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Information Processing in a Flexible Robot-Based Microassembly Station

IFAC Proceedings Volumes 1998年第15期31卷 253-258页

作者： Heinz Woern Joerg Seyfried Sergej Fatikow Karoly Santa University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 karlsruhe Germany Phone: +49-721-608 3656 Fax: +49-721-606 740

In biology, microelectronics and microsystem technology many operations are today performed by hand which might also be done by micromanipulation robots. Several prototypes of such robots have already been built and tested, and now higher-level problems have to be tackled: control systems with adequate computational power, user-interfaces and planning systems for micromanipulation systems have to be implemented and tested. Special attention must be paid to the requirements of micromanipulation, which differs greatly in some aspects from conventional manipulation. This paper discusses the information processing aspects of the control system of a micromanipulation station. The micromanipulation station consists of a microassembly robot working under a light-optical microscope, a CCd camera and an XY-stage. The requirements for the control computer system are high: assembly and execution planning has to be done in order to perform fully-automated microassembly, a vision system is necessary, and the control of the microrobots and the peripherals connected to the system demand high I/O power. The paper also shows a user interface to access the system resources in a user-friendly way and presents a sketch of the planning and the control algorithms

关键词： Robots microsystems assembly systems design

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Interactive generation of flexible robot programs

Interactive generation of flexible robot programs

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IEEE International Conference on robotics and Automation (ICRA)

作者： H. Friedrich J. Holle R. dillmann Inst. for Real-Time Comput. Syst. & Robotics Karlsruhe Univ. Germany Institute for Real-Time Computer Systems & Robotics University of Karlsruhe Karlsruhe Germany

Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. systems following the programming by demonstration (Pbd) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and alter the course of program generation after the initial demonstration was performed. In this paper we present an approach, where the user is able to supervise the entire program generation process and to annotate, and edit system hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalize the generated program by annotating conditions and object selection criteria via a 3d simulation and graphical user interface. The resulting Pbd-system widens the Pbd approach in robotics to the interactive generation of flexible robot programs based on demonstration and annotations.

关键词： Programming profession Robot programming Service robots Sensor phenomena and characterization Sensor systems real time systems Knowledge representation Graphical user interfaces Manipulators Educational programs

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Microassembly planning for manufacturing by flexible microrobots

Microassembly planning for manufacturing by flexible microro...

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Fatikow R. Mounassypov Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Department of Technical Cybernetics Ufa State Aviation Technical University Bashkortostan Russia

Automation of highly precise microassembly steps will make it easier to realize low cost microsystems. For this, a microrobot-based microassembly desktop station is being developed at the university of karlsruhe. In this paper, we suggest a common microassembly model for a computer-aided microassembly planning-which is based on geometric reasoning-and discuss its components in detail. The feasibility criteria for the generation of feasible assembly sequences and the optimization criteria for selecting the optimal assembly plan are described. For both these planning steps, the algorithms for an automatic procedure have been developed and implemented. For stations employing several microrobots, a method for decomposition and allocation of an assembly plan is suggested. Finally, we discuss the structure of the station's planning system.

关键词： Microassembly Flexible manufacturing systems Robotic assembly Microscopy robotics and automation Glass Sensor systems Robot sensing systems Intelligent robots Process planning

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Operation planning in craniomaxillofacial surgery

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computer Aided Surgery 1998年第3‐4期2卷

作者： Petra Bohner PH.d. Catherina Holler M.S. Stefan Haßfeld M.d. Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany Clinic for Maxillofacial and Craniofacial Surgery University of Heidelberg Heidelberg Germany

Surgery in the craniomaxillofacial area is complex. Planning a surgical operation can help the surgeon enhance the quality of the operation. On the other hand, the benefit of a planning phase cannot be realized if the planning strategy cannot be replicated during surgery. A complete surgical system would support planning, simulation, execution by a surgeon, execution guided by a navigation system, and autonomous execution by a robot. In this paper we present our approach for an integrated system for planning and execution of craniomaxillofacial surgery. This approach is based on a hierarchical architecture and the decomposition of planning levels being either independent or dependent on the execution system via implicit and explicit elementary operations. The architecture of our system can be applied to other surgical interventions in general. The system has been employed in two operations in the mandible/maxilla region, the LeFort I osteotomy and sagittal dissection of the mandible. Results of simulated and robotized execution of some elementary operations are presented. Comp Aid Surg 2:153–161 (1997). © 1997 Wiley-Liss, Inc.

关键词： robots operation planning craniomaxillofacial surgery

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Hierarchical refinement of skills and skill application for autonomous robots

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robotics ANd AUTONOMOUS systems 1997年第3-4期19卷 259-271页

作者： Kaiser, M dillmann, R University of Karlsruhe Institute for Real-Time Computer Systems and Robotics D-76128 Karlsruhe Germany

One of the major goals in designing learning robots is to let these robots develop useful skills over time. These skills are not only related to physical actions of the robot, but also to the coordination of activities, communication with humans, and active sensing. Throughout this paper, the interdependency between these different kinds of skills is analyzed. For the case of elementary action skills and coordination skills, methods for inegration of skill application and refinement are developed. It is shown that this integration has the potential to support long-term learning and autonomous experimentation.

