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International Workshop on Robot Sensing (ROSE)

作者： Pinhas Ben-Tzvi Xin Xu Robotics and Mechatronics Lab Department of Mechanical and AeroSpace Engineering George Washington University Washington D.C. DC USA

Stereo vision systems have recently become an essential part for most autonomous mobile robots. There are several commercially available stereo vision products, which have been used for autonomous functions in mobile robot platforms. However, most of them are not suitable for compact sized robots. This paper presents an embedded stereo vision system that provides flexible baseline for robots of compact size. In terms of hardware, it provides baseline flexibility, and can be easily fitted into any robot. In terms of software, a feature based stereo vision algorithm is proposed to improve the real-time performance of the stereo vision system. The proposed featured-based method is evaluated by comparing it with the area-based method using standard test images. The results show that the computational time is significantly reduced (reduced by 60% in a relatively complex image). The proposed method is also implemented in real world environments in order to test its effectiveness.

关键词： Stereo vision Feature extraction Cameras Calibration Robot vision systems Algorithm design and analysis

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Uncertainty of calibration of 2d planar coordinate measuring machine

Uncertainty of calibration of 2d planar coordinate measuring...

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9th International Science Conference Coordinate Measuring Technique

作者： Furutani, Ryoshu Ozaki, Miyu Department of Mechanical Engineering School of Engineering Tokyo Denki University Kanda- Nishiki-cho 2-2 Chiyoda 101-8457 Tokyo Japan Department of Robotics and Mechatronics School of Science and Technology for Future Life Tokyo Denki University Kanda-Nishiki-cho 2-2 Chiyoda 101-8457 Tokyo Japan

ISBN: (纸本)9788362292561

When the kinematic parameters of 2D planar coordinate measuring machine are calibrated in self-calibration method, it is shown how to estimate the uncertainty of calibration and how to estimate the uncertainty of measurement.. In this paper, the uncertainty of probing and the uncertainty of sensors are considered as the contributors of uncertainty. Two different types of CMMs are applied to two different artefacts for calibration and those measures in some different orientations for estimation of uncertainty. The effectiveness of the difference of CMMs, the artefacts and the measurement orientations are compared. As a result, it is proved that the uncertainty distribution is different in the orientation of measurement and the uncertainty could be smaller by selecting measurement orientation.

关键词： Coordinate measuring machines

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Testbed for modeling and inventory regulation of dynamic supply chains

Testbed for modeling and inventory regulation of dynamic sup...

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International Conference on Electrical engineering, Computing Science and Automatic Control (CCE)

作者： A. Rodriguez-Angeles R. Guadarrama-Mendoza A. Morales-Diaz Department of Electrical Engineering Mechatronics Group CINVESTAV Mexico Distrito Federal Mexico Robotics and Advanced Manufacturing Group CINVESTAV Mexico

There exist several ways to model supply chain systems, from discrete models to stochastic ones. Among them there is a modeling approach based on traffic flow theory which considers inventory levels and material flows. The resulting models are linear, although they are subject to constraints such as maximum production rates, as well as non negative inventory values and material flows. These constraints must be taken into account when designing a control strategy. In previous works of the authors a bounded PI control for inventory level regulation was introduced. The closed loop system was therefore a non liner one, due to the control boundaries. A stability analysis of the closed loop system based on linearization techniques was performed resulting in sufficient conditions for local asymptotic stability. Besides the theoretical framework the work was supported by numerical simulations on a petrochemical plant. In this work a testbed platform form by water tanks is developed. The systems allows applying the proposed modeling and control techniques, such that the experimental results agree with the simulated ones.

关键词： Supply chains Nickel Materials Stability analysis Mathematical model Convergence

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A generic configuration of a compact dexterous and self-contained end-effector for mobile robotic platforms

A generic configuration of a compact dexterous and self-cont...

