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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： A.B. Neville A.C. Sanderson Center for Advanced Technology in Automation Robotics and Manufacturing and Department Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Parallel robots can be built by linking together unit cells in configurations which retain the static determinacy of the overall structure. In the Tetrobot system, the kinematics of these concatenated structures can be solved by propagation of solutions through connected graphs of linked modules. In this paper, we examine the synthesis of unit cells which could be used in creating these structures and retain the ability to compute the kinematics for control of the actuated system. Admissible unit cells are shown to form families in two- and three-dimensions, and a set of synthesis rules is described which generates the members of these families recursively for each generations. The resulting set of modules comprises a broad set of useful cells which can be used to design parallel robots and guarantee the computability of their kinematics on a cell-by-cell basis.

关键词： Kinematics Parallel robots robotics and automation Control system synthesis Manufacturing automation Computer aided manufacturing Concurrent computing systems engineering and theory Joining processes Concatenated codes

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Application of feature-based multi-view servoing for lamp filament alignment

Application of feature-based multi-view servoing for lamp fi...

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IEEE International Conference on robotics and automation (ICRA)

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

This paper presents an application of feature-based visual servoing to achieve accurate and robust 3D filament alignment. Two orthogonal cameras are used to localize the five degrees of freedom of an axi-symmetric filament. An algorithm for precisely estimating the center and orientation features of a filament in a camera view is described. The use of feature-based servoing overcomes the difficulty of 3D camera calibration in a factory environment. These features drive a PID control loop for each view. The two views are coupled in one degree of freedom, and the multiple-view controller switches between two single-view controllers to achieve 3D servoing. The overall accuracy achieved is in thousandths of an inch. Experimental results on the performance of the control algorithm are discussed. Models explaining the system behavior are presented. The use of visual servoing in this application far exceeds the positioning accuracy and the repeatability of human operators.

关键词： Lamps Cameras Visual servoing robotics and automation Manufacturing automation Robot vision systems Robustness Application software Computer aided manufacturing Calibration

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Real-time robot motion control with circulatory fields

Real-time robot motion control with circulatory fields

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IEEE International Conference on robotics and automation (ICRA)

作者： L. Singh H. Stephanou J. Wen NYS Center for Advanced Technology in Robotics Automation and Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

This paper introduces a new feedback algorithm for steering a point robot through an obstacle field. The key innovation is the use of a circulatory field to rotate the robot path around the obstacles instead of the common potential field which repels the robot. This idea is motivated by a charged particle in a magnetic field generated by a current flowing around the obstacle. In constrast, the potential field approach is associated with a repulsive static electric field generated by charges of the same polarity as the robot, on the obstacle. The circulatory field does not generate any spurious local minimum as it does not change the total energy of the system. By combining with an attractive potential field associated with the desired destination, this method achieves global convergence while avoiding collisions with obstacles.

关键词： Robot motion Motion control Robot control robotics and automation Feedback Manufacturing automation Computer aided manufacturing Orbital robotics Electrostatics Navigation

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Modular robotics: design and examples

Modular robotics: design and examples

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： A.C. Sanderson Center for Advanced Technology in Robotics and Automation and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute RPI Troy NY USA Intellignet robotics Laboratory Institute for Information Science and Electronics University of Tsukuba Tsukuba Japan

An object-oriented modular approach to the engineering of complex robotic systems emphasizes reliability, reusability, ease of development, and user and network interfaces. This modular approach integrates many architectural principles and computational techniques which support adaptive and learning capability at the local, modular level. The TETROBOT is a modular and reconfigurable robotic system which was developed to demonstrate the reliable performance in a wide variety of task domains through reconfiguration of the same fundamental hardware and software components. Such a modular approach emphasizes the synthesis and integration of engineering modules and takes advantage of object-oriented engineering principles to design for a family of tasks. This paper provides an overview of the TETROBOT modular system and describes three modular systems in other applications domains.

关键词： Robots Hardware Robustness Humans Indium phosphide Utility programs

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Integration of feature based design and feature recognition 15

Integration of feature based design and feature recognition

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ASME 1995 15th International Computers in Engineering Conference, CIE 1995 and the ASME 1995 9th Annual Engineering Database Symposium collocated with the ASME 1995 Design Engineering Technical Conferences

作者： Han, JungHyun Requicha, Aristides A.G. Programmable Automation Laboratory Computer Science Department Institute for Robotics and Intelligent Systems University of Southern California Los AngelesCA United States

ISBN: (纸本)9780791817018

Process planning for machined parts typically requires that a part be described through machining features such as holes, slots and pockets. This paper presents a novel feature finder, which automatically generates a part interpretation in terms of machining features, by utilizing information from a variety of sources such as nominal geometry, tolerances and attributes, and design features. The feature finder strives to produce a desirable interpretation of the part as quickly as possible. If this interpretation is judged unacceptable by a process planner, alternatives can be generated on demand. The feature finder uses a hint-based approach, and combines artificial intelligence techniques, such as blackboard architecture and uncertain reasoning, with the geometric completion procedures first introduced in the OOFF system previously developed at USC. © 1995 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Gas turbines

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MOBILE ROBOT LOCALIZATION USING A SINGLE ROTATING SONAR AND 2 PASSIVE CYLINDRICAL BEACONS

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ROBOTICA 1995年第3期13卷 243-252页

作者： BEOM, HR CHO, HS Research & Development Laboratory Gold Star Industrial Systems CO. Ltd. Anyang (Korea). Center for Robotics and Automation Department of Precision Engineering and Mechatronics Korea Advanced Institute of Science and Technology373–1 Kusong-dongTaejeon305–701 (Korea).

