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6th World Congress on Intelligent Control and automation, WCICA 2006

作者： Changlong, Ye Shugen, Ma Bin, Li School of Machinery and Automobile Shenyang Institute of Aeronautical Engineering Shenyang 110034 COE Research Institute Ritsumeikan University Shiga-ken 525-8577 Japan Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016

ISBN: (纸本)1424403324

In order to perform the urban search and rescue task in dangerous condition, a novel robot named Amoeba II is designed based on synthesis of the snake-like robot and the tracked vehicle. It can transform its body shape to adapt to the environment. On the one hand, this robot adopts the tracked drive mechanism to acquire high performance on the climb. On the other hand, this robot is portable due to lightweight and small bulk, which benefits the quick rescue response after calamity. Amoeba II consists of two mobile units and one expanding unit. The former one is to realize the locomotion and the last one is to expand the body to adapt to the environment. The experimental results validate the capability of Amoeba II. © 2006 IEEE.

关键词： Modular robots

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Usability and interoperability of IEC 61499 based distributed automation systems

Usability and interoperability of IEC 61499 based distribute...

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2006 IEEE International Conference on Industrial Informatics, INDIN'06

作者： Sünder, Christoph Zoitl, Alois Christensen, James H. Vyatkin, Valeriy Brennan, Robert W. Valentini, Antonio Ferrarini, Luca Strasser, Thomas Martinezlastra, Jose L. Auinger, Franz Vienna University of Technology Gusshausstraße 27-29/376 1040 Vienna Austria Holobloc Inc. Cleveland Heigths OH United States Dept. of Electrical and Computer Engineering University of Auckland Auckland New Zealand Schulich School of Engineering Universit of Calgary Calgary AB T2N 1N4 Canada Italy Dipartimento di Elettronica e Informazione Politecnico di Milano 20133 Milano Italy Robotics and Adaptive Systems PROFACIOR Produktionsforschungs GmbH 4407 Steyr-Gleink Austria Institute of Poduction Engineering Tampere University of Technology 33101 Tampere Finland Automation Engineering Upper Austrian University of Applied Science 4600 Wels Austria

ISBN: (纸本)0780397010

Since IEC 61499 has reached the state of an International Standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks. © 2006 IEEE.

关键词： Distributed computer systems

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Usability and Interoperability of IEC 61499 based distributed automation systems

Usability and Interoperability of IEC 61499 based distribute...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： Christoph Sunder Alois Zoitl James H. Christensen Valeriy Vyatkin Robert W. Brennan Antonio Valentini Luca Ferrarini Thomas Strasser Jose L. Martinez-lastra Franz Auinger Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria Holobloc Inc. Cleveland Heigths OH USA Dept. of Electrical and Computer Engineering The University of Auckland Auckland New Zealand Schulich School of Engineering University of Calgary Calgary Alberta Canada Centro di Ricerca e Innovazione Tecnologica Crit Srl Vignola (Mo) Italy Dipartimento di Elettronica e Informazione Politecnico di Milano Milano Italy Robotics and Adaptive Systems PROFACTOR Produktionsforschungs GmbH Steyr-Gleink Austria Institute of Production Engineering Tampere University of Technology Tampere Finland Upper Austrian University of Applied Science Automation Engineering University of Applied Science Wels Austria Automation Engineering Upper Austrian University of Applied Science Wels Austria

Since IEC 61499 has reached the state of an international standard and a substantial body of research results exists the question of the authors as main intention for this paper was: Do the models of IEC 61499 solve all problems when thinking of usability and interoperability in heterogeneous system environments? The main problems discussed within the paper concern to the execution model defined for basic function blocks and the scheduling of events within function block networks.

关键词： Usability IEC standards automation Software tools Control systems Automatic control Robots Adaptive systems Production engineering Job shop scheduling

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Study of a high-accuracy epipolar geometry restoration method

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Gaojishu Tongxin/Chinese High Technology Letters 2006年第1期16卷 51-54页

作者： Gao, Hongwei Wu, Chengdong Li, Bin Robotics Laboratory Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Graduate School of Chinese Academy of Sciences Beijing 100039 China Information and Control Engineering Faculty Shenyang Jianzhu University Shenyang 110168 China

According to the parallel binocular vision system, a method that uses common calibration board to realize automatic and accurate matching of the image corner pairs was developed, and the epipolar geometry of the system was restored accurately. The coiner detection algorithm, the avoidance of the degeneration problem and the fundamental matrix iterative optimization algorithm based on rank-2 constraint were introduced. Experiment results proved the validity of the proposed method.

关键词： Binocular vision Corner detect Degeneration problem Epipolar geometry Iterative optimization

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HIGH-RISE BUILDINGS UNDER EARTHQUAKE EXCITATION: STABILIZATION USING SMC

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IFAC Proceedings Volumes 2006年第16期39卷 776-781页

作者： Georgi M. Dimirovski Jun Zhao Miomir K. Vukobratovic Dogus University Faculty of Engineering Dept. of Computer Engineering Acibadem Zeamet Sk. 21 Kadikoy TR-34722 Istanbul Rep. of Turkey Fax: ++90-216-327-9631 Tel: ++90-216-327-1104 SS Cyril and Methodius University Faculty of Electrical Engineering Rugjer Boskovic b.b. Karpos II MK-1000 Skopje Rep. of Macedonia Northestern University School of Information Science and Engineering Institute of Control Science Shenyang Liaoning CN-110004 P. R. of China Fax: ++86-24-8367-2273 Tel: ++86-24-2389-3000 Mihailo Pupin Institute Laboratory of Robotics & Automation Volgina 15 Karaburma 11000 F. R. Serbia and Montenegro Fax: ++381-11-2775-870 Tel: ++381-11-2774-236

The goal to control the dynamics of high-rise buildings either to ameliorate the damage or prevent their destruction when subject to an earthquake excitation has been subject of extensive research. All known control designs have advantages and disadvantages as well as operating limits. The application of sliding-mode control to controlling earthquake induced vibrations of a multi-story structural system as an active seismic compensation plus base isolation has been investigated. The performance has been compared to the one of traditional industrial controls, and relevant conclusions drawn. Simulation results, carried out using El Centro earthquake acceleration, have shown that the sliding mode control can decrease significantly displacements of the floors.

