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13th International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2021

作者： Cai, Hongxia Liu, Zhishu Wang, Cheng Shanghai University Shanghai Key Lab. of Intelligent Mfg. and Robotics School of Mechatronic Engineering and Automation Shanghai China

ISBN: (纸本)9781665428361

With the continuous penetration of information technology into scientific research work, information resources with diverse structures have gathered into the scientific research team. Facing the needs of scientific research workers to manage and utilize scientific research resources, we provide a knowledge recommendation platform for university scientific research teams. In the face of multi-source heterogeneous resources in the scientific research field (such as literature data and work record data), we have established a resource knowledge base based on knowledge graph descriptions. In order to realize the effective recommendation of resources, we use the graph neural network model to design a personalized recommendation module while constantly updating our knowledge resources. After actual testing, our resource platform can better knowledge resources and push knowledge content. © 2021 IEEE.

关键词： Knowledge graph

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A novel genetic approach to epipolar geometry estimation

A novel genetic approach to epipolar geometry estimation

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2010 International Conference on Image Processing, Computer Vision, and Pattern Recognition, IPCV 2010

作者： Chiesa, S. Taraglio, S. AI Laboratory Department of Computer Science and Automation Roma Tre University Rome Italy Robotics Lab. ENEA Rome Italy

ISBN: (纸本)9781601321541

A novel genetic approach to epipolar geometry estimation is presented. The individual genetically evolved in the algorithm encodes the rototranslation performed by a camera between two views of a scene, thus the fundamental matrix. The fitness function is designed to minimise the error between points and epipolar lines and to maximise the number of inliers. Results on synthetic and real images are reported and compared with data in literature.

关键词： Genetic algorithms

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Automated industrial robot path planning for spray painting a process: A review

Automated industrial robot path planning for spray painting ...

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4th IEEE Conference on automation Science and Engineering, CASE 2008

作者： Chen, Heping Thomas, Fuhlbrigge Xiongzi, Li Robotics and ABB Automation Lab. Corporate Research Center 2000 Day Hill Road Windsor CT 06095 United States

ISBN: (纸本)9781424420230

Industrial robots are widely used to paint final products in many industries, such as automotive and furniture etc. Robot path planning based on the CAD models of parts for spray painting is critical for product quality, process cycle time and material waste etc. Currently automated robot path planning has always caused a bottleneck for the spray painting processes because typical manual teaching methods are time consuming, error-prone and skill dependent. Thus, it is essential to develop automated tool path planning methods to replace manual tool path planning ones in order to reduce the cost and improve product quality. This challenging research topic has been receiving more and more attention from both academia and industry. Therefore, a review of automated tool path planning methods is necessary to investigate the advantages and disadvantages of the current techniques. ©2008 IEEE.

关键词： Paint spraying

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Research on a new multiobjective combinatorial optimization algorithm

Research on a new multiobjective combinatorial optimization ...

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Proceedings - 2004 IEEE International Conference on robotics and Biomimetics, IEEE ROBIO 2004

作者： Qin, Yong-Fa Zhao, Ming-Yang Qn, Yong-Fa Robotics Open Lab. Shenyang Institute of Automation CAS Shenyang China Graduate School Chinese Academy of Sciences Beijing China

ISBN: (纸本)0780386418

An real world engineering design problem is usually with multiple conflicting objectives, and it is easily lead to the difficulty to optimize these objectives at the same time. Multiobjective combinatorial optimization is not only an open theory problem, but also with an important practical significance. After modeling the constrained multiobjective combinatorial optimization problem, a new optimization algorithm is presented in detail. The algorithm is different from existing multiobjective evolutionary algorithms in three aspects. The first is the two-layer encoding method. The second is that it hybrids the simulated annealing algorithm with the genetic algorithm to improve the global searching ability while maintaining the parallel computing ability. The third is the decision making mechanism to evaluate candidate solutions with several design objectives. A numerical example study shows that the proposed algorithm is capable of dealing with multiobjective combinatorial optimization problems. © 2004 IEEE.