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International Workshop on Robot Sensing (ROSE)

作者： Paul M. Moubarak Pinhas Ben-Tzvi Zhou Ma Robotics and Mechatronics Laboratory Department of Mechanical and AeroSpace Engineering George Washington University Washington D.C. DC USA

This paper presents a new design of a compact end-effector for mobile robotic platforms that provides dexterous heavy duty gripping and handling of tasks by means of on-board manipulator arms. The merit of the proposed work lies in the novel concept we adopted in combining dexterity with strength and speed in a compact, self-contained and generic structure. The generic aspect of the design approach facilitates the implementation of this robotic end-effector on various manipulators with minor modifications to the overall robot structure. We discuss design layouts, capabilities and implementation aspects on manipulator arms of mobile robotic platforms.

关键词： Fingers Assembly Joints Manipulators Gears Robot sensing systems

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Design and simulation of a DSP controller for a LARM Hand

Design and simulation of a DSP controller for a LARM Hand

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International Asia Conference on Informatics in Control, Automation and robotics, CAR

作者： Yao Cai Qiang Zhan Marco Ceccarelli Giuseppe Carbone Shuangji Yao Zhen Lu Robotics Institute Beihang University Beijing China LARM: Laboratory of Robotics and Mechatronics University of Cassino Cassino Italy School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781424451920

To fulfil the principle of low-cost and easy operation features, a new control scheme is proposed for the LARM Hand in this paper. The new controller is composed of a high level PC-based control panel and a low level DSP control card and the two parts communicate with each other through RS-232. The PC-based control panel is software with which an operator can input control parameters, and additionally the operator can observe the changes of the force values and velocities of three motors in real time. The DSP controller is mainly used to control the motion of three motors by PWM signals as based on position control and force control. A position control method based on PID controller and a force control method based on PD controller both have been proposed in this paper. Simulations based on a simplified model are also carried out for these two methods.

关键词： Digital signal processing Force control Motion control Automatic control robotics and automation Position control Prototypes Robots Circuits DC motors

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Analysis of relation between operator's control performance and the skill level

Analysis of relation between operator's control performance ...

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Annual Conference of Industrial Electronics Society

作者： Yukihito Suzuki Masaki Izutsu Jun Ishikawa Department of Advanced Multidisciplinary Engineering Tokyo Denki University Tokyo Japan Department of Robotics and Mechatronics Tokyo Denki University Tokyo Japan

There are many systems to include humans in the mechanical control loops. In such systems, low-skilled operators are considered to cause accidents. To prevent these kinds of accidents, analysis of human's model with various methods has been studied. “Crossover model” is well known as one of the models to analyze human-machine systems. However, many of those researches have analyzed humans when they used one hand in operating the systems. In this paper, it is considered that humans use both hands in operation, and an analysis approach is proposed to evaluate human dynamic characteristics based on human's control performance and operation performance in bimanual (two hands) operation. The purpose of this research is to clarify relation between human's control performance and operation performance. It is also confirmed that analysis based on frequency responses of the crossover model is valid in the bimanual case as same as in the single-hand case. From experimental results of the bimanual operation, the proposed evaluation method successfully works to quantitatively evaluate human's control performance and operation performance.

关键词： Transfer functions Training Force Frequency control Humans Control systems Impedance

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Motion planning of a snake-like robot based on artificial potential method

Motion planning of a snake-like robot based on artificial po...

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IEEE International Conference on robotics and Biomimetics

作者： Changlong Ye Deli Hu Shugen Ma Huaiyong Li State Robotics Laboratory Shenyang Institute of Automation Shenyang China School of Mechatronics Engineering Shenyang AeroSpace University Shenyang China State Robotics Laboratory Shenyang Institute of Automation China Department of Robotics Ritsumeikan University Kusatsu Japan

ISBN: (纸本)9781424493197

The interaction between the snake-like robot and environment produces serpentine action to push the body forward. A slender body shape made from many modules occupies a larger scale. In this paper, snake-like robot motion planning method is analyzed by considering each module's position and its movement as well as position of obstacles. The Potential Energy Function between each module and obstacles is established by using artificial potential method as well as the Potential Energy Function between snake head and the target. With the potential energy function feedback to control the pendulum angle of serpentine movement, the snake-like robot motion planning in the obstacles environment is completed. The adjacent joint adjustment is achieved for movement stability during obstacle avoidance control. Finally, the simulation results verified the effectiveness of proposed path planning method.