关键词： Earthquake sliding mode control structural systems vibration control

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Simultaneous Robot-World and Hand-Eye calibration using a stereo head of cameras

Simultaneous Robot-World and Hand-Eye calibration using a st...

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International Conference on Integrated Modeling and Analysis in Applied Control and automation, IMAACA 2005, Held at the International Mediterranean Modeling Multiconference, I3M 2005

作者： Dimitris, Aristos Spyros, Tzafestas Intelligent Robotics and Automation Laboratory School of Electrical and Computer Engineering National Technical University of Athens Zographou Athens 155773 Greece

ISBN: (纸本)9781629934693

In previous works about the Robot-World and Hand- Eye Calibration problem there is not much discussion about the accuracy that the transformation from the camera frame to calibration plate frame is obtained, which is needed for the solution of the homogenous equation AX=ZB. The transformation matrix A is found by calibrating the camera at each robot position and extracting the external parameters. In this paper a different approach is used, and the matrix A is calculated purely by measurements, which are obtained after the camera has been calibrated.

关键词： Calibration

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Cutting force model of dental training system

Cutting force model of dental training system

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作者： Liu, Guanyang Zhang, Yuru Wang, D. Hao, J. Lu, P. Wang, Y. Robotics Institute School of Mechanical Engineering and Automation Beihang University Beijing China Research Centre of Engineering and Technology for Dental Computing School of Stomatology Peking University Beijing China

ISBN: (纸本)0780389123

This paper presents a cutting force model for dental training system with haptic display capability. The force model is proposed by theoretic analysis of the cutting force between dental tools and tooth. A damping matrix is developed for obtaining a unified formulation for all components of cutting forces. All factors that affect the cutting force are considered in the model by including a number of parameters. These parameters are identified by tooth-cut experiments, which measure the cutting force with a six-dimensional force sensor. A prototype system of haptic simulation is developed to test the model. Dentists performing virtual operation on the system have confirmed the realistic sense of cutting force. © 2005 IEEE.

关键词： Cutting tools

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Sizing a serial chain to fit a task trajectory using Clifford algebra exponentials

Sizing a serial chain to fit a task trajectory using Cliffor...

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2005 IEEE International Conference on robotics and automation

作者： Perez, Alba McCarthy, J. Michael School of Engineering Idaho State University Pocatello ID 83209 United States Robotics and Automation Laboratory University of California Irvine Irvine CA 92697 United States

ISBN: (纸本)078038914X

In this paper we formulate the "generalized inverse kinematics problem" for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations of the chain are formulated first using matrix exponentials and then cast into a form based on exponentials in a Clifford algebra. These equations contain the coordinates of the joint axes explicitly and have a systematic structure that can be exploited in their solution. As an example we fit a seven degree-of-freedom CCS chain to a 12 position task trajectory. In this problem, we can also specify desired values for the first two joint angles, and compute the structural parameters and the remaining joint angles. © 2005 IEEE.

关键词： Inverse kinematics

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Development of an Automatic Packaging System for Waveguides

Development of an Automatic Packaging System for Waveguides

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2005国际机械工程与力学会议

作者： Daihong CHAO Rong LIU Guanghua ZONG School of Mechanical Engineering & Automation Institute of RoboticsBeihang University

In recent years, due to the increased demands for MOEMS (micro -optical -mechanical -electrical -systems) in telecommunications, automatically assembling equipments for such devices are receiving special attentions from both research and industrial communities. Waveguide-to-waveguide alignment is one of the most important techniques to achieve high quality fiber-optical components. Conventional alignment methods may bring in some problems such as low yields, poor quality, etc.. It is of great importance to develop a system that can package waveguides fully automatically. An automatic packaging system for waveguides (APSW) is presented , which can fulfil the aims of packaging various waveguides via a high resolution stereo vision system combined with a micro light power servo system. Aspects related to motion positioning system, high resolution stereo vision system, micro light power servo system, bonding system, etc. are discussed respectively. Finally, alignment experiments were performed to test the performance of APSW and thus verify the feasibility of APSW.

关键词： macro-micro system, waveguide packaging, stereo vision servo, hill-climbing method

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Haptic interface of mobile robot with delay time via internet

Haptic interface of mobile robot with delay time via interne...

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International Conference on Machine Learning and Cybernetics, ICMLC 2005

作者： Wang, Chao Zhang, Xin-Ting Sun, Hong-Jun Meng, Qing-Hao Schilling, Klause School of Electrical Engineering and Automation Tianjin University Tianjin 300072 China Informatics VII Robotics and Telematics Julius-Maximilians-University AM Hubland 97074 Würzburg Germany

ISBN: (纸本)078039092X

The haptic interface enables an operator to feel remote environment via Internet. However there is uncertain delay time via Internet, the feedback information can't be gotten by the haptic interface in time. The speed of the sampling and calculation in the interface device is faster than the speed of the information feedback from the remote robot. So it is difficult for an operator to feel the force in the remote robot quickly and correctly via Internet. In this paper, A calculation method of the feedback force is proposed in order to implement the fast response of the haptic interface. The simulation results are given to show the effectiveness of the proposed method. © 2005 IEEE.

关键词： Haptic interfaces

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