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Joint-action for humans and industrial robots for assembly tasks

Joint-action for humans and industrial robots for assembly t...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Claus Lenz Suraj Nair Markus Rickert Alois Knoll Wolgang Rosel Jurgen Gast Alexander Bannat Frank Wallhoff Robotics and Embedded Systems Laboratory Department of Computer Science Technische Universitat Munchen Munchen Germany Machine Tools and Industrial Management Department of Mechanical Engineering Technische Universitat Munchen Munchen Germany Human Machine Communication Department of Electrical Engineering and Information Technologies Technische Universitat Munchen Munchen Germany

This paper presents a concept of a smart working environment designed to allow true joint-actions of humans and industrial robots. The proposed system perceives its environment with multiple sensor modalities and acts in it with an industrial robot manipulator to assemble capital goods together with a human worker. In combination with the reactive behavior of the robot, safe collaboration between the human and the robot is possible. Furthermore, the system anticipates human behavior, based on knowledge databases and decision processes, ensuring an effective collaboration between the human and robot. As a proof of concept, we introduce a use case where an arm is assembled and mounted on a robotpsilas body.

关键词： Robots

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Output feedback control of linear systems with input and output quantization

Output feedback control of linear systems with input and out...

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IEEE Conference on Decision and Control

作者： Daniel Coutinho Minyue Fu Carlos E. de Souza Group of Automation and Control Systems Faculty of Engineering Pontifícia Universidade Católica do Rio Grande do Sul Porto Alegre Brazil School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Systems and Control Laboratory Nacional de Computação Científica Petropolis Rio de Janeiro Brazil

ISBN: (纸本)9781424431236

A considerable amount of research has been done on the use of logarithmic quantizers for networked feedback control systems. However, most results are developed for the case of a single quantizer (either measurement or control signal quantization). In this paper, we investigate the case of simultaneous input and output quantization for SISO linear output feedback systems. Firstly, we show that the problem of quadratic stabilization via quantized feedback can be addressed with no conservativeness by means of the sector bound approach. Secondly, we provide a bound on the maximal admissible sector bound via a scaled H ¿ optimization problem.

关键词： Output feedback Linear feedback control systems Control systems Linear systems Quantization Communication system control Feedback control Communication channels Digital control Bandwidth

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Packaging carbon nanotube based infrared detector

Packaging carbon nanotube based infrared detector

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2007 7th IEEE International Conference on Nanotechnology - IEEE-NANO 2007

作者： King, Wai Chiu Lai Ning, Xi Jiangbo, Zhang Guangyong, Li Hongzhi, Chen Department of Electrical and Computer Engineering Michigan State University United States Department of Electrical and Computer Engineering University of Pittsburgh United States Robotics and Automation Laboratory Electrical and Computer Engineering Michigan State University East Lansing MI 48824 United States

ISBN: (纸本)1424406080

We present a fabrication and packaging method of carbon nanotube (CNT) based infrared (IR) sensor chip using parylene C layer. CNT was found to be sensitive under near IR radiation and it could be used as IR sensing element. Parylene C thin Aim was used as a conformal pin hole free insulating layer and oxygen barrier for protecting CNTs during the detection. The IR transmission properties of parylene C layer and the influence on the response of the CNT sensor were studied. Our experimental results showed that the CNT sensor without parylene C protection exhibited current change when it was exposed to the IR laser. The sensing current percentage changes decreased when the parylene C thin film substrate was placed between the CNT sensor and IR laser source. It implied the IR absorption behavior of parylene C thin film. We also found that the IR absorption level is proportional to the thickness of the parylene C layer. The parylene C packaged CNT sensor was fabricated and tested under near IR radiation. Preliminary results indicated that the CNT IR detector coated with parylene C was capable of sensing IR radiation and exhibited repeatable response. Moreover, the IV characteristic of the sensor chip was measured when it was surrounded by dry ice for long time to investigate its long term stability under moisture environment. Therefore, the packaging process can become possible to fabricate a CNT based IR sensor array which possesses more stable and reliable performance. © 2007 IEEE.

关键词： Carbon nanotubes

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Introducing Fuzzy Cognitive Maps for decision making in precision agriculture

Introducing Fuzzy Cognitive Maps for decision making in prec...

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6th European Conference on Precision Agriculture, ECPA 2007

作者： Markinos, Ath. Papageorgiou, El. Stylios, Chr. Gemtos, Th. Department of Agriculture Laboratory of Farm Mechanization University of Thessaly Greece Department of Electrical and Computer Engineering Laboratory for Automation and Robotics University of Patras Greece TEI of Epirus Department of Telecommunications Informatics and Management Artas Epirus Greece

ISBN: (纸本)9789086860241

A Fuzzy Cognitive Maps (FCMs) is a modelling methodology based on exploiting knowledge and experience. It comprises the main advantages of fuzzy logic and neural networks, representing a graphical model that consists of nodes-concepts (describing elements of the system) which are connected with weighted edges (representing the cause and effect relationships among the concepts). FCMs have proved to be a promising modeling methodology with many successful applications in different areas especially for simulating system design, modeling and control. In this work, FCMs are introduced to model a decision support system for precision agriculture (PA). The FCM model developed consists of nodes which describe soil properties and cotton yield and of the weighted relationships between these nodes. The nodes of the FCM model represent the main factors influencing cotton crop production i.e. essential soil properties such as texture, pH, OM, K, and P. The proposed FCM model addresses the problem of crop development and spatial variability of cotton yield, taking into consideration the spatial distribution of all the important factors affecting yield. The first results of the study are very promising;our model achieves a 70% average success rate on yield class prediction between two possible categories (low and high) for three different years. This model will be further investigated to achieve better results by introducing learning algorithms into FCMs.

