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Prediction of chip back-flow angle in machining with restricted contact grooved tools

Prediction of chip back-flow angle in machining with restric...

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ASME 2000 International Mechanical engineering Congress and Exposition, IMECE 2000

作者： Fang, N. Jawahir, I.S. Machining Research Laboratory Center for Robotics and Manufacturing Systems Department of Mechanical Engineering University of Kentucky LexingtonKY40506-0108 United States

ISBN: (纸本)9780791819166

This paper presents a new predictive model for chip backflow angle in machining with restricted contact grooved tools. This model is derived from the recently established universal slip-line model for machining with restricted contact cut-away tools. A comprehensive definition of the chip back-flow angle is first developed, and based on this, a quantitative analysis of the effect of chip back-flow is presented for the given set of cutting conditions, tool geometry and variable tool-chip interfacial stress state. This model also predicts cutting forces, chip thickness ratio and chip up-curl radius. A full experimental validation of the predictive model involving the use of high speed filming techniques is then presented for chip back-flow angle and this validation provides a range of feasible/prevalent tool-chip interfacial frictional conditions for a given set of input conditions. Copyright © 2000 by ASME.

关键词： Machining

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Audio-visual guided predictive simulator in multi-telerobot coordination

Audio-visual guided predictive simulator in multi-telerobot ...

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作者： Chong, Nak Young Kotoku, T. Ohba, K. Sasaki, H. Komoriya, K. Tanie, K. Robotics Department Mechanical Engineering Laboratory Tsukuba305-8564 Japan Institute of Engr. Mechanics and Systems Univ. of Tsukuba 305-8573 Japan

The MEL is developing technologies for multi-robot collaboration in remote environments with the TMSL. In the paper, an audio-visual guided predictive simulator is described to cope with the operator's delayed visual perception in the multi-operator-multi-robot (MOMR) tele-collaborative system through a network with time delay. The communication delay over the network would seriously affect the collaboration performance in the MOMR tele-manipulation and accordingly require an additional information to guide the operators. We have built an experimental test bed in MEL and TMSL to investigate the time-delayed remote collaboration. In the test bed, one operator controls her master hand nearby two cooperating slave robot systems and another from a distance. Several coordination methods are exploited by employing the audio-visual guided predictive simulator to avoid the collision arising from the communication delay. To verify the validity of the predictive simulator assisted scheme, we have demonstrated a maintenance work on a plant mock-up by two different slave systems and two distant operators through an integrated services digital network (ISDN). © 2000 IEEE.

关键词： Simulators

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Development of a multi-telerobot system for remote collaboration

Development of a multi-telerobot system for remote collabora...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： Nak Young Chong T. Kotoku K. Ohba K. Komoriya F. Ozaki H. Hashimoto J. Oaki K. Maeda N. Matsuhira K. Tanie Robotics Department Mechanical Engineering Laboratory Tsukuba Japan Mechanical Systems Laboratory R & D Center Toshiba Corporation Kawasaki Japan

The Mechanical engineering laboratory (MEL) is developing technologies for multi-robot collaboration in remote environments with the Toshiba Mechanical systems laboratory (TMSL). Human operators' delayed visual perception due to the communication delay over the network seriously affects the collaboration performance in the multi-operator-multi-robot tele-manipulation. We have built an experimental tele-manipulation test bed connecting the MEL and the TMSL to study the time-delayed remote tele-collaboration between two places. In the test bed, one operator controls her master robot nearby two slave robots in the work site and another from a distance. A local online graphics simulator without time delay is developed to cope with the communication delay and several multi-robot coordinated control strategies are devised to avoid the collision. To verify the validity of this simulator assisted approach, we demonstrated a maintenance work on a plant mock-up in the TMSL by two different slave robots and two distant operators in the MEL and TMSL respectively through an ISDN.