关键词： Robots Force Mathematical model Equations Joints Collision avoidance Potential energy

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Nanofork and line-patterned substrate for measuring single cells adhesion force inside ESEM

Nanofork and line-patterned substrate for measuring single c...

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2010 10th IEEE Conference on Nanotechnology, NANO 2010

作者： Ahmad, Mohd Ridzuan Nakajima, Masahiro Kojima, Masaru Kojima, Seiji Homma, Michio Fukuda, Toshio Dept. of Mechatronics and Robotics Universiti Teknologi Malaysia 81310 UTM Skudai Johor Malaysia Department of Micro-Nano Systems Engineering Nagoya University Nagoya 464-8603 Japan Department of Biological Science Graduate School of Science Nagoya University Nagoya 464-8602 Japan

ISBN: (纸本)9781424470334

In this paper, single cell adhesion force was measured using a nanofork. The nanofork was used to pick-up a single cell on a line-patterned substrate inside ESEM. The line-patterned substrate was used to provide small gaps between the single cells and the substrate. Therefore, the nanofork could be inserted through these gaps in order to successfully pick-up a single cell. Adhesion force was measured during the cell pick-up process from the deflection of the cantilever beam. The nanofork was fabricated using focused ion beam (FIB) etching process while the line-patterned substrate was fabricated using nanoimprinting technology. As to investigate the effect of contact area on the strength of the adhesion force, two sizes of gap distance of line-patterned substrate were used, i.e. 1 μm and 2 μm. Results showed that cells attached on the 1 μm gap line-patterned substrate required more force to be released as compared to the cells attached on the 2 μm gap line-patterned substrate. ©2010 IEEE.

关键词： Cells

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A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

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Journal of Measurement Science and Instrumentation 2010年第3期1卷 212-216页

作者：焦国太王峰秦栋泽 . State Key laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Robotics Research Center North University of China Taiyuan 030051 China College of Mechatronics Engineering North University of China Taiyuan 030051 China

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.

关键词： nndti-hop wireless communication underground search and rescue robot

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Dynamic analysis of a flexure-based mechanism for precision machining operation

Dynamic analysis of a flexure-based mechanism for precision ...

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International Conference on Control, Automation, robotics and Vision (ICARCV)

作者： Yanling Tian Dawei Zhang Bijan Shirinzadeh School of Mechanical Engineering Tianjin University TJU Tianjin China Robotics and Mechatronics Research Laboratory Department of Mechanical and Aerospace Engineering Monash University Clayton VIC Australia

This paper presents the dynamic modelling and performance evaluation methodologies of a flexure-base mechanism for ultra-precision grinding operations. The mechanical design of the mechanism is briefly described. A piezoelectric actuator is used to drive the moving platform. A flexure-based structure is utilized to guide the moving platform and to provide preload for the piezoelectric actuator. By simplifying the Hertzian contact as a linear spring and damping component, a bilinear dynamic model is developed to investigate the dynamic characteristics of the flexure-based mechanism. Based on the established model, the separation phenomenon of the moving platform from the piezoelectric actuator is analyzed. The influence of the control voltage on the maximum overshoot is also investigated. The slope and cycloidal command signals are used to reduce and/or avoid the overshoot of such flexure-based mechanism under step command signal actuation condition. The effects of the rising time of the command signals on the maximum overshoot and the settling time are studied.

关键词： Piezoelectric actuators Dynamics Force Fasteners Machining Springs Robots

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