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IEEE International Conference on Technologies for Practical Robot Applications (TePRA)

作者： Taskin Padir Jean-Pierre Rasaiah Aaron Worden Andrew Richards James Claus Tim Horrigan Andrew Lucarelli Assistant Prof Essor Robotics Engineering Program Worcester Polytechnic Institute USA Engineering Manager Applied Manufacturing Technologies Inc. Orion MI USA Senior Student School of Engineering and Technology Lake Superior State University Marietta MI USA

The paper discusses how a capstone design project can be utilized to build partnerships between the academia and several companies representing key industries in modern robotics technology. The project can be described as designing a portable robotic workcell to showcase state-of-the-art equipment and technologies in robotics. The project was completed in May 2008 by a multidisciplinary project team composed of senior engineering and engineering technology students at Lake Superior State University. The project was sponsored by Applied Manufacturing Technologies, Inc. The paper will introduce the design considerations and robotics technologies employed to build the system.

关键词： Service robots robotics and automation Robot vision systems Design engineering Manufacturing industries Machine vision Cameras Manufacturing automation Machinery production industries Lakes

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Estimation of isometric joint torque from muscle activation and length in intrinsic hand muscle

Estimation of isometric joint torque from muscle activation ...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Won-Il Park Hae-Dong Lee Jung Kim Robotics program KAIST Daejeon South Korea BK21 Mechatronics Group Chungnam National University Daejeon South Korea Department of Mechanical Engineering KAIST Daejeon South Korea

Due to the complicated relationship between a muscle activation level and isometric joint torques, predicting torques under isometric conditions have been an obstacle to neuromuscular control of robots in the field of human robot interaction (HRI). This study describes the isometric torque estimation of the metacarpophalangeal (MCP) joint of a human hand based on the Hill muscle model. Surface electromyography (sEMG) for muscle activation and ultrasound imaging technique for muscle length changes of the first dorsal interosseous (FDI) muscle were employed under isometric condition. The result showed that the prediction is more dependent on sEMG than length change and has a high correlation value (r = 0.9604) with the measured torque. This result indicates the possibility of a torque prediction method based on the Hill muscle model for natural human robot interaction.

关键词： Muscles Human robot interaction Ultrasonic imaging Neuromuscular Torque control Robot control Electromyography Fault detection Length measurement Torque measurement

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Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera Systems

Passivity-based Dynamic Visual Force Feedback Control for Fi...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Hiroyuki Kawai Toshiyuki Murao Masayuki Fujita Department of Robotics Kanazawa Institute of Technology Ishikawa Japan Master Program of Information Systems Architecture Advanced Institute of Industrial Technology Tokyo Japan Department of Mechanical and Control Engineering Tokyo Institute of Technology Tokyo Japan

ISBN: (纸本)9781424422241

This paper investigates passivity based 3D dynamic visual force feedback control for fixed camera systems. In our approach, we can control not only the position but also the orientation of the robot hand with a contact force by using visual information. The proposed method can be regarded as an extension of the hybrid position/force control to the hybrid vision/force control. The main contribution of this paper is to show that the 3D dynamic visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Both the passivity of the manipulator dynamics and the passivity of the visual feedback system are preserved. Finally simulation results on 3 DOF planar manipulator are presented to verify the stability of the 3D dynamic visual force feedback system and understand our proposed method simply.

关键词： Intelligent control Control systems USA Councils

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Recent progress in robotics: Viable robotic service to human: An edition of the selected papers from the 13th international conference on advanced robotics 13th

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13th International Conference on Advanced robotics, ICAR 2007

作者： Lee, Sukhan Suh, Il Hong Kim, Mun Sang School of Information and Communication Engineering Sungkyunkwan University 300 Chunchun-Dong Jangan-Ku Kyunggi-Do440-746 Korea Republic of Division of Information and Communications Hanyang University 17 Haengdang-dong Seongdong-gu Seoul133-79 Korea Republic of Center for Intelligent Robotics Frontier 21 Program Korea Institute of Science and Technology L8224 39-1 Hawolgok-dong Sungbuk-ku Seoul136-791 Korea Republic of

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Annual business and news:: Beginning the 31st year of the Journal of Guidance, Control, and Dynamics

