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IEEE SENSORS

作者： Dirk Goeger Matthias Blankertz Heinz Woern Institute of Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

This paper introduces a novel tactile sensor with the ability to detect objects in the sensor's near proximity. For both tasks, the same capacitive sensing principle is used. The tactile part of the sensor provides a tactile sensor array enabling the sensor to gather pressure profiles of the mechanical contact area. Several tactile sensors have been developed in the past. These sensors lack the capability of detecting objects in their near proximity before a mechanical contact occurs. Therefore, we developed a tactile proximity sensor, which is able to measure the current flowing out of or even into the sensor. Measuring these currents and the exciting voltage makes a calculation of the capacitance coupled to the sensor's surface and, using more sensors of this type, the change of capacitance between the sensors possible. The sensor's mechanical design, the analog/digital signal processing and the hardware efficient demodulator structure, implemented on a FPGA, will be discussed in detail.

关键词： Electrodes Tactile sensors Current measurement Capacitance Voltage measurement

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Tactile proximity sensors for robotic applications

Tactile proximity sensors for robotic applications

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IEEE International Conference on Industrial Technology

作者： Dirk Goger Hosam Alagi Heinz Worn Institute for Process Control Automation and Robotics Karlsruhe Institute of Technology Karlsruhe Germany

ISBN: (纸本)9781467345675

In this paper tactile proximity sensors for close human-robot interactions based on a previously developed sensor are introduced. Using the same sensing technology, we developed large area tactile proximity sensors as a robot skin and small sensors which we have integrated in an anthropomorphic robot hand. Tactile sensing in the area of robotics for close human-interaction is still a challenging task. In the most cases tactile sensors need to be supported by other sensor modalities to perceive the robots environment before contacts occur. To overcome this issue we developed tactile proximity sensors for robot surfaces and for robot grippers. Both sensors, their behaviour and a model of the tactile sensor will be discussed in this paper.

关键词： Proximity sensors Touch tactile sensors robotic gripper Sensors Robot robotics

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Efficient Multi-Objective Assembly Sequence Planning via Knowledge Transfer between Similar Assemblies

Efficient Multi-Objective Assembly Sequence Planning via Kno...

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IEEE International Conference on automation Science and Engineering (CASE)

作者： Alexander Cebulla Tamim Asfour Torsten Kröger Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology (KIT)

Industry 4.0 aims to automate the production of customized product variants, which presents several challenges, particularly in the realm of assembly sequence planning (ASP). Manufacturers are often interested not only in a viable sequence but also in optimizing multiple additional objectives. However, because there are N! potential sequences for an assembly containing N parts, discovering such sequences can be time-consuming. To accelerate this process, we propose an approach that combines Monte Carlo Tree Search (MCTS) with deep learning to effectively transfer knowledge between similar assemblies. Specifically, we employ learnable state-action functions using graph neural networks for two common objectives: minimizing the number of direction changes and maximizing part accessibility. After pretraining these functions on similar assemblies, we could use them to efficiently guide an MCTS such that it found assembly sequences that optimized both objectives for two sets of 3D puzzles consisting of either 38 or 58 parts. In fact, for both sets, our approach outperformed both the unmodified MCTS and an MCTS that utilized state-action functions trained during the search.

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Speeding Up Assembly Sequence Planning Through Learning Removability Probabilities

Speeding Up Assembly Sequence Planning Through Learning Remo...

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IEEE International Conference on robotics and automation (ICRA)

作者： Alexander Cebulla Tamim Asfour Torsten Kröger Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology (KIT)

Industry 4.0 facilitates a high number of product variants, posing significant challenges for modern manufacturing. One of them is the automatic creation of assembly sequences. This can be achieved with the assembly-by-disassembly (AbD) approach, which is currently highly inefficient. We aim at speeding up AbD by leveraging deep learning. AbD relies on iteratively testing parts for removal, which makes the order in which parts are tested highly relevant for its run-time. We optimize this order by training a graph neural network (GNN) based on the shape of parts and the shape of local part connections. For each part, it predicts a removability probability. We use these probabilities to optimize the order in which parts are tested for removal. This reduces the number of parts tested by approximately 64%-90%, depending on the tested product. Further improvements are achieved by combining our approach with bookkeeping, another approach for speeding up AbD. Finally, we separately analyze the impact of the parts and their connections on the removability probabilities predicted by the GNN. We found that most of the important information regarding a part's removability can be derived from its connections alone.

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Beyond Feasibility: Efficiently Planning Robotic Assembly Sequences That Minimize Assembly Path Lengths

Beyond Feasibility: Efficiently Planning Robotic Assembly Se...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Alexander Cebulla Tamim Asfour Torsten Kröger Institute for Anthropomatics and Robotics - Intelligent Process Automation and Robotics Lab (IAR-IPR) Karlsruhe Institute of Technology (KIT)

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Advancements in Industry 4.0 demand sophisticated solutions for automatic robotic assembly sequence planning (RASP), capable of handling the diversity and complexity of modern manufacturing tasks. One approach to RASP is Assembly-by-Disassembly (AbD). It first searches for a disassembly sequence that is then inverted to obtain an assembly sequence. One of the challenges of AbD, however, is the exponential number of potential assembly sequences for any given assembly. To mitigate this challenge, we propose to transfer knowledge obtained during previous planning attempts. Specifically, we present an approach that combines Monte Carlo Tree Search (MCTS) with deep Q-learning to optimize the total length of robotic assembly paths. We use a graph-based representation of disassembly states in combination with a graph neural network to learn the Q-function. We further discuss a principled approach to generate 3D assemblies out of aluminium profiles that a single robot manipulator can assemble. With this approach, we generated two datasets consisting of 14 assemblies with 21 removable parts and 7 assemblies with 30 removable parts. Using leave-one-out cross-validation, we were able to demonstrate how our approach outperformed an unmodified MCTS. Moreover, we successfully transferred knowledge between datasets.

