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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Gregory Dubus Olivier David Yvan Measson LIST Interactive Robotics Unit CEA Fontenay-aux-Roses France

In this paper we present a vibration control scheme for a long-reach inspection arm in an environment as constrained as a fusion reactor. The ultra-high vacuum, the high operating temperature, the significant residual magnetic field and the nuclear activation in ITER will prevent from considering common on-the-shelf dynamics sensors. Therefore we propose to use the already developed rad-hardened viewing tool to feed an oscillation observer with visual information. In our approach the visual data are extracted from a totally unknown environment. Particular attention is paid to obtain a robust algorithm. Experimental results validate the proposed strategy.

关键词： Vibration control Inspection Plasma temperature Temperature sensors Robots Fusion reactors Toroidal magnetic fields Magnetic sensors Inductors Neutrons

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Robotic skin structure and performances for industrial robot comanipulation

Robotic skin structure and performances for industrial robot...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： X. Lamy F. Colledani F. Geffard Y. Measson G. Morel Interactive Robotics Unit CEA LIST Fontenay-aux-Roses France University of Paris6-UPMC Institut des Systèmes Intelligents et de Robotique (CNRS - FRE 2507) France

The everyday use of robots as collaborative assistance to human workers (cobots) will not be possible until operator safety in robot workspace is guaranteed. Because of their strength and stiffness, efficient security of industrial robots can only be obtained thanks to robotic skin technology. Such a skin must have an optimized response time, cover curved shape and large surface of robot segments, be reliable, simple to build and cost effective. We present such a skin structure with early promising experimental results.

关键词： Service robots Skin Robot sensing systems Intelligent robots Human robot interaction Orbital robotics Force sensors Manipulator dynamics Shape Sensor arrays

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Making hydraulic manipulators cleaner and safer: from oil to demineralized water hydraulics

Making hydraulic manipulators cleaner and safer: from oil to...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), vol.1

作者： Gregory Dubus Olivier David Yvan Measson Jean-Pierre Friconneau Jim Palmer Interactive Robotics Unit CEA Fontenay-aux-Roses France EFDA-CSU-Garching Garching Germany

This paper presents the developments carried out at CEA LIST to adapt the 6-DOF hydraulic manipulator Maestro to work with pure water instead of oil. Its elbow joint has been redesigned for water applications and a prototype of water hydraulic pressure servovalve has been manufactured. Both performances of the actuator and its pre-actuator are discussed. A model of the servovalve is proposed to identify its driving parameters and validate the next evolutions in its design, anticipating the second generation of prototypes.

关键词： Joints Petroleum Payloads Torque Manipulators Force Actuators

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Gramian-based optimal design of a dynamic stroke amplifier compliant micro-mechanism

Gramian-based optimal design of a dynamic stroke amplifier c...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Mathieu Grossard Christine Rotinat-Libersa Nicolas Chaillet Interactive Robotics Unit CEA-LIST Fontenay-aux-Roses France Laboratoire d'Automatique de Besançon Laboratoire CNRS/ENSMM/UFC Besancon France

This paper presents a new method developed for the optimal design of microrobotic compliant mechanisms. It is based on a flexible building block method, called Flexln, which uses an evolutionary approach, to optimize a truss-like structure made of building blocks. From the first design step, in addition to conventional mechanical criteria, dynamic gramian- based metrics can be considered in the optimization procedure to fit expected frequency responses of the synthesized mechanisms. A planar monolithic compliant coupling structure is obtained by the optimal design method to act as a stroke amplifier for piezoelectric stacked actuators, to operate in both static and dynamic motions, and to passively filter out undesirable vibrations. Finally, performance comparisons between some of the pseudo-optimal Flexln synthetized compliant mechanisms demonstrate the interests of the proposed optimization method for the design of dynamic operating smart microrobotic structures.