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The sonar sensor, again, mounted on a pan-tilt device then receives the reflected pulses while scanning over a wide area. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. The presented algorithm is especially suitable for processing the sonar scan data obtained by ultrasonic sensor with wide beam spread. From this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

关键词： MOBILE ROBOT SONAR BEACON LOCALIZATION

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The role of supply chain management within the industrial ecosystem

The role of supply chain management within the industrial ec...

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IEEE International Symposium on Electronics and the Environment

作者： J. Sarkis N.M. Darnall G.I. Nehman J.W. Priest Department of Industrial and Manufacturing Systems Engineering Automation and Robotics Research Institute USA

The field of environmentally conscious design and manufacturing has focused primarily on internal functions and activities within an organization. However, external enterprise practices and relationships are of equal concern and often overlooked. External relationships serve as links in the development of a closed loop industrial ecosystem and are an integral part of supply chain management and environmental management strategy. This paper identifies emerging and potential research and development issues within supply chain management and the industrial ecosystem.

关键词： Supply chain management Ecosystems Industrial relations Environmental management Supply chains Environmental factors Engineering management Manufacturing industries Research and development management Research and development

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An adaptive fuzzy control for a three fingered robot gripper 3

An adaptive fuzzy control for a three fingered robot gripper

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3rd Australian and New Zealand Conference on Intelligent Information systems, ANZIIS 1995

作者： Doersam, Thomas Hammerschmidt, Oliver University of Karlsruhe Department for Computer Science Institute for Real-Time Computer Systems and Robotics Kaiserstr. 12 KarlsruheD-76128 Germany University of Karlsruhe Department for Computer Science Institute for Microcomputers and Automation Kaiserstr. 12 KarlsruheD-76128 Germany

ISBN: (纸本)0864224303

Performing fine manipulations with multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. Mainly non-linear friction problems and plant uncertainties require intensive fine-tuning of the controller. An adaptive fuzzy control which allows automatic controller tuning during plant operation is proposed and was added to an existing process control system. Finally, experimental results of a three fingered robot gripper using this adaptive fuzzy control are presented. © 1995 IEEE. All rights reserved.

关键词： Real time systems

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Task planning and project management using Petri nets

Task planning and project management using Petri nets

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： Jongwook Kim A.A. Desrochers A.C. Sanderson Center for Advanced Technology in Automation and Robotics and Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

The demand for effective project management increases as the complexity and cost of a project grown. This paper introduces an interactive project management approach based on the Petri net to overcome the limitations of network diagrams. In the Petri net based approach, the project manager does fine tuning of the planning and scheduling with the resource constraints embedded in the plan representation. The Petri net controller maintains three plan representations. The reference, monitor and predictor Petri nets. These three nets are configured with the resource database to form a feedback loop such that the controller can monitor and control the project online. This structure is applicable to the control of more general discrete event dynamic systems as well as the project management problem. In case no admissible control action can be found, the manager turns to the rescheduling/replanning mode to generate a new plan and schedule.

关键词： Project management Petri nets Monitoring robotics and automation Costs Resource management Building materials Scheduling Visualization Roads

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Fixture foolproofing for polygonal parts

Fixture foolproofing for polygonal parts

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A modular fixture is an arrangement of fixturing elements (fixels) that locate and immobilize a workpart. A complete algorithm for designing fixtures for polygonal parts in 2-D was proposed by Brost and Goldberg (1994). The algorithm finds all fixtures consisting of three fixed-size locators and one clamp on a regular grid of holes. However, often it is possible to load the workpart into the fixture in an incorrect pose. An incorrect loading may have disastrous consequences when the part program is executed. Therefore, fixtures that permit only one pose for the loaded workpiece are very desirable. We call them foolproof fixtures. In this paper we present an algorithm that accepts a fixture design, produced by the Brost-Goldberg algorithm, and augments it by inserting in certain grid holes foolproofing pins that make the incorrect loading impossible. The algorithm is complete in the sense that it either (i) produces a solution; (ii) terminates without a solution because none exists; or (iii) detects and flags those nongeneric situations it cannot handle. (These occur rarely.) The produced set of foolproofing pins may not be minimal. However, it is not much worse than the minimal one. Experimental results and complexity analysis are provided.

关键词： Fixtures Clamps Pins Algorithm design and analysis robotics and automation Intelligent robots Laboratories Computer science Intelligent systems

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