关键词： Collaboration Robot kinematics Testing Communication system control Delay effects Mechanical engineering Mechanical systems Humans Visual perception Collaborative work

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Remote coordinated controls in multiple telerobot cooperation

Remote coordinated controls in multiple telerobot cooperatio...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Nak Young Chong T. Kotoku K. Ohba K. Komoriya N. Matsuhira K. Tanie Robotics Department Mechanical Engineering Laboratory Tsukuba Japan Mechanical Systems Laboratory R & D Center Toshiba Corporation Kawasaki Japan

Various coordinated control schemes are explored in the multi-operator-multi-robot (MOMR) tele-collaborative system through a network with time delay. Multi-robot cooperation has rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because it would have a significant advantage over a single robot in such cases. Thus, time-delayed control of a multi-robot system is expected to play an important role in remote operations, too. However, the effect of time-delay would pose a more difficult problem to the MOMR teleoperation systems and seriously affect their performance. In this work, first, we have built an experimental system to investigate the remote cooperation in MOMR teleoperation. Then, different coordinated control methods are proposed to cope with the collision, arising from the time delay over the network. To verify the validity of the proposed schemes, we have carried out various experiments on a planar block arrangement by two slave arms employing graphic simulators and a LAN subject to a significant communication delay.

关键词： Robot kinematics Delay effects Space technology Control systems Orbital robotics Surgery Manipulators Mechanical engineering Laboratories Multirobot systems

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Audio-visual guided predictive simulator in multi-telerobot coordination

Audio-visual guided predictive simulator in multi-telerobot ...

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Annual Conference of Industrial Electronics Society

作者： Nak Young Chong T. Kotoku K. Ohba H. Sasaki K. Komoriya K. Tanie Robotics Dept. Mech. Eng. Lab. Tsukuba Japan Robotics Department Mechanical Engineering Laboratory Tsukuba Japan Institute of Engineering Mechanics and Systems University Tsukuba Japan

关键词： Predictive models Collaboration Delay effects Visual perception System testing Communication system control Control systems Master-slave Robot kinematics Intserv networks

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Development of multi-limb robot with omnidirectional manipulability and mobility

Development of multi-limb robot with omnidirectional manipul...

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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS 2000) (Cat. No.00CH37113)

作者： Y. Takahashi T. Arai Y. Mae K. Inoue N. Koyachi Department of Systems and Human Science Graduate School of Engineering Science Osaka University Toyonaka Osaka Japan Department of Robotics Mechanical Engineering Laboratory Tsukuba Ibaraki Japan

In order to develop a high performance working robot, we design and develop a new robot based on the concept of "limb mechanism " for integration of legged locomotion and arm manipulation. The robot developed has six limbs which can be used for both locomotion and manipulation. The six limbs are set on vertices of regular hexagonal body so that this robot can have omnidirectional manipulability and mobility. We evaluate the stroke and the stability margin in all walking directions on six-legged and four-legged locomotion. As a result, this robot has higher omnidirectional mobility than conventional mechanisms.

关键词： Mobile robots Robot kinematics Legged locomotion Orbital robotics Service robots Leg Couplings Grippers Stability Robotic assembly

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Use of coordinated online graphics simulator in collaborative multi-robot teleoperation with time delay

Use of coordinated online graphics simulator in collaborativ...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Nak Young Chong T. Kotoku K. Ohba H. Sasaki K. Komoriya K. Tanie Robotics Department Mechanical Engineering Laboratory Tsukuba Japan Tsukuba Daigaku - Tsukuba Campus Kasuga Chiku Tsukuba Ibaraki JP Institute of Engineering Mechanics & Systems University of Tsukuba Japan

Coordinated control technologies have been developed for multi-robot collaboration in a common environment remotely controlled from multiple operators physically at a distance from each other. To verify the validity of the proposed approaches, we built a test bed and conducted a series of experiments, where we learned the effect of communication delay over the network on the performance of telerobots. This paper discusses the use of an online predictive simulator in the multi-operator-multi-robot (MOMR) tele-collaborative system to cope with the operator's delay visual perception over the network with time delay. In the test bed, each operator controls his/her master device to control two slave robots to cooperate in a task and detect a priori the possibility of collision in the graphics simulator that runs in near real-time. We demonstrate various tasks performed by two slave robots and two operators through LAN subjected to the simulated delays, and evaluate the use of the predictive simulator in MOMR tele-collaboration.