关键词： Piezoelectric actuators Vehicle dynamics Flexible structures Piezoelectric materials Optimization methods Design optimization Topology Design methodology Bandwidth Intelligent robots

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Analysis and application of a robust identification method

Analysis and application of a robust identification method

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

作者： A. Janot P.O Vandanjon M. Gautier F. Khatounian Institut de Recherche en Communications et Cybernétique de Nantes Nantes France CEA/LIST-Interactive Robotics Unit Fontenay-aux-Roses France Laboratoire Central des Ponts et Chaussées Bouguenais France

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called "the simple refined instrumental variable method". This method will be applied to a single degree of freedom master arm developed by the CEA interactive Robotic unit.

关键词： Vectors Mathematical model Noise robustness robotics and automation Least squares methods Instruments Inverse problems Acceleration Service robots Colored noise

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Identification process dedicated to haptic devices

Identification process dedicated to haptic devices

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

作者： Janot, A. Anastassova, M. Vandanjon, P.O. Gautier, M. Institut de Recherche en Communication et en Cybernétique de Nantes 1 rue de la Noë 44321 Nantes Cedex 03 France CEA/LIST Interactive Robotics Unit 18 route du Panorama 92265 Fontenay aux Roses Cedex France Center for Research and Telecommunication Experimentation for Networked Communities Via Solteri 38 38100 Trento Italy Laboratoire Central des Ponts et Chaussées Route de Bouaye 44341 Bouguenais Cedex France

ISBN: (纸本)1424409128

The haptic interfaces aim at the user's immersion in virtual environments through the stimulation of the haptic sense. Most devices consist of an articulated mechanical structure introducing distortions between the operator and the explored world. This distortion must be identified in order to assess the quality of the interface. The least-squares (LS) regressions are often used because of their simplicity. However, if the identification process takes place when the device is controlled by feedback, then the LS estimator is biased. To verify the reliability of the results, the bias of the estimator must be evaluated. This paper deals with this issue and introduces the design and the application of a derivate of the CESTAC method. ©2007 IEEE.

关键词： Haptic interfaces

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Identification process dedicated to haptic devices

Identification process dedicated to haptic devices

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： A. Janot M. Anastassova P.O Vandanjon M. Gautier Institut de Recherche en Communications et Cybernétique de Nantes Nantes France CEA/LIST-Interactive Robotics Unit Fontenay-aux-Roses France Center for Research and Telecommunication Experimentation for Networked Communities Trento Italy Laboratoire Central des Ponts et Chaussées Bouguenais France

关键词： Haptic interfaces Nonlinear distortion Intelligent robots Virtual environment Statistical analysis USA Councils Communities Feedback Robustness

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Articulated Inspection Arm for ITER, a demonstration in the Tore Supra Tokamak

Articulated Inspection Arm for ITER, a demonstration in the ...

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20th IEEE/NPSS Symposium on Fusion Engineering, SOFE 03

作者： Cordier, J.J. Friconneau, J.P. Gargiulo, L. Grisolia, C. Palmer, J.D. Perrot, Y. Samaille, F. Association Euratom-CEA DSM/Département de Recherche sur la Fusion Contrôlée CEA/Cadarache F-13108 Saint Paul Lez Durance Cedex France CEA-LIST Robotics and Interactive Systems Unit BP6 F-92265 Fontenay aux Roses Cedex France EFDA CSU Max-Planck-Institut für Plasma Physik Boltzmannstr. 2 D-85748 Garching Germany

The aim of this R&D program is to demonstrate for ITER the feasibility of an in-vessel Remote Handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings evenly distributed around the machine such as In-Vessel Viewing System (IVVS) access or upper ports access. This device is dedicated to close inspection processes of the Plasma Facing Components (PFCs). The work performed with a support of the EFDA-CSU Workprogramme includes the design, manufacture and testing of an articulated device demonstrator called Articulated Inspection Arm (AIA). The first part of this work concerned the analysis of the requirements to perform a realistic inspection in the ITER vacuum and temperature ambiance (120°C at least). The conceptual design of the overall manipulator, completed in 2002, is based on a 5 modules kinematics with 11 actuated joints. To support the feasibility demonstration of the technology, a scale one mock up of a single module has been manufactured and tested, focusing on its ability to withstand the most critical loads. The main results concern improvement in the design margin to enhance AIA performances under ITER Temperature and vacuum operational conditions. New AIA technologies, including components and materials have been qualified through outgassing tests at 230°C with success. An upgraded AIA single module has been designed and its manufacturing is launched. This prototype module will be tested on the CEA-Cadarache test facility under real vacuum and baking temperature conditions. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AIA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in R&D results for ITER remote Handling equipment The test of the AIA demonstrator behaviour is foreseen in 2005 in real Tokamak conditions. The paper presents

