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Evolutionary Approaches to the Linear Machine Layout Problem

IFAC Proceedings Volumes 2009年第4期42卷 1245-1250页

作者： Salman Mohagheghi George Georgoulas Chrystostomos Stylios Peter Groumpos ABB Inc US Corporate Research Center Raleigh NC 27606 USA Dept. of Computer Applications in Finance and Management TEI of Ionian Islands Lefkas Greece Dept. of Informatics and Communications Technology TEI of Epirus Kostakioi Artas Greece Lab. of Automation and Robotics Dept. of Electrical and Computer Eng. Patras Greece

Flexible Manufacturing Systems (FMSs) cope with multi-product, usually small sized production. In this research work we investigate the use of evolutionary methods to solve the linear or single-row layout problem, which is the most commonly implemented layout in FMSs. Three different approaches, based on Ant Colony Optimization, Genetic Algorithms and Particle Swarm Optimization are tested. The experimental results show that a near optimal solution can be found for all three methods, exploiting only a small portion of the feasible solution space, pinpointing once more the merit of using evolutionary algorithms to tackle difficult combinatorial problems.

关键词： Flexible Manufacturing Systems Ant Colony Optimization Genetic Algorithms Particle Swarm Optimization

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A study on AFM manipulation of single-wall carbon nanotube

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Journal of Physics: Conference Series 2009年第1期188卷

作者： Xiaojun Tian Zaili Dong Peng Yu Zhu Liu State Key Lab. of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 People's Republic of China

As single-wall carbon nanotube (SWCNT) has special electrical and physical property, it can be used as excellent material to construct various nano electronic device. However, in the fabrication process, the modification of size, shape and even the electronic property, especially to the metallic SWCNT, is a key problem to be overcome. Here a modified nanomanipulation technology based on atomic force microscope (AFM) is utilized to perform various kinds of SWCNT manipulation, such as SWCNT separation, catalyst remove, continual nano buckles fabrication and even stretch to break, thus to modify the size, shape and eventually the electrical property of the SWCNT. In addition, the manipulation results are analyzed based on the mechanical mechanism.

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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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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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Swarm formation control utilizing ground and aerial unmanned systems

Swarm formation control utilizing ground and aerial unmanned...

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2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

作者： Barnes, Laura Garcia, Richard Fields, Mary Anne Valavanis, Kimon Automation and Robotics Research Institute University of Texas Arlington TX United States U.S. Anny Research Lab. Aberdeen MD 21005 United States Computer Science Department University of South Florida Tampa FL 33620 United States

ISBN: (纸本)9781424420582

This work addresses the problem of coordinating a swarm of unmanned ground vehicles with an Unmanned Aerial Vehicle (UAV). The UAV is utilized as a leader robot that is intelligently followed by a coordinated group of Unmanned Ground Vehicles (UGVs). The UAV is a completely autonomous agent that is controlled using Sugueno fuzzy logic. The UGVs are organized into formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions are built around the location of the UAV and ultimately construct the surface that swarm members travel on, which inherently controls the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm control by modifying and adjusting a set of control variables forcing the swarm to behave according to set constraints, formation and member spacing. The swarm function and limiting functions are combined to control swarm formation, orientation, and swarm movement as a whole. Parameters are chosen based on desired formation as well as user defined constraints. Simulations demonstrate the precision of the approach with up to forty UGVs. Experimental results are presented using a fully autonomous swarm of three UGVs and a single UAV helicopter for coordination.

