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Monocular Visual-Inertial and Robotic-Arm Calibration in a Unifying Framework

IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 146-159页

作者： Yinlong Zhang Wei Liang Mingze Yuan Hongsheng He Jindong Tan Zhibo Pang Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016 Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China School of Computing Wichita State UniversityWichita 67260 USA Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeTN 37996 USA Department of Automation Technology ABB Corporate Research SwedenVasteras 72178Sweden Department of Intelligent Systems Royal Institute of Technology(KTH)Stockholm 11428Sweden

Reliable and accurate calibration for camera,inertial measurement unit(IMU)and robot is a critical prerequisite for visual-inertial based robot pose estimation and surrounding environment ***,traditional calibrations suffer inaccuracy and *** address these problems,this paper proposes a monocular visual-inertial and robotic-arm calibration in a unifying *** our method,the spatial relationship is geometrically correlated between the sensing units and robotic *** decoupled estimations on rotation and translation could reduce the coupled errors during the ***,the robotic calibration moving trajectory has been designed in a spiral pattern that enables full excitations on 6 DOF motions repeatably and *** calibration has been evaluated on our developed *** the experiments,the calibration achieves the accuracy with rotation and translation RMSEs less than 0.7°and 0.01 m,*** comparisons with state-of-the-art results prove our calibration consistency,accuracy and effectiveness.

关键词： Calibration inertial measurement unit(IMU) monocular camera robotic arm spiral moving trajectory

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Statistically based process optimization for improved surface quality in micro-end milling of Ti-6Al- 4V titanium alloy

Statistically based process optimization for improved surfac...

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39th Annual North American Manufacturing Research Conference, NAMRC39

作者： Thepsonthi, Thanongsak Özel, Tuǧrul Manufacturing Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University Piscataway NJ United States

ISBN: (纸本)9781618390578

Micro-end milling is one of the promising methods for rapid fabrication of medical devices and implants with 3D complex shapes. However, controlling the micro-end milling process to obtain the desired results is much harder compared to that of macro-end milling due to the size effect and uncontrollable factors. The problem is much pronounced when workpiece material is a difficult-to-process material such as Titanium base alloys which are widely used as material of choice for aircraft structures, turbine blades and medical implants. In order to find the optimal process parameters which minimize the surface roughness and burr formation, the experiment was conducted based on Taguchi method then mathematical models were developed using Response surface methodology. The models can then be used to find the predicted response or optimal process parameters. The results show that the average surface roughness as low as 0.069 μm is achievable at the optimal condition. However, the trade-off is a severe burr formation.

关键词： Titanium alloys

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Process optimization and decision support for high performance micro-milling of Ti-6A1-4V alloys 42

Process optimization and decision support for high performan...

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42nd North American Manufacturing Research Conference 2014, NAMRC 2014

作者： Thepsonthi, Thanongsak Ozel, Tugrul Manufacturing and Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University PiscatawayNJ United States

ISBN: (纸本)9781634394178

Titanium alloys are considered biocompatible and suitable for medical applications. However, mechanical machining of titanium alloys is still very difficult and even more challenging when it comes to micro-scale mechanical machining such as micro-end milling. Severe burr formation and rapid tool wear create significant problems to micro-machining process and finished surfaces. In order to improve the performance of micro-end milling in Ti-6A1-4V alloy, this study proposes a novel method in selecting the optimum process parameters which can meet the micro-machining requirements and constraints. The experiments, finite element simulations, Constrained Multi-Objective Particle Swarm Optimization (CMOPSO) and mathematical modeling techniques were utilized to facilitate the process parameter selection. Based on the machining tests on a circular thin rib feature, the decision support results indicate significant improvements in process performance. Copyright © (2014) by the Society of Manufacturing Engineers All rights reserved.

关键词： Decision support systems

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Effects of tool micro-geometry and coatings in turning of Ti-6Al-4V titanium alloy

Effects of tool micro-geometry and coatings in turning of Ti...

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39th Annual North American Manufacturing Research Conference, NAMRC39

作者： Sima, Mohammad Ulutan, Durul Özel, Tuǧrul Manufacturing Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University Piscataway NJ United States

ISBN: (纸本)9781618390578

This paper presents investigations on turning Ti-6Al-4V alloy with uniform and variable micro-geometry inserts with single or multi-layer coatings. Turning of Ti-6Al-4V using inserts with uncoated, TiAlN coated, and TiAlN+cBN coated single and multi-layer coated tungsten carbide inserts is conducted, forces and tool wear are measured. 3-D finite element simulations are utilized to predict chip formation, forces, temperatures and tool wear on these inserts. Predicted forces and tool wear contours are compared with experiments. The temperature distributions and tool wear contours demonstrate some advantages of coated insert designs.

关键词： Finite element method

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Determination of constitutive material model parameters in FE-based machining simulations of Ti-6Al-4V and in-100 alloys: An inverse methodology

Determination of constitutive material model parameters in F...

