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Positioning Fault Detection of a Piezoelectric-Driven Microrobot

IFAC Proceedings Volumes 1997年第18期30卷 651-656页

作者： F. Dumontier K. Santa S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany Phone: +49-721-608-4252 Fax: +49-721-606-740

Micromanipulation has become an issue of primary importance in industry and biomedicine, the manual capabilities being restricted to certain tolerances. For example manipulation of biological cells or an assembly of a whole microsystem composed of different microcomponcnts have to be carried out by piezo electrically-driven miciorobots. For this reason, an automated microrobot-based micromanipulation station is developed by an interdisciplinary group at the University of Karlsruhe. The process of assembly takes place in the field of view of a light optical microscope. The principal sensors of the S3rstem are CCD cameras. One of them, coupled with the microscope, is the local sensor that allows the automation of the manipulation process under the microscope. A second one, the global sensor, supervises the entire system. In this work we present the first step of a method for the detection of faults occurring during the manipulation process. This first stage consists of detecting and processing a position deviation of the microrobot.

关键词： microrobotic sensor system monitoring positioning analysis

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Assembly sequence planning for manufacturing by microrobots

Assembly sequence planning for manufacturing by microrobots

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

The authors present a microassembly system model based on geometric reasoning. Its components, which include an X-Y positioning table with a glass plate fixed on top of it, operating microrobots on the plate, and a CCD-camera, are discussed in detail. Feasibility criteria for the generation of possible assembly sequences and optimisation criteria for selecting the best assembly plan, which reflect the specific features of microassembly, are suggested. For both planning steps, algorithms for an automatic procedure have been developed and implemented. An important advantage of te suggested bottom-up search procedure is that the assembly plan is determined at each step of the algorithm, so that the searching of all feasible sequences and the selection of the best one are integrated into one automated planning procedure. This allows one to replan the assembly process during plan execution, starting from the current process state and without exploring the space of all possible assembly plans. For a multirobot system, a method for decomposition of an assembly plan and its implementation is suggested.

关键词： Manufacturing Robotic assembly Microassembly Service robots robotics and automation Microscopy Glass Sensor systems Robot sensing systems Intelligent robots

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Flexible piezoelectric micromanipulation robots for a microassembly desktop station

Flexible piezoelectric micromanipulation robots for a microa...

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International Conference on Advanced robotics (ICAR)

作者： S. Fatikow J. Zollner K. Santa R. Zollner A. Haag Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Karlsruher Institut fur Technologie - Campus Nord Eggenstein-Leopoldshafen Baden-WÃ¼rttemberg DE

The design of a microassembly desktop station is a major challenge for microsystem technology. This paper presents several piezoelectric micromanipulation robots, which have been developed to be used in a microassembly station. These robots are of different design and use different actuation principles so that each robot serves for a specific task. They are capable of travelling over long distances and of manipulating in the range of a few nanometers. Several robots of this kind can be accommodated in a microassembly station and can cooperate and perform microassembly tasks as a team. They can also be used for other operations such as online testing of microelectronic chips or manipulating biological cells.

关键词： Microassembly Voltage real time systems Logic testing Microelectronics Piezoelectric actuators Robot control Multirobot systems Robustness Production

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Microrobot-Based Microassembly Station and Its Control Using a Graphical User Interface

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IFAC Proceedings Volumes 1997年第20期30卷 781-786页

作者： J. Seyfried S. Fatikow University of Karlsruhe Institute for Real-Time Computer Systems and Robotics (IPR) Kaiserstr. 12 (Geb. 40.28) D-76128 Karlsruhe F. R. of Germany Phone: +49-721-608-3656 Fax: +49-721-606740

In the fields of biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, but in the field of control systems and user interfaces of such micromanipulation systems, there is still much work to be done. Different applications demand different levels of control and planning: easyier, single tasks may be performed by teleoperation, while others require a programmed motion sequence or even task planning to accomplish a complex assembly task a with minimum of human interaction. This paper presents a micromanipluation system consisting of a microassembly robot working under a light-optical microscope, a CCD camera and an XY-stage. Then, the software infrastructure for the microrobot control system is presented and the underlying hardware system is described. It also shows a user interface based on this structures, a semi-automated teleoperation system. The user interface presented here uses the live image of the CCD camera to perform either open or closed loop control of the robot's position. All parameters of the microscope and XY-stage can be controlled with dialog windows. The software infrastructure allows also the development of task planning algorithms by providing an intermediate layer to control the robot

关键词： Robots microsystems assembly teleoperation user interfaces

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The HIMAC Project: Hierarchical Management and Control in Manufacturing systems

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IFAC Proceedings Volumes 1997年第1期30卷 309-314页

作者： E. Canuto M. Christodoulou c. Chu F. Donati V. Gaganis B. janusz J.M. Proth W. Reithofer M. Vallauri Dipartimento di Automatica e Informatica. Politecnico di Torino. Corso Duca degli Abruzzi 24 1-10129 Torino. Italy Dept. of Electrical & Computer Engineering. Laboratory of Automation Technical University of Crete. GR-73100 Chania (Crete). Greece INRIA Lorraine Technopôle Metz 2000. Rue Marconi 4. F-57070 Metz. France Institute for Real-time Computer Systems and Robotics. University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe. Germany

The paper presents the major features of the ESPRIT Basic Research HIMAC, proposed to the EC after a thorough investigation of the state of the art of manufacturing systems control. HIMAC has followed a new approach, by developing a specific mathematIcs, the Manufactunng Algebra (MA), for modelling and controlling the production processes of discrete manufacturing systems. As a key feature, the MA models can be bottom-up aggregated starting from the very detailed levels used in simulation, thus making poSSIble a coherent model hierarchy at the base of the design and realization of Hierarchical control strategies and architectures. The formulation of the original mathematical approach and its validation criteria are outlined in the paper. For a deeper understanding, the mterested reader can take advantage of the list of references given at the end.