关键词： Unmanned aerial vehicles (UAV)

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Advances in Telerobotics 1

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丛书名： Springer Tracts in Advanced robotics

2007年

作者： Manuel Ferre Rafael Aracil Martin Buss Claudio Melchiorri Carlos Balaguer

ISBN: (数字)9783540713647

ISBN: (纸本)9783540713630;9783642425929

At the dawn of the new millennium, robotics is undergoing a major transformation in scope and dimension. From a largely dominant industrial focus, robotics is rapidly expanding into the challenges of unstructured environments. Interacting with, assi- ing, serving, and exploring with humans, the emerging robots will increasingly touch people and their lives. The goal of the new series of Springer Tracts in Advanced robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their signi cance and quality. It is our hope that the wider dissemination of research developments stimulates exchanges and collab.rations among the research community and contributes to further advancement of this rapidly growing eld. The edited volume by Manuel Ferre, Martin Buss, Rafael Aracil, Claudio M- chiorri and Carlos Balaguer is focused on the most recent advances in telerobotics, a technology that deals with the inclusion of a human operator in the control loop of a remote robot. Telerobotics encompasses an area at the crossroads of several scienti c disciplines such as mechatronics, control, communication, computers, sensor-based recognition, multimodality and even teleoperation through Internet.

关键词： Control, robotics, Mechatronics Artificial Intelligence Systems Theory, Control

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Development and application of lab.l OCR system based on lab.IEW

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Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument 2007年第SUPP. 4期28卷 241-243页

作者： Liu, Jinyue Li, Tiejun Wang, Zengchun State Key Lab. of Precision Measurement Technology and Instruments Tianjin University Tianjin 300072 China Research Institute of Robotics and Automation Hebei University of Technology Tianjin 300130 China Hebei Institute of Mechanical and Electronic Technology Xingtai 054048 China

In the conventional paper currency packing and encasing production line, the recognition of product lab.ls is performed by the operators, which will result in large lab.r intensity and poor reliability. To overcome such a deficiency, a lab.l OCR system is developed based on lab.IEW. And the DDE (dynamic data exchange) protocol is adopted to carried out the communication between it and industry configuration software. Both detection efficiency and detection precision improve greatly.

关键词： DDE lab.l OCR lab.IEW

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Virtual prototyping for conceptual design of a tracked mobile robot

Virtual prototyping for conceptual design of a tracked mobil...

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2006 Canadian Conference on Electrical and Computer Engineering, CCECE'06

作者： Malik, Sadath M. Jun, Lin Goldenberg, Andrew A. Robotics and Automation Lab. Dept. of Mech. and Ind. Eng. University of Toronto

ISBN: (纸本)1424400384

Mobile robots equipped with manipulator arms are often required to operate on rough and uneven terrains. During the design stage, the designer needs to verify the robots performance on various test terrains. Physical prototyping although is more desirable, may prove to be expensive and time consuming. Virtual prototyping can be used especially in the conceptual design stage in order to significantly reduce the amount of physical testing that is required. This paper discusses the application of virtual prototyping using ADAMS software for tracked mobile robots. The virtual prototype was created for an existing robot and was validated with tests done on the physical robot. Different types of virtual terrains were created and dynamic simulations of the robot were performed on these terrains. The simulation results helped in many ways including visualization of the robot motion on different terrains and in determining the limiting dimensions of obstacles, stairs, ditches, etc., that the robot can safely negotiate. The described process can be applied to new robot designs, while still in their conceptual design stage.

关键词： Mobile robots

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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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Nanorobotics system simulation in 3D workspaces with low reynolds number

Nanorobotics system simulation in 3D workspaces with low rey...

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2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

作者： Cavalcantil, Adriano Hogg, Tad Shirinzadeh, Bjan Robotics and Mechatronics Research Lab. Dept. of Mechanical Eng. Monash University Clayton Melbourne VIC 3800 Australia HP Labs. Palo Alto CA 94304 United States CAN Center for Automation in Nanobiotech Sao Paulo SP 01540 Brazil

ISBN: (纸本)1424407176

We present a computational approach to enable the development of nanorobots operating in a fluid environment relevant for medical applications. Unlike the case of larger robots, the dominant forces in this environment arise from viscosity of low Reynolds number fluid flow and Brownian motion and such parameters are described throughout the paper. Hence, this paper describes a practical simulator that allows fast design methodology comparing various control algorithms for nanorobots and their suitability for different tasks. The simulator includes obstacles and identifiable targets, thereby providing a suitable environment for a typical nanorobot task: maintaining desired chemical concentrations near speciflc target areas.

关键词： Medical nanotechnology

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