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41st North American Manufacturing Research Conference 2013, NAMRC 2013

作者： Ulutan, Durul Özel, Tuǧrul Manufacturing and Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University Piscataway NJ United States

ISBN: (纸本)9781627486972

Finite Element-based simulations provide good capability to predict the outcomes of machining processes, and their value soar when utilized to simulate machining of hard-to-machine materials such as titanium alloys (e.g. Ti-6Al-4V) and nickel-based alloys (e.g. IN-100). This study presents a new 3D FE simulation-based methodology to determine the modified constitutive model parameters utilizing the force results from face turning experiments conducted for both Ti-6Al-4V and IN-100. In these simulations, material constitutive models have a great influence on the results and must be selected carefully to represent the correct material flow stress characteristics. Conventional modified constitutive material models with flow softening behavior are utilized and further modified to represent the thermal softening effect on the flow softening behavior, where the temperatures can be much higher than normal for machining these materials. Parameters of the temperature-dependent flow softening based material constitutive model for both materials have been determined by using an inverse methodology. Comparison of measured and simulated forces with the modified material models has shown close agreements.

关键词： Plastic flow

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied Control and automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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Simulation Platform for Self-assembly Structures in MRI-guided Nanorobotic Drug Delivery systems

Simulation Platform for Self-assembly Structures in MRI-guid...

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IEEE International Conference on robotics and automation (ICRA)

作者： Vartholomeos, Panagiotis Mavroidis, Constantinos Zenon Automation Technologies S.A. Greece Control Systems Lab. Department of Mechanical Engineering National Technical University of Athens Greece Bionano Robotics Laboratory Department of Mechanical and Industrial Engineering Northeastern University Boston MA 02115 United States

ISBN: (纸本)9781424450404

Magnetic Resonance Imaging (MRI) guided nanorobotic systems that could perform diagnostic, curative and reconstructive treatments in the human body at the cellular and sub-cellular level in a controllable manner have recently been proposed. The concept of a MRI-guided nanorobotic system is based on the use of a MRI scanner to induce the required external driving forces to guide magnetic nanocapsules to a specific target. However, the maximum magnetic gradient specifications of existing clinical MRI systems are not capable of driving superparamagnetic nanocapsules against the blood flow and therefore these MRIs do not allow for navigation. The present paper proposes a way to overcome this critical drawback through the formation of micron size agglomerations where their size can be regulated by external magnetic stimuli. This approach is investigated through modeling of the physics that govern the self-assembly of the nanoparticles. Additionally a computational tool has been developed that incorporates the derived models and performs simulation, visualization and post-processing analysis. Preliminary simulation results demonstrate that external magnetic field causes aggregation of nanoparticles while they flow in the vessel. This is a promising result -in accordance with similar experimental results- and encourages further investigation on the nanoparticle based self-assembly structures for use in nanorobotic drug delivery.

关键词： Magnetic resonance imaging

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Robotic Excavation: Experimental Results Using Fuzzy Behavior Control

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IFAC Proceedings Volumes 1996年第1期29卷 6293-6298页

作者： Xiaobo Shi Fei-Yue Wang Paul J.A. Lever Robotics and Automation Laboratory Systems and Industrial Engineering Department Advanced Mining Systems Laboratory Mining and Geological Engineering Department The University of Arizona Tucson Arizona 85721 USA

This paper presents experimental results for robotic excavation based on fuzzy behaviors. An excavation goal is achieved through excavation tasks, each erf which is completed via sequences of behaviors that are carried out by primitive actions. Both tasks and behaviors are specified by finite state machines. Behavior selection is achieved through situation assessment and behavior arbitration. A method of terminating a behavior execution is proposed. Excavation actions are specified using fuzzy logic rules acquired from human experience and heuristics. Experimental results indicate that the proposed formulation has led to a more efficient execution of excavation tasks than in a previous formulation.

关键词： fuzzy-logic fuzzy behavior control rock excavation artificial intelligence

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Designing Unpowered Shoulder Complex Exoskeleton via Contralateral Drive for Self-rehabilitation of Post-stroke Hemiparesis

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Journal of Bionic engineering 2023年第3期20卷 992-1007页

作者： Ning Li Tie Yang Yang Yang Wenyuan Chen Peng Yu Chuang Zhang Ning Xi Ying Zhao Wenxue Wang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang110169China University of Chinese Academy of Sciences Beijing100049China Emerging Technologies Institute Department of Industrial and Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong999077China Department of General Surgery Shengjing Hospital of China Medical UniversityShenyang110004China

Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.

关键词： Unpowered exoskeleton Health-paralysis combination Energy transfer Self-rehabilitation Shoulder mechanism design

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Micro textured cutting tool effects on cutting forces, volumetric wear and adhesion in dry turning of titanium alloy

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International Journal of Mechatronics and Manufacturing systems 2019年第3-4期12卷 180-195页

作者： Patel, Kaushalendra Kaftanoǧlu, Bilgin Özel, Tuǧrul Manufacturing and Automation Research Laboratory Department of Industrial and Systems Engineering Rutgers University PiscatawayNJ08854 United States Metal Forming Center of Excellence Atilim University Ankara06830 Turkey

There are several distinct advantages offered by micro-textures applied to cutting tool surfaces to reduce forces, friction, and wear. This study provides investigations on micro-grooves fabricated on the rake face of tungsten carbide inserts (WC/Co) that were used in turning titanium alloy Ti-6Al-4V under dry conditions. Tool inserts included varying micro-groove width (50∼100 μm), depth (10∼30 μm) and spacing (15∼100 μm). In the experiments, a constant depth of cut and a cutting speed were used. The effect of micro-textured tool surfaces on cutting force and tool wear was found to be significant. © 2019 Inderscience Enterprises Ltd.

关键词： Textures

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