关键词： Evolutionary algorithms

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A novel Q-learning based adaptive optimal controller implementation for a humanoid robotic arm

A novel Q-learning based adaptive optimal controller impleme...

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作者： Khan, Said G. Herrmann, Guido Lewis, Frank L. Pipe, Tony Melhuish, Chris Bristol Robotics Laboratory University of the West of England Bristol United Kingdom Bristol Robotics Lab. University of Bristol Bristol United Kingdom Automation and Robotics Research Institute University of Texas Arlington United States

ISBN: (纸本)9783902661937

This paper presents the implementation of a novel model-free Q-learning based discrete adaptive optimal controller for a humanoid robotic arm. The controller uses a novel adaptive dynamic programming (ADP) reinforcement learning (RL) approach to develop an optimal policy on-line. This is in contrast with the other optimal control design techniques which are carried out off-line and need full information of the system dynamics. The RL tracking controller was implemented for two links (shoulder flexion and elbow flexion joints) of the arm of the humanoid Bristol-Elumotion-Robotic-Torso II (BERT II) torso. The constrained case (joint limits) of the RL scheme was tested for a single link (elbow flexion) of the BERT II arm by modifying the cost function to deal with the extra nonlinearity due to the joint constraint. © 2011 IFAC.

关键词： Robotic arms

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The challenges of integrating an industrial robot on a mobile platform

The challenges of integrating an industrial robot on a mobil...

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2010 IEEE International Conference on automation and Logistics, ICAL 2010

作者： Zhang, Biao Martinez, Carlos Wang, Jianjun Fuhlbrigge, Thomas Eakins, William Chen, Heping Robotics and Automation Lab. ABB Corporate Research Center ABB Inc. 5 Waterside Crossing Windsor CT 06095 United States

ISBN: (纸本)9781424483754

This paper provides a description of a uniquely mounted industrial robot. The described configuration includes an IRB6620 industrial robot with a tool changer and multiple tools that are installed on a highly customized truck chassis. Industrial robots are typically anchored to a shop floor which would normally limit the operational range of industrial robotics and require that all parts and materials be delivered to the robot. While this is normal and practical in instances where systems are structured to handle high volume part demand, it inherently limits the rapid mobility of a system. Such mobility would also be limited by the typical supply requirements of industrial equipment, such as process data communication, power, fluids, and compressed air or other gasses. However, new market requests have emerged for industrial robotics that prompted this particular in-house development of a mobile and uniquely self sufficient robotic arm platform. This wheeled vehicular platform is able to travel any reasonably navigable terrain, including off road, and is reliant solely on its own generated power or otherwise carried supplies. This paper presents the prototype development of such a platform that is self sufficient for electrical power, as well as compressed air from on board sources. This installation has been successfully developed to carry out various demonstration tasks by use of interchangeable tooling. This solution provides a mobile platform for an industrial robot which could be used in any location as long it is accessible to the mobile platform. © 2010 IEEE.

关键词： Industrial robots

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Force modeling for tooth preparation in a dental training system

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Virtual Reality 2008年第3期12卷 125-136页

作者： Liu, Guanyang Zhang, Yuru Townsend, William T. State Key Lab. of Virtual Reality Technology and System Beihang University Beijing China Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Barrett Technology Inc. Boston MA United States

Feedback force is very important for novices to simulate tooth preparation by using the haptic interaction system (dental training system) in a virtual environment. In the process of haptic simulation, the fidelity of generated forces by a haptic device decides whether the simulation is successful. A force model computes feedback force, and we present an analytical force model to compute the force between a tooth and a dental pin during tooth preparation. The force between a tooth and a dental pin is modeled in two parts: (1) force to resist human's operation and (2) friction to resist the rotation of the dental engine. The force to resist the human's operation is divided into three parts in the coordinates that are constructed on the bottom center of the dental pin. In addition, we also consider the effects of dental-pin type, tooth stiffness, and contact geometry in the force model. To determine the parameters of the force model, we construct a measuring system by using machine vision and a force/torque sensor to track the human's operations and measure the forces between the dental pins and teeth. Based on the measuring results, we construct the relation between the force and the human's operation. The force model is implemented in the prototype of a dental training system that uses the Phantom as the haptic interface. Dentists performing virtual operations have confirmed the fidelity of feedback force. © Springer-Verlag London Limited 2008.

