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IEEE International Conference on robotics and automation (ICRA)

作者： H.E. Stephanou New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute Troy NY USA

Summary form only given. While industrial automation has long been associated with the increase of manufacturing productivity, much of the current motivation behind the development of advanced automation techniques is driven by the need to enhance product quality, increase the safety of the operational environment, and quickly respond to changing consumer demands for new products. In this paper, we introduce some modern principles underlying the design and operation of advanced automation systems, then describe several industrial implementations in both manufacturing and service sectors. Special attention is paid to the concept of mass customization, and its potential impact on the growth of small enterprises. We start with the design stage, then look at the manufacturing process, and discuss the application of advanced automation concepts to the processing of both metals and textiles. The role of computer based modeling and inspection as quality control tools is examined. Finally, we present several recent developments in intelligent robotic systems, and describe their applications. Specific examples involving maintenance and repairs in nuclear power generation plants are discussed.

关键词： manufacturing automation manufacturing industries Design automation Application software robotics and automation Intelligent robots Productivity Product safety Pulp manufacturing Mass customization

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MODULAR automation CONCEPTS-OPPORTUNITIES and CHALLENGES in INDUSTRY

MODULAR AUTOMATION CONCEPTS-OPPORTUNITIES and CHALLENGES in ...

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dlxle Group Inc. 2.5 Industrial Park Drive AlbanyNY12206 United States

ISBN: (纸本)9780791880357

The goals of Modular automation Concepts (MAC) for the automation field are presented. In order to demonstrate the strategies, the packaging automation industry is reviewed to find new opportunities for production machines. These new machines were designed with the MAC techniques. Other challenges from the industrial side to Modular Design are also discussed. © 1998 by ASME.

关键词： automation

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Preface——Special Issue on new Directions in Nonlinear and Distributed Control

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Journal of Systems Science & Complexity 2018年第1期31卷 1-3页

作者： LIU Tengfei XIN Bin JIANG Zhong-Ping State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang 110819 China School of Automation State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China Tandon School of Engineering New York University Brooklyn NY 11201 USA

Nonlinearity is ubiquitous in engineering and natural *** development of nonlinear control can be traced back to decades *** date,the research has reached the stage that emphasizes developing methodologies that can ha... 详细信息

关键词：控制问题非线性分布式工程应用程序电子物理自然系统生产线相互作用

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Teaching modular automation concepts

Teaching modular automation concepts

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Cooper, Clay Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation D Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States American Dixie Group Inc. 25 Industrial Park Drive Albany NY12206 United States

ISBN: (纸本)9780791880364

Teaching a course on Modular automation Concepts (MAC) for the automation field has been twice accomplished. In order to demonstrate the MAC strategies, the packaging automation industry is reviewed to find new opportunities for production machines. Student teams then designed new machines using MAC techniques. Samples of project results are summarized. © 1998 by ASME.

关键词： automation

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Description and kinematic analysis of the Anthrobot-2 dextrous hand

Description and kinematic analysis of the Anthrobot-2 dextro...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： J. Vanriper M.S. Ali K.J. Kyriakopoulos H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An anthropomorphic five-fingered hand, the Anthrobot-2, is described. It features anatomical consistency with a human hand, giving it special advantages during teleoperation. Each finger has four joints as in the human hand: two at the knuckle, one between the proximal and middle finger segments, and one between the middle and distal finger segments. The thumb has four degrees of freedom, allowing it to emulate human thumb motion. The controlling hardware and the kinematic analysis, including forward and inverse kinematics, are presented. Future research is discussed.< >

关键词： Kinematics Fingers robotics and automation Robots End effectors Jacobian matrices Software prototyping Prototypes NASA Servomechanisms

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Fuzzy distance functions for motion planning

Fuzzy distance functions for motion planning

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： K. Sridharan H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The problem of planning motions offline for a robot in the presence of obstacles via an algorithm that does not proceed by a discretization of the search space involves defining good heuristics to characterize the proximal relationships between two rigid bodies and the development of algorithms for their computation. Several measures are presented, and schemes for their computation are developed. The performances of the algorithms are determined in terms of their running time. The advantage of the fuzzy model is that it lends itself easily to numerical computation involving manipulation of the coordinates of the extreme points.< >

关键词： Motion planning robotics and automation Fuzzy sets Robots Bandwidth Motion measurement Motion detection Manipulators Euclidean distance Algorithm design and analysis

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IVIS: an integrated volumetric inspection system

IVIS: an integrated volumetric inspection system

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Proceedings of the CAD-Based Vision Workshop

作者： G.H. Tarbox S.N. Gottschlich New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

Presents a novel approach to automated visual inspection based on comparing volumetric models of a reference object to a model of an actual object iteratively created from sensor data. The use of volumetric models gives this approach a number of distinct advantages over more traditional surface-based methods. First, there is no need to identify "features" which is important when inspecting objects whose features are difficult to identify. Second, volumetric inspection lends itself naturally to multi-sensor applications. Finally, true 3-D comparisons of the reference and sensed objects can be easily carried out using volumetric models.< >

关键词： Inspection Solid modeling robotics and automation Casting Machining Materials science and technology Geometry Robot sensing systems manufacturing industries Production

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Issues in Fine Motion Planning for Assembly

Issues in Fine Motion Planning for Assembly

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Annual Conference on Intelligent Robotic Systems for Space Exploration

作者： S. Gottschlich New York State Center for Advanced Technology in Robotics and Automation Rensselaer Polytechnic Institute Troy NY USA

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Dynamic modeling and force/position control for the Anthrobot dextrous robotic hand

Dynamic modeling and force/position control for the Anthrobo...

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IEEE Conference on Decision and Control

作者： A.R. Zink K.J. Kyriakopoulos New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

The problem of position control and unit consistent hybrid position/force control of the Anthrobot robot hand is considered. A dynamic model, for the Anthrobot, is used to develop the control laws. The experimental re... 详细信息

关键词： Force control Position control Robots robotics and automation Fingers Servomechanisms Regulators Analog-digital conversion Kinematics Manipulators

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The kinematics of the Anthrobot-2 dextrous hand

The kinematics of the Anthrobot-2 dextrous hand

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IEEE International Conference on robotics and automation (ICRA)

作者： M.S. Ali K.J. Kyriakopoulos H.E. Stephanou New York State Center for Advanced Technology in Automation and Robotics Rensselaer Polytechnic Institute Troy NY USA

An anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics, as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or autonomous operation. The Anthrobot frames are assigned using the modified Denavit-Hartenberg formulation, referred to as the hand frame. A finger with proximal link contact point is described.< >

关键词： Kinematics Fingers Thumb robotics and automation Humans End effectors Jacobian matrices Robots Anthropomorphism Spraying

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