关键词： Crops

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A rotational and translational image stabilization system for remotely operated robots

A rotational and translational image stabilization system fo...

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2007 IEEE International Workshop on Imaging systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Kyriakoulis, N. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements, Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 × 240 Pixel image sequences at approximately 10 frames/ sec, with a maximum acceleration of 4 deg/sec2. © 2007 IEEE.

关键词： Image analysis

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A log-polar interpolation applied to image scaling

A log-polar interpolation applied to image scaling

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2007 IEEE International Workshop on Imaging systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center, The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane, Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation, ©2007 IEEE.

关键词： Image analysis

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High performance differential elastic actuator for robotic interaction tasks

High performance differential elastic actuator for robotic i...

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2007 AAAI Spring Symposium

作者： Lauria, Michel Legault, Marc-Antoine Lavoie, Marc-André Michaud, François LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Que. J1K2R1 Canada

ISBN: (纸本)9781577353164

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, some researchers proposed a new approach named «interaction control» that refers to regulation of the robot's dynamic behavior at its ports of interaction with the environment. Interaction control involves specifying a dynamic relationship between motion and force, and implementing a control law that attempts to minimize deviation from this relationship [1]. The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation design for high performance actuators that are especially adapted for integration in robotic mechanisms is presented, this design making use of a mechanical differential as central element. Differential coupling between an intrinsically high impedance transducer and an intrinsically low impedance spring element provides the same benefits as serial coupling [4]. However differential coupling allows new interesting design implementations possibilities, especially for rotational actuators.

关键词： robotics

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Spartacus attending the 2005 AAAI conference

Spartacus attending the 2005 AAAI conference

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作者： Michaud, F. Côté, C. Létourneau, D. Brosseau, Y. Valin, J.-M. Beaudry, E. Raïevsky, C. Ponchon, A. Moisan, P. Lepage, P. Morin, Y. Gagnon, F. Giguère, P. Roux, M.-A. Caron, S. Frenette, P. Kabanza, F. LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical Engineering and Computer Engineering Université de Sherbrooke Sherbrooke Qué. J1K 2R1 Canada CSIRO ICT Center Sydney Australia

Spartacus is our robot entry in the 2005 AAAI Mobile Robot Challenge, making a robot attend the National Conference on Artificial Intelligence. Designing robots that are capable of interacting with humans in real-life settings can be considered the ultimate challenge when it comes to intelligent autonomous systems. One key issue is the integration of multiple modalities (e.g., mobility, physical structure, navigation, vision, audition, dialogue, reasoning). Such integration increases the diversity and also the complexity of interactions the robot can generate. It also makes it difficult to monitor how such increased capabilities are used in unconstrained conditions, whether it is done while the robot is in operation of afterwards. This paper reports solutions and findings resulting from our hardware, software and decisional integration work on Spartacus. It also outlines perspectives in making intelligent and interaction capabilities evolve for autonomous robots. © Springer Science+Business Media, LLC 2007.

关键词： Robots

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Recent advances in networked control systems

Recent advances in networked control systems

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International Conference on Control, automation and systems, ICCAS 2007

作者： Sun, Zengqi Li, Hongbo Wang, Yan Department of Computer Science and Technology State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China School of Automation Science and Electrical Engineering Beijing University of Aeronautics and Astronautics Beijing 100083 China

ISBN: (纸本)8995003871

This paper presents a comprehensive overview of the current state of research in the area of Networked control systems (NCSs) first. Then two modeling and control methods are introduced for NCSs in details. The first one is a stochastic control method, which investigates the H∞ control problem for NCSs with random network-induced delay. The second one is a switch control method, which focuses on solving the stabilization problem for NCSs in discrete-time domain, where both network-induced delay and packet dropout are taken into account. Illustrative examples are given to demonstrate the effectiveness of the proposed approaches. Finally, this paper concludes with the discussion of possible future development of NCSs from a control perspective.

关键词： Networked control systems

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Novel Carbon Nanotube Deposition System for Fabricating Nano Devices

Novel Carbon Nanotube Deposition System for Fabricating Nano...

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IEEE International Conference on Nano/Micro Engineered and Molecular systems (NEMS)

作者： King W. C. Lai Ning Xi Robotics and Automation Laboratory Michigan State University USA Department of Electrical and Computer Engineering Michigan State University USA

Carbon nanotubes (CNTs) are found to be promising material for nanoelectronics due to its ultra small size and unique properties. It provides the possibility of miniaturizing conventional electronic devices, and therefore, people have focused on exploring its applications in nanoelectronics, such as replacing the conventional transistors, resisters and sensors, etc. In order to study its properties and use them as novel devices, methods to manipulate such nano sized particles on micro electrodes have to be developed. Since the size of CNTs is in nano scale, traditional robotic manipulation and assembly cannot be applied. A novel and effective CNT manipulation method is developed and presented in this paper. An automatic and robotic CNT deposition system is used to manipulate CNT across micro electrodes precisely by dielectrophertic (DEP) force. It is also integrated with micromanipulator, micro pump and micro pipette to deposit CNT dilution in desired positions of micro electrodes. This system can potentially be used to fabricate and manufacture an array of CNT based sensors, resulting in a fast, automatic and feasible method for batch making and assembling nano devices.

关键词： Carbon nanotubes Electrodes Sensor arrays Nanoelectronics Robotic assembly robotics and automation Organic materials Robot sensing systems Force sensors Micromanipulators

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