关键词： Tokamak devices

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Articulated inspection arm for ITER, a demonstration in the Tore Supra tokamak

Articulated inspection arm for ITER, a demonstration in the ...

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IEEE/NPSS Symposium on Fusion Engineering

作者： J.J. Cordier J.P. Friconneau L. Gargiulo C. Grisolia J.D. Palmer Y. Perrot F. Samaille DSM/Département de Recherche sur la Fusion Contrôltée CEN/Cadarache Association EURATOM CEA Saint-Paul-lez-Durance France CEA-LIST Robotics and Interactive Systems Unit Fontenay-aux-Roses France EFDA CSU Max Planck Institut für Plasma Physik Garching Germany

The aim of this R&D program is to demonstrate for ITER the feasibility of an in-vessel remote handling inspection using a long reach, limited payload carrier (1 to 10 kg) for penetration of the ITER chamber through the openings evenly distributed around the machine such as in-vessel viewing system (IVVS) access or upper ports access. This device is dedicated to close inspection processes of the plasma facing components (PFCs). The work performed with a support of the EFDA-CSU Workprogramme includes the design, manufacture and testing of an articulated device demonstrator called articulated inspection arm (AIA). The first part of this work concerned the analysis of the requirements to perform a realistic inspection in the ITER vacuum and temperature ambiance (120/spl deg/C at least). The conceptual design of the overall manipulator, completed in 2002, is based on a S modules kinematics with 11 actuated joints. To support the feasibility demonstration of the technology, a scale one mock up of a single module has been manufactured and tested, focusing on its ability to withstand the most critical loads. The main results concern improvement in the design margin to enhance AIA performances under ITER temperature and vacuum operational conditions. New AIA technologies, including components and materials have been qualified through outgassing tests at 230/spl deg/C with success. An upgraded AIA single module has been designed and its manufacturing is launched. This prototype module will be tested on the CEA-Cadarache test facility under real vacuum and baking temperature conditions. A feasibility study of a full AIA operation in Tore Supra was performed, taking into account ITER reference requirements. A scale one demonstration of the AlA under ITER relevant condition is feasible on Tore Supra and would give significant improvement in R&D results for ITER remote handling equipment. The test of the AlA demonstrator behaviour is foreseen in 2005 in real tokamak conditions. T

关键词： Inspection Tokamaks Testing Manufacturing Plasma temperature Research and development Remote handling Payloads Plasma devices Plasma materials processing

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An interactive visual man - Patient interface for semlmmersive endoscopic surgery

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Studies in Health Technology and Informatics 1996年 29卷 118-120页

作者： Laurent, Christophe R. Orstein, Markus H. Ysebaert, Dirk K. Veschave, Jean Van Hee, Robrecht Computer Assisted Surgery Interactive Medical Imaging and Robotics Unit Surgical Research Center Antwerp Belgium not available c/o Peter Benoitlane 3 1 B-2550 Kontich-Antwerpen Belgium

Endoscopy, a we know it today, is far from perfect. In an attempt to make the interventions as little invasive as possible, the ergonomics of the procedure, for the surgeon, are often not dealt with at all. In an attempt to improve the surgeon patient interface during endoscopic procedures, a new concept is presented to allow the surgeon a much more natural visual interaction with the inside of the patient. It is made possible for the sugeon to look around into the cavity, with a stereo endoscope, mounted on a robot arm. This robot arm is directed by the motion of the head of the surgeon. © The authors 1996.

关键词： Endoscopy

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