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ON THE EXTREMAL FUNDAMENTAL FREQUENCIES OF ONE-LINK FLEXIBLE MANIPULATORS

INTERNATIONAL JOURNAL OF robotics RESEARCH 1994年第2期13卷 162-170页

作者： WANG, FY [o_1]Robotics and Automation Laboratory Department of Systems and Industrial Engineering The University of Arizona Tucson Arizona 85721

The problem of maximizing the fundamental vibration frequency of a flexible manipulator through the optimum design of its link is addressed. A larger fundamental vibration frequency is desired because it will enable the manipulator to move faster without causing serious oscillation of its end point. Using the variational method, we show that this design problem can be formulated as a nonlinear eigenvalue problem and thus solved by a set of successive iteration schemes. Sensitivity analysis for the optimum design is also performed to obtain useful information for machining allowance specifications. The results of this investigation should be very useful in the design of lightweight and high-performance robotic arms. For example, numeric calculations indicated that an increase ranging from 194.92% to 600.25% in the fundamental vibration frequency can be achieved by the optimum tapering of a flexible manipulator with a link of geometrically similar cross sections. This may lead to a significant improvement in productivity, as the manipulator can rotate three to seven times faster.

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A KNOWLEDGE-BASED APPROACH TO MODELING OF ROBOTIC ASSEMBLY CELLS

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ROBOTICA 1991年第1期9卷 31-42页

作者： KIM, DW LEE, BH KO, MS Robotics and Intelligent Systems Laboratory Department of Control and Instrumentation Engineering Seoul National University Seoul 151–742 (Korea)

In this paper, an approach to modelling of a robotic assembly cell is proposed and a method for managing the cell operation is described using a knowledge base. Since the modelling structure is based on the concept of the state variable, the relationships between states are described by the state transition map (STM). The knowledge-bases for state transition and assembly job information are obtained from the STM and the assembly job tree (AJT), respectively. Using the knowledge-base, the system structure is discussed in relation to both managing the cell operation and evaluating the performances. Finally, a simulation algorithm is presented with the simulation results to show the significance of the proposed modelling approach.

关键词： MODELING ASSEMBLY CELLS robotics KNOWLEDGE-BASE STATE TRANSITION

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Computationally efficient dense moving object detection based on reduced space disparity estimation

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IFAC-PapersOnLine 2018年第22期51卷 360-365页

作者： Popovi, Goran Hadviger, Antea Markovi, Ivan Petrovi, Ivan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Autonomous Systems and Mobile Robotics Zagreb Croatia

Computationally efficient moving object detection and depth estimation from a stereo camera is an extremely useful tool for many computer vision applications, including robotics and autonomous driving. In this paper we show how moving objects can be densely detected by estimating disparity using an algorithm that improves complexity and accuracy of stereo matching by relying on information from previous frames. The main idea behind this approach is that by using the ego-motion estimation and the disparity map of the previous frame, we can set a prior base that enables us to reduce the complexity of the current frame disparity estimation, subsequently also detecting moving objects in the scene. For each pixel we run a Kalman filter that recursively fuses the disparity prediction and reduced space semi-global matching (SGM) measurements. The proposed algorithm has been implemented and optimized using streaming single instruction multiple data instruction set and multi-threading. Furthermore, in order to estimate the process and measurement noise as reliably as possible, we conduct extensive experiments on the KITTI suite using the ground truth obtained by the 3D laser range sensor. Concerning disparity estimation, compared to the OpenCV SGM implementation, the proposed method yields improvement on the KITTI dataset sequences in terms of both speed and accuracy. © 2018

关键词： Computer vision Computational complexity Computational efficiency Motion estimation Object detection Object recognition Stereo image processing Stereo vision 3D laser range sensors Computationally efficient Computer vision applications Dense disparity estimation Detecting moving objects Moving object detection Semi global matching Single instruction multiple data instructions

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Trust Consensus Protocol for Heterogeneous Underwater Robotic systems

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IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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Designing and Optimization of an Off-line Programming System for Robotic Belt Grinding Process

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Chinese Journal of Mechanical engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

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PETRI NETS AND INDUSTRIAL APPLICATIONS - A TUTORIAL

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1994年第6期41卷 567-583页

作者： ZURAWSKI, R ZHOU, MC Laboratory for Robotics & Intelligent Systems Swinburne University of Technology Melbourne VIC Australia Laboratory for Discrete Event Systems Department of Elcctrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA

This is a tutorial paper on Petri nets. Petri nets, as a graphical and mathematical tool, provide a uniform environment for modelling, formal analysis, and design of discrete event systems. The main objective of this paper is to introduce the fundamental concepts of Petri nets to the researchers and practitioners, both from academia and industry, who are involved in the work in the areas of modelling and analysis of industrial types of systems, as well as those who may potentially be involved in these areas. The paper begins with an overview of applications of Petri nets, mostly industrial ones. Then, it proceeds with a description of Petri nets, properties, and analysis methods. The discussion of properties is put in the context of industrial applications. The analysis methods are illustrated using an example of a simple robotic assembly system. The performance analysis, using Petri nets, is discussed for deterministic and stochastic Petri nets. The presented techniques are illustrated by examples representing simple production systems. In addition, the paper introduces high-level Petri nets, fuzzy Petri nets, and temporal Petri nets. This is done in the context of application prospects. The paper also briefly discusses some of the reasons restricting the use of Petri nets, mostly, to academic institutions.

关键词： Tutorial Petri nets Mathematical model Discrete event systems Performance analysis Production systems Modems Communication industry Laboratories Intelligent robots

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SENSORS AND INTERFACING IN robotics AND MANUFACTURING

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1990年第3-4期7卷 243-253页

作者： JAMSHIDI, M CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM 87131 U.S.A.

Sensing is one of the most essential aspects of any robotic application, be it manufacturing or any automated process. Robotic sensors can be divided into two classes of " internal " and " external ". Examples of the first group are position or velocity, while the second group includes proximity, touch, or vision to name a few. The other important problem in manufacturing is interfacing with the environment within a cell. The object of this tutorial paper is to survey the two issues of "sensing" and "interfacing" in robotics and manufacturing.

关键词： Robots, Industrial

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ON ROBUST DECENTRALIZED CONTROL OF A 5-AXIS ROBOT

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robotics AND COMPUTER-INTEGRATED MANUFACTURING 1989年第4期6卷 309-316页

作者： JAMSHIDI, M TSENG, CS CAD Laboratory for Systems/Robotics Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 U.S.A.

In this paper, a dynamic model of a robot manipulator is first derived based on the Euler-Lagrange equation and a state-space representation is derived for it. A number of non-adaptive robot control schemes are then reviewed. A robust decentralized control is then proposed for a 5-axis robot manipulator. Numerical simulation results are presented to verify the theory.

关键词： Robots, Industrial

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Accelerating Visual Reinforcement Learning with Separate Primitive Policy for Peg-in-Hole Tasks

arXiv

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arXiv 2025年

作者： Xu, Zichun Wang, Zhaomin Li, Yuntao Zhuang, Lei Zhao, Zhiyuan Yang, Guocai Zhao, Jingdong State Key Laboratory of Robotics and Systems Harbin Institute of Technology Heilongjiang Province Harbin150001 China School of Mechanical Engineering Shandong University Jinan250061 China

For peg-in-hole tasks, humans rely on binocular visual perception to locate the peg above the hole surface and then proceed with insertion. This paper draws insights from this behavior to enable agents to learn efficient assembly strategies through visual reinforcement learning. Hence, we propose a Separate Primitive Policy (S2P) to simultaneously learn how to derive location and insertion actions. S2P is compatible with model-free reinforcement learning algorithms. Ten insertion tasks featuring different polygons are developed as benchmarks for evaluations. Simulation experiments show that S2P can boost the sample efficiency and success rate even with force constraints. Real-world experiments are also performed to verify the feasibility of S2P. Ablations are finally given to discuss the generalizability of S2P and some factors that affect its performance. Copyright © 2025, The Authors. All rights reserved.

关键词： Reinforcement learning

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Temporal-spatial cross-correlation analysis of non-stationary near-surface wind speed time series

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Journal of Central South University 2017年第3期24卷 692-698页

作者： ZENG Ming LI Jing-hai MENG Qing-hao ZHANG Xiao-nei Institute of Robotics and Autonomous Systems Tianjin Key Laboratory of Process Measurement and Control （School of Electrical Automation and Information Engineering Tianjin University） Tianjin 300072 China

Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.

关键词： temporal-spatial cross-correlation near-surface wind speed time series detrended cross-correlation analysis （DCCA） cross-correlation coefficient Pearson coefficient cross-correlation function

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