关键词： Graphics Online Communities/Technical Collaboration Communication system control Delay effects Predictive models Testing Robot kinematics Visual perception Master-slave Robot control

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Distributed modular computer-integrated surgical robotic systems: Implementation using modular software and networked systems 3rd

Distributed modular computer-integrated surgical robotic sys...

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3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000

作者： Bzostek, Andrew Kumar, Rajesh Hata, Nobuhiko Schorr, Oliver Kikinis, Ron Taylor, Russell H. Department of Computer Science Johns Hopkins University BaltimoreMD United States Surgical Planning Laboratory Brigham and Women’s Hospital and Harvard Medical School BostonMA United States Institute of Process Control and Robotics University of Karlsruhe Germany Engineering Research Center for Computer Integrated Surgical Systems and Technology Germany

ISBN: (纸本)3540411895

We seek to build CIS research systems within a flexible, open architecture. In this paper, we outline our solutions to the problems of system design, construction, and integration in this environment: building distributed, modular systems for sensing, control, and processing. Based on our experience building these systems, we utilize distributed network architectures, modular software components, and intelligent object distribution to maximize flexibility while complying with the particular needs and interfaces of specific components. While a work in progress, these approaches have been integrated into several systems in development and have demonstrated significant utility, based on construction time and system flexibility. This paper will discuss the first two aspects: modular software and basic network architectures, while intelligent object distribution is presented in a companion paper. Based on the applications we have targeted and technologies we have used, this paper introduces our architecture and its components. It then presents the system’s current state and finally, discusses plans for future improvements and extensions. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Network architecture

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Robust adaptive control of formationkeeping for a pair of satellites

Robust adaptive control of formationkeeping for a pair of sa...

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American Control Conference (ACC)

作者： Zhi Wang F. Khorrami W. Grossman Control/Robotics Research Laboratory (CRRL) Department of Electrical Engineering Six Metrotech Center Polytechnic University Brooklyn NY USA Applied Systems Engineering Inc. Gambrills MD USA

Two robust adaptive control schemes (state-feedback and output-feedback) for formationkeeping of a pair of satellites are proposed. In contrast to most existing results, both control schemes are based on the nonlinear model directly, not on the simplified linearized model. In addition, the uncertainties and disturbances in the system such as the effects due to solar pressure, noncentral gravitational field, air drag, etc. are all considered. The objective of the control design is to force the relative position between two satellites to track a given reference signal while maintaining the desired Keplerian trajectory (in this case circular) for the master satellite. The results of this paper may be easily generalized to formationkeeping of a number of satellites.

关键词： Robust control Adaptive control Satellites Spaceborne radar Control systems Uncertainty Trajectory Nonlinear optics Optical interferometry Interferometers

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An intelligent above-knee prosthesis with EMG-based terrain identification

An intelligent above-knee prosthesis with EMG-based terrain ...

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IEEE International Conference on systems, Man and Cybernetics

作者： Dewen Jin Ruihong Zhang Jichuan Zhang Rencheng Wang W.A. Gruver Department of Precision Instruments Tsinghua University Beijing China Intelligent Robotics and Manufacturing Systems Laboratory School of Engineering Science Simon Fraser University Burnaby BC Canada

Gait analyses show that knee moments are considerably different when walking on different terrain. To accommodate changing conditions, prostheses should provide a means for adjusting the knee moments by identifying conditions of the terrain. In this research, terrain identification is obtained by the use of electromyographic (EMG) signals that are used to control resistive moments of an above-knee prosthesis. Results from laboratory experiments demonstrate that the technique is effective for identification and adaptable to different terrain.

关键词： Prosthetics Knee Legged locomotion Electromyography Hip Acceleration Cameras Laboratories Microcomputers Intelligent robots

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