关键词： Haptic interfaces

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Geometric design of cylindric PRS serial chains

Geometric design of cylindric PRS serial chains

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2003 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference

作者： Su, Hai-Jun Wampler, Charles W. McCarthy, J. Michael Robotics and Automation Laboratory University of California Irvine United States Manufacturing Systems Research Lab. General Motors R and D Center United States

This paper considers the design of the cylindric PRS serial chain. This five degree-of-freedom robot can be designed to reach an arbitrary set of eight spatial positions. However, it is often convenient to choose some of the design parameters and specify a task with fewer positions. For this reason, we study the three through eight position synthesis problems and consider various choices of design parameters for each. A linear product decomposition is used to obtain bounds on the number of solutions to these design problems. For all cases of six or fewer positions, the bound is exact and we give a reduction of the problem to the solution of an eigenvalue problem. For seven and eight position tasks, the linear product decomposition is useful for generating a start system for solving the problems by continuation. The large number of solutions so obtained contraindicates an elimination approach for seven or eight position tasks, hence continuation is the preferred approach.

关键词： robotics

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Multi-passageway information processing mechanism and application in vision tracing

Multi-passageway information processing mechanism and applic...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Jinyue, Liu Tiejun, Li Haiwen, Zhao Bo, Zhou Lab. of Precision Meets. Technol. Tianjin University Tianjin China Research Institute of Robotics and Automation Hebei University of Technology Tianjin China

ISBN: (纸本)1424404665

Inspired by principle of human vision system, the multi-passageway parallel processing mechanism was introduced and used in the research on robot vision tracing. After the analysis of human vision system, a new object tracking approach simulating human vision is presented in this paper. This method uses color, shape and moving information, which are three main features of moving objects in a multi-passageway parallel processing way, and the result is obtained by synthesizing the output information of each passageway. A new contour extraction method is proposed by the concept of recept field (RF), and the model of 'On' RF is used in object's shape information processing. Some tracking experiments using this approach have been done on a multifunctional experiment platform. Comparing with traditional serial processing mechanism, the results of tracking experiments showed that this method could improve the image processing speed and precision in a great degree. © 2006 IEEE.

关键词： Parallel processing systems

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Rh-0 humanoid full size robot's control strategy based on the Lie logic technique

Rh-0 humanoid full size robot's control strategy based on th...

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2005 5th IEEE-RAS International Conference on Humanoid Robots

作者： Arbulú, Mario Pardos, José M. Cabas, Luis Staroverov, Pavel Kaynov, Dmitry Pérez, Carlos Rodriguez, Miguel Balaguer, Carlos Robotics Lab. Department of Systems Engineering and Automation University Carlos III of Madrid Av. De la Universidad 30 Leganes-Madrid 28911 Spain

ISBN: (纸本)0780393201

This paper presents the experimental results of the full size Rh-0 humanoid robot developed by the University Carlos III of Madrid. The robot has 21 DOF, 1.350 mm height and 40kg weight including the on-board batteries and hardware. The robot's control architecture is formed by the distributed dual CAN bus system. The bus is used for joints' control and supervision, and also for sensing different global robots features. The key innovation is the kinematics control strategy based on the Lie logic technique. Using the Product of Exponentials (PoE) and the Paden-Kahan sub-problem techniques, the Sagital Kinematics Division (SKD) algorithm for robot's kinematics control had been implemented. The results of this implementation are shown in the final part of the paper. © 2005 IEEE.

关键词： Intelligent robots

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