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2008年第1期31卷 1-1页

作者： Schmidt, George T. Aeronautics and Astronautics Massachusetts Institute of Technology (MIT) AIAA Institute of Electrical and Electronics Engineers Russian Federation Academy of Navigation and Motion Control Department of Mechanical and Aerospace Engineering and Engineering Mechanics University of Missouri-Rolla(UMR) Lockheed Electronics Company Center for Space Research University of Texas Austin United States Wright Laboratory Eglin Air Force Base UMR AIAA Guidance Navigation and Control Technical Committee American Automatic Control Council Lockheed Martin Aeronautics Company Palmdale CA United States C4ISR and Unmanned Air Vehicle (UAV) Programs for Air Vehicle Sciences and Systems Accreditation Board Engineering and Technology Inc./Aeronautical National Technical Committee on Guidance Navigation and Control Department of Mechanical and Aerospace Engineering University at Buffalo State University of New York (SUNY) AIAA Technical Committee on GN and C Air Vehicles Directorate Air Force Research Laboratory (AFRL) Wright-Patterson Air Force Base Space Access and Hypersonic Vehicle Guidance and Control Group Control Science Center of Excellence AFRL AIAA Technical Committee on Guidance Navigation and Control Department of Mechanical and Aeronautical Engineering University of California (UC) Davis United States Boeing Company Modernized Flight Control System for the Apache Longbow AIAA Institute of Electrical and Electronics Engineers AHS Jet Propulsion Laboratory California Institute of Technology Boeing Company Flight Sciences and Advanced Design Group Guidance Navigation and Control (GN and C) Systems Engineer Distributed Space Systems NASA Goddard Space Flight Center (GSFC) AIAA GN and C Technical Committee Department of Aerospace Engineering and Engineering Mechanics University of Texas Austin United States Institute of Navigation American Astronautical Society AIAA Guidance Navigation (GN and C) and Control Technical Committee Department of Aerospace Engineering Iowa State University Iowa

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MIRA V: An integrated system for minimally invasive robot-assisted lung brachytherapy

MIRA V: An integrated system for minimally invasive robot-as...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ana Luisa Trejos Amy W. Lin Shiva Mohan Harman Bassan Chandima Edirisinghe Rajni V. Patel Craig Lewis Edward Yu Aaron Fenster Richard A. Malthaner Department of Electrical and Computer Engineering University of Western Ontario Canada Canadian Surgical Technologies & Advanced Robotics Lawson Health Research Institute London ONT Canada CSTAR Imaging Research Laboratories at the Robarts Research Institute UWO London Regional Cancer Program Division of Radiation Oncology London Heath Sciences Centre Department of Oncology and Medical Biophysics UWO Robarts Research Institute Division of Thoracic Surgery CSTAR

An integrated system for minimally invasive robot-assisted image-guided lung brachytherapy has been developed. The system incorporates an experimental setup for accurate radioactive seed placement with commercially available dosimetry planning software. The end result is a complete system that allows planning and executing a brachytherapy procedure with increased accuracy. The results of the in vitro seed placement evaluation show that seed misplacement has a significant effect on the volume receiving more than 200% of the dose (V200), and the minimum dosage received by 90% of the volume (D90).

关键词： Minimally invasive surgery Robots Lungs Brachytherapy Needles Cancer Oncological surgery Tumors robotics and automation Oncology

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MODELING AND CONTROL OF ELEVATORS BY STATECHARTS

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Asian Journal of Control 2008年第2期6卷

作者： Yi-Sheng Huang Sheng-Luen Chung Mu-Der Jeng Department of Aeronautical Engineering Chung Cheng Institute of Technology National Defense University Tashi Taoyuan 335 Taiwan R.O.C. Department of Electrical Engineering National Taiwan University of Science and Technology Taipei 106 Taiwan R.O.C. Department of Electrical Engineering National Taiwan Ocean University Kellung 202 Taiwan R.O.C. MuDer Jeng received the Ph.D. degree in computer and systems engineering from Rensselaer Polytechnic Institute Troy NY in 1992. Since August 1992 Dr. Jeng has been with National Taiwan Ocean University Keelung Taiwan where he is currently a full Professor at the Department of Electrical Engineering. His current research interests include Petri nets discrete event systems computer integrated manufacturing semiconductor factory automation embedded systems. Dr. Jeng is the author/co-author of over 120 book chapters journal papers and conference papers. Dr. Jeng received the Franklin V. Taylor Outstanding Paper Award from the IEEE Systems Man and Cybernetics Society in 1993. He was granted the Research Award by the National Science Council of Taiwan annually from 1994 to 2000. He is an Associate Editor for IEEE Transactions on Systems Man and Cybernetics-Part A IEEE Transactions on Robotics and Automation IEEE Transactions on Robotics and serves on the Editorial Board of International Journal of Computer Integrated Manufacturing. He has been a Guest Editor for eight leading journals. Dr. Jeng is the Chair of the Technical Committee on Discrete Event Systems of the IEEE SMC Society and the Founding Chair of the Technical Committee on Semiconductor Factory Automation of the IEEE Robotics and Automation Society. He served as the Exhibitions Chair of 2003 IEEE International Conference on Robotics and Automation and the Special Sessions Chair of 2004 IEEE International Conference on Networking Sensing and Control. He serves as a Program Co-Chair of 2005 IEEE International Conference on Networking Sensing and Control and the Organization Commit

Statechart has been utilized as a visual formalism for the modeling of complex and interactive systems for its illuminating features on describing properties of causality, concurrency, and synchronization. This paper presents the application of satechart to the modeling, design and implementation of an elevator system, whose system behavior involves aggregating complexity of state descriptions, and imposition of underlying control policy. Based on the operational flow of an elevator, we derive the associated statechart model by looking into the inherent hierarchical structure of the elevator. The advantage of the proposed approach is the clear presentation of system behavior in terms of conditions and events that cause the transitions in system dynamics. Implementation of the controlled elevator based on the modeled statechart is also presented.