关键词： Manufacturing systems Production control Hierarchical control

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Motion coordination and reactive control of autonomous multi-manipulator systems

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JOURNAL OF ROBOTIC systems 1996年第11期13卷 737-754页

作者： Nassal, UM Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany [*]Institute for Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

The emerging field of service robots demands new systems with increased flexibility. The flexibility of a robot system can be increased in many different ways. Mobile manipulation-the coordinated use of manipulation capabilities and mobility-is an approach to increase robots flexibility with regard to their motion capabilities. Most mobile manipulators that are currently under development use a single arm on a mobile platform. The use of a two-arm manipulator system allows increased manipulation capabilities, especially when large, heavy, or non-rigid objects must be manipulated. This article is concerned with motion control for mobile two-arm systems. These systems require new schemes for motion coordination and control. A coordination scheme called transparent coordination is presented that allows for an arbitrary number of manipulators on a mobile platform. Furthermore, a reactive control scheme is proposed to enable the platform to support sensor-guided manipulator motion. Finally, this article introduces a collision avoidance scheme for mobile two-arm robots. This scheme surveys the vehicle motion to avoid platform collisions and arm collisions caused by self-motion of the robot. (C) 1996 John Wiley & Sons, Inc.

关键词： Reactive power control Motor Control Service robots Platform Robot System Mobile Robot Manipulators Collision avoidance

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Interactive control and environment modelling for a mobile robot based on multisensor perceptions

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robotics AND AUTONOMOUS systems 1996年第3期18卷 301-310页

作者： Lin, IS Wallner, F Dillmann, R Institute for Real-Time Computer Systems and Robotics University of Karlsruhe D-76128 Karlsruhe Germany

This paper presents an advanced telerobotic control system for a mobile robot with multisensor feedback. A telecontrol concept for various degrees of cooperation between a human operator and a mobile robot is described. With multisensor on-board the robot at the remote site can adjust its path while continuously accepting commands from the human operator. Interactive modelling that allows the modelling of an unknown environment and makes landmarks known to the robot is introduced. A graphical user interface and a 3-D animation system are important elements in the teleoperation, they are integrated in this system to help the operator by task analysis, off-line teaching and on-line monitoring. Experiments performed with the mobile robot PRIAMOS are discussed.

关键词： mobile robot telerobotics multisensor man-machine systems

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Preface

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 1997年 1212卷 I-IV页

作者： Bowen, Jonathan P. Hinchey, Michael G. Till, David The University of Reading Department of Computer Science Whiteknights PO Box 225 Reading Berks United Kingdom New Jersey Institute of Technology Real-Time Computing Laboratory University Heights NewarkNJ United States University of Limerick Dept. of Computer Science and Information Systems National Technological Park Castletroy Limerick Ireland City University Department of Computer Science Northampton Square London United Kingdom

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Intelligent control for haptic displays

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computer GRAPHICS FORUM 1996年第3期15卷 C217-C226页

作者： Munch, S Stangenberg, M Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Kaiserstr. 12 D-76128 Karlsruhe Germany

Usually, a mouse is used for input activities only, whereas output from the computer is sent via the monitor and one or true loudspeakers. But why not use the mouse for output, tool For instance, if it would be possible to predict the next interaction object the user wants to click on, a mouse with a mechanical brake could stop the cursor movement at the desired position. This kind of aid is especially attractive for small targets like resize. handles of windows or small buttons. In this paper, we present an approach for the integration of haptic feedback in everyday graphical user interfaces. We use a specialized mouse which is able to apply simple haptic information to the user's hand and index finger. A multi-agent system has been designed which 'observes' the user is. order to predict the next interaction object and launch haptic feedback, thus supporting positioning actions with the mouse. Although primarily designed in order to provide 'intelligent' haptic feedback, the system can be combined with other output modalities as well, due to its modular and flexible architecture.

关键词： multimodal interaction haptic output user modelling human-computer interaction

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Dynamic task mapping in a real-time controller for distributed cooperating robot systems

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CONTROL ENGINEERING PRACTICE 1996年第6期4卷 831-838页

作者： Lueth, T Laengle, T Heinzman, J Institutef/or Real-Time Computer Systems and Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe Germany

An intelligent control architecture for autonomous robot systems must be modular, scaleable, extendible, and adaptable to the available capacity of computer control systems. To support these properties, the concept of an adaptive control structure, ACS, is presented in this paper. Experiments with a small autonomous assembly robot show the successful use of ACS.

关键词： robot control distributed control distributed computer control systems adaptive control discrete-event systems

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