关键词： Robotic assembly Three-dimensional displays Q-learning Monte Carlo methods Manipulators Graph neural networks Planning Fourth Industrial Revolution Assembly Intelligent robots

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Active fault tolerant control of an electro-hydraulic servo axis with a duplex-valve-system

Active fault tolerant control of an electro-hydraulic servo ...

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5th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2010

作者： Beck, Mark Schwung, Andreas Muenchhof, Marco Isermann, Rolf TU Darmstadt Institute of Automatic Control Laboratory for Control Systems and Process Automation 64283 Darmstadt Germany TU Darmstadt Institute of Automatic Control Laboratory for Control Theory and Robotics 64283 Darmstadt Germany

ISBN: (纸本)9783902661760

In this paper fault detection, fault diagnosis and active fault tolerant control of an electro-hydraulic servo-axis with a duplex-valve-system are described. The fault detection is based on parity equations. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used on the testbed is based on fuzzy-logic. In order to tolerate a failed hydraulic proportional valve, a duplex-valve-system built up with standard direct-driven proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axis and decides on reconfiguration and fault accomodation of the control-loop. The Internal Model Control (IMC)-tracking control structure used for reconfiguration allows bumpless transfer between controllers. Experimental results show the industrial applicability of the approach. © 2010 IFAC.

关键词： Fault detection

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Intelligent control of biped robot with heterogeneous legs

Intelligent control of biped robot with heterogeneous legs

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作者： Wang, Binrui Xu, Xinhe Tan, Jindong Key Laboratory of Process Industry Automation Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 United States

ISBN: (纸本)008045108X

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. Control simulation is done and shows intelligent control is good for BRHL. Copyright © 2005 IFAC.

关键词： Differential equations

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Fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system

Fault-tolerant control of an electro-hydraulic servo axes wi...

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ISBN: (纸本)9783902661937

This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent. The semi-physical models allow the detection of even small faults in the hydraulic system. The fault diagnosis used at the testbed is based on fuzzy-logic. In order to tolerate a faulty hydraulic proportional valve, a duplex-valve-system built up with standard proportional valves is applied. The fault management module allows the supervision of the hydraulic servo axes and decides on the reconfiguration of the control-loop. An Internal Model Control (IMC)-tracking control structure for bumpless transfer between controllers is presented. Experimental results show the industrial applicability of the approach. © 2011 IFAC.

关键词： Fault detection

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Planning of Time-Efficient Trajectories for Mobile Robots with Differential-Drives 29

Planning of Time-Efficient Trajectories for Mobile Robots wi...

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29th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Lelidis, Philipp Vick, Axel Production Machinery and Equipment Management Fraunhofer Institute for Production Systems and Design Technology Ipk Berlin Germany Process Automation and Robotics Fraunhofer Institute for Production Systems and Design Technology Ipk Berlin Germany

ISBN: (纸本)9798350361230

To effectively utilize the capacities of the production facilities, flexible and fast transport, and manipulation technology is essential. Current path planning methods use simple paths without exploiting the physical limitations of mobile robots. This paper deals with the time-efficient kinematic planning of path and velocity trajectories for autonomous mobile robots equipped with a differential-drive, used to load and unload machine tools. For a close parking position next to the machine tools, the mobile robot must approach practically straight without the necessity of turning at the end. After a brief definition of the kinematics of a mobile robot with nonholonomic constraints, a Bezier-curve is combined with multiple jerk-limited velocity trajectories considering the initial and final state as well as the physical limitations. For a time-efficient acceleration and deceleration the maximum acceleration of the mobile robot is used and differentiated into the radial and tangential acceleration. This allows a quickly reached close parking pose next to a machine tool. The algorithm is tested with simulations in RVIZ in combination with Gazebo and ROS2 as well as with the real mobile robot Tend-o-Bot. © 2024 IEEE.

关键词： Mobile robots

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Framework for Robust Localization of UUVs and Mapping of Net Pens

arXiv

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arXiv 2024年

作者： Botta, David Ebner, Luca Studer, Andrej Reijgwart, Victor Siegwart, Roland Kelasidi, Eleni The Department of Mechanical and Process Engineering ETH Switzerland Tethys Robotics Switzerland The Aquaculture Robotics and Automation Group SINTEF Ocean

This paper presents a general framework integrating vision and acoustic sensor data to enhance localization and mapping in highly dynamic and complex underwater environments, with a particular focus on fish farming. The proposed pipeline is suited to obtain both the net-relative pose estimates of an Unmanned Underwater Vehicle (UUV) and the depth map of the net pen purely based on vision data. Furthermore, this paper presents a method to estimate the global pose of an UUV fusing the net-relative pose estimates with acoustic data. The pipeline proposed in this paper showcases results on datasets obtained from industrial-scale fish farms and successfully demonstrates that the vision-based TRU-Depth model, when provided with sparse depth priors from the FFT method and combined with the Wavemap method, can estimate both net-relative and global position of the UUV in real time and generate detailed 3D maps suitable for autonomous navigation and inspection purposes. © 2024, CC BY.

关键词： Fish

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