关键词： Statechart interactive systems elevator

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Multimode locomotion via SuperBot reconfigurable robots

Multimode locomotion via SuperBot reconfigurable robots

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作者： Shen, Wei-Min Krivokon, Maks Chiu, Harris Everist, Jacob Rubenstein, Michael Venkatesh, Jagadesh Information Sciences Institute Computer Science Department University of Southern California University of Southern California Polymorphic Robotics Laboratory Information Science Institute Polymorphic Robotics Laboratory Product Development Engineering Program University of Southern California

One of the most challenging issues for a self-sustaining robotic system is how to use its limited resources to accomplish a large variety of tasks. The scope of such tasks could include transportation, exploration, construction, inspection, maintenance, in-situ resource utilization, and support for astronauts. This paper proposes a modular and reconfigurable solution for this challenge by allowing a robot to support multiple modes of locomotion and select the appropriate mode for the task at hand. This solution relies on robots that are made of reconfigurable modules. Each locomotion mode consists of a set of characteristics for the environment type, speed, turning-ability, energy-efficiency, and recoverability from failures. This paper demonstrates a solution using the SuperBot robot that combines advantages from M-TRAN, CONRO, ATRON, and other chain-based and lattice-based robots. At the present, a single real SuperBot module can move, turn, sidewind, maneuver, and travel on batteries up to 500 m on carpet in an office environment. In physics-based simulation, SuperBot modules can perform multimodal locomotions such as snake, caterpillar, insect, spider, rolling track, H-walker, etc. It can move at speeds of up to 1.0 m/s on flat terrain using less than 6 W per module, and climb slopes of no less 40 degrees.

关键词： Robots

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Virtual and distance experiments: pedagogical alternatives, not logistical alternatives

Virtual and distance experiments: pedagogical alternatives, ...

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113th Annual ASEE Conference and Exposition, 2006

作者： Lindsay, Euan Good, Malcolm Curtin University of Technology Australia Curtin University of Technology Perth Australia University of Melbourne Australia Department of Mechanical and Manufacturing Engineering Australian Robot Association International Advanced Robotics Program Australia Advanced Engineering Centre for Manufacturing

Remote and virtual access to laboratory classes are increasingly prevalent in undergraduate engineering courses, but as yet there have been few, if any, studies, that adequately evaluate the learning outcomes of these alternative access modes. The move to alternative access modes has been driven primarily by logistical imperatives such as increased flexibility of delivery, and potential cost reductions. This focus on the "how" of implementing the laboratories has come at the expensive of the "why" - the impact upon the students' learning has been largely overlooked. This paper reports a study into remote and virtual access to laboratory equipment, and shows that there are statistically significant differences between the students' achievement on a number of learning outcomes. In particular, it shows that certain types of learning outcomes are impacted differently in different modes. This fine-grained analysis avoids the common pitfall of simply comparing overall aggregated marks, and shows that rather than no effect upon outcomes, there are instead multiple changes in learning outcomes whose combined effects upon the students' marks cancel out. The transparency of the interface was found to be a key factor in determining the quality of learning outcomes in the remote mode;however, it was not found to be significant in the simulation mode. This finding, whilst surprising, is explained when the theory pertinent to separation is considered. The take home message of this paper is that moving to remote and virtual access to laboratory hardware leads to significant changes in the learning outcomes of the students who experience this laboratory. In the face of such changes, these alternative access modes must be considered pedagogical alternatives, rather than simply logistical conveniences. © American Society for engineering Education, 2006.

关键词： Virtual reality

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A computer vision system for monitoring the energy efficiency of intermodal trains

A computer vision system for monitoring the energy efficienc...

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作者： Lai, Yung-Cheng Ahuja, Narendra Barkan, Christopher P. L. Drapa, Joseph Hart, John M. Milhon, Larry Railroad Engineering Program University of Illinois Urbana-Champaign IL United States Computer Vision and Robotics Lab. University of Illinois Urbana-Champaign IL United States BNSF Railway Fort Worth TX United States

ISBN: (纸本)0791842037

Intermodal trains are typically the fastest trains operated by North American freight railroads. It is thus ironic that these trains tend to have the poorest aerodynamic characteristics. Because of constraints imposed by equipment design and diversity, there are often large gaps between intermodal loads and these trains incur greater aerodynamic penalties and increased fuel consumption compared to other trains. We conducted train energy analyses of the most common intermodal train configurations operated in North America. It was found that matching intermodal loads with cars of appropriate length reduces the gap length thereby improving airflow. Properly matching cars with loads also avoids use of cars that are longer and thus heavier than necessary. For double stack containers on well cars, train resistance may be reduced by as much as 9% and fuel savings by 0.52 gallon per mile per train. Proper loading of intermodal trains is therefore important to improving energy efficiency. We have developed a wayside machine vision system that automatically scans passing trains and assesses the aerodynamic efficiency of the loading pattern. Machine vision algorithms are used to analyze these images and detect and measure gaps between loads and develop a quantitative index of the loading efficiency of the train. Integration of this metric that we call "slot efficiency" can provide intermodal terminal mangers feedback on loading performance for trains and be integrated into the software support systems used for loading assignment. Copyright © 2006 by ASME.

关键词： Energy efficiency

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