainers or instructors of an inspection system. The paper describes the systematic behind learning strategies for human being as well as for machine, and describes the implementation of that knowledge into a visual control system.
A supervised learning image processing system was developed. By the application of such a system for vi sual inspection, work places for semi-skilled workers can be preserved. Due to the comprehensive set-up for a com...
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A supervised learning image processing system was developed. By the application of such a system for vi sual inspection, work places for semi-skilled workers can be preserved. Due to the comprehensive set-up for a computer-improvement of the inspecting personnel’s working conditions as well as to an ameliorated quality of industrial processes. The outline of the inspection system and the effects to the working conditions for the system user is discussed. Furthermore the prototyping process for the design of a suitable user interface is introduced.
The paper presents a method to employ simple distance sensors for the measurements needed for robot calibration. This approach was used successfully during the Robot technology Experiment (ROTEX) of the second German ...
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The paper presents a method to employ simple distance sensors for the measurements needed for robot calibration. This approach was used successfully during the Robot technology Experiment (ROTEX) of the second German SpaceLab Mission in 1993, and the improvement of absolute pose accuracy achieved with this technique is shown. It can also be used in industrial applications where only this type of sensor is available.
Production management systems support the short-time planning and control of orders on the shop floor level in the factory. In order to support the planning staff a scheduling system was implemented reflecting most of...
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Production management systems support the short-time planning and control of orders on the shop floor level in the factory. In order to support the planning staff a scheduling system was implemented reflecting most of the staff's experience. Because of the complexity of the scheduling problem and the unprecise descriptions of the planning strategy of the experts a system based on fuzzy logic was designed. This article shows the concepts, the theory and the implementation of a fuzzy logic scheduling system for an aluminium mill.< >
This paper presents a new practical approach for automatic synthesis of task-oriented optimal point-to-point motions of robots. The optimal trajectory planning can be viewed as a constrained dynamic optimization probl...
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This paper presents a new practical approach for automatic synthesis of task-oriented optimal point-to-point motions of robots. The optimal trajectory planning can be viewed as a constrained dynamic optimization problem. The proposed procedure is based on the parametrization of the state functions. It considers all praxis relevant constraints imposed by the robot and the technology. The optimization criterion can be chosen among the minimum cycle time and the minimum mechanical stress. The procedure has been implemented within an off-line programming system for industrial applications. The efficiency of the procedure and the attainable benefits were verified on six-jointed robots using industrially relevant motion tasks. Using this method, much higher performance of motion behavior of industrial robots can be achieved and at the same time the programming expenditures can be reduced considerably.
Tools for simulation and off-line programming became an important means for economic application of industrial robots. Until now the accuracy of the simulations was not sufficiently precise for reliable down-load and ...
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Tools for simulation and off-line programming became an important means for economic application of industrial robots. Until now the accuracy of the simulations was not sufficiently precise for reliable down-load and execution of the off-line generated programs. A main cause for this was the controller specific motion behaviour of the robots that could not be simulated with sufficent accuracy. The RRS-project was created to overcome this deficite. By defining a suitable interface, it was made possible to integrate original controller software for motion behaviour into off-line programming systems.
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