关键词： Mobile robots

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Fast motion planning by parallel processing - A review

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第1期20卷 45-69页

作者： Henrich, d Institute for Real-Time Computer Systems and Robotics Computer Science Department University of Karlsruhe Kaiserstrasse 12 D-76128 Karlsruhe Germany

One of the many features needed to support the activities of autonomous systems is the ability to plan motion. This enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly parallel computation. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly parallel computation. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is assigned a unique class. Finally, for each research work referenced, a list of keywords is given.

关键词： robotics autonomous systems parallel algorithms parallelism and concurrency motion planning review

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Autonomous microrobots

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1997年第4期19卷 375-391页

作者： Rembold, U Fatikow, S Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Kaiserstr. 1 (Geb. 40.28) 76128 Karlsruhe Germany

Robots have been a subject of research for almost half a century. In order to make robots more versatile they must be able to operate in a semi-structured work place where unforeseen events occur and where sensor data are incomplete. An entire research community has been working on this problem and many unique autonomous and so-called intelligent robots have been conceived and built. Most of these efforts are concerned with robots that operate in the macroworld where they take on chores that could also be handled by humans. However, there is the macroworld in which manipulation and handling tasks are very difficult and for which a human has no tools and where the work area is so small that fine manual manipulation is almost impossible. This paper is concerned with autonomous robots that can operate in a microworld, where microassembly operations, microsurgery or integrated circuit testing and repair is done. For independent operations, these robots need special sensors and an efficient computer architecture that hosts the planner and executor. There are also special drive systems and effecters necessary for micromotions and micromanipulations, respectively. An attempt is made to describe these components and the problems encountered in configuring them to a microrobot. As an example of advanced microrobots, the design and functions of several autonomous microrobots of the university of karlsruhe are shown;they employ different locomotion and subject handling principles. The paper also includes a discussion of the typical operating problems caused by the microworld and of future research that has to be done to conceive and build efficient microrobots.

关键词： autonomous microrobots microassembly station micromanipulator piezoelectric actuators robot control

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Model-based process redesign

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JOURNAL OF INTELLIGENT MANUFACTURING 1997年第5期8卷 345-356页

作者： Janusz, B Institute for Real-Time Computer Systems and Robotics Department of Computer Science University of Karlsruhe Karlsruhe Germany

A method is presented for the model-based redesign of enterprises. It consists of two main steps, the initialization step and the optimization step. during the initialization step, the processes are modelled and analysed. during the optimization step, the optimal configuration is found for the possible modifications of the processes. Emphasis is placed on the process analysis. The proposed approach is based on activity chains which describe the set of activities needed for the achievement of a given gear, and their execution order necessary to guarantee a low processing time. An algorithm is presented for filtering such activity chains from an enterprise model. It is based on graph theory and corresponds to the solution of an optimization problem, whereby the sum of weights of ail edges belonging to the solution graph should be maximized under some given constraints. Because of the high complexity of the problem, some complexity-reducing measures are presented, measures that arise from the earlier problem analysis.

关键词： process redesign process analysis activity chain graph theory

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Learning and communication in multi-agent systems

Learning and communication in multi-agent systems

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12th European Conference on Artificial Intelligence, ECAI 1996, 2nd International Conference on Multiagent systems, ICMAS 1996, Workshop on Learning in distributed Artificial Intelligence systems, LdAIS 1996 and Workshop on Learning, Interaction, and Organization in Multiagent Environments, LIOME 1996

作者： Friedrich, Holger Kaiser, Michael Rogalla, Oliver dillmann, Rüdigex University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KarlsruheD-76128 Germany

ISBN: (纸本)3540629343

This paper discusses the significance of communication between individual agents that are embedded into learning Multi-Agent systems. For several learning tasks occurring within a Multi-Agent System, communication activities are investigated and the need for a mutual understanding of agents participating in the learning process is made explicit. Thus, the need for a common ontology to exchange learning-related information is shown. Building this ontogy is an additional learning task that is not only extremely important, but also extremely difficult. We propose a solution that is motiwtted by the human ability to understand each other even in the absence of a common language by using alternative commuification channels, such as gestures. We show some results for the task of cooperative material handling by several manipulators. © 1997, Springer Verlag.

关键词： Multi agent systems

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THE PROGRAMMING OF A TELEMANIPULATOR WITH THE FORCE-CUBE

THE PROGRAMMING OF A TELEMANIPULATOR WITH THE FORCE-CUBE

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ASME 1997 International Mechanical Engineering Congress and Exposition, IMECE 1997 - dynamic systems and Control

作者： Schaude, Horst F. dillmann, Rudiger University of Karlsruhe Institute for Real-Time Computer Systems and Robotics KaiserstraBe 12 Karlsruhe76128 Germany

ISBN: (纸本)9780791818244

While programming a telemanipulator the operator often uses special input devices to generate trajectories, which are to difficult for automatic planers. Though the trajectories are evaluated by a simulation and shown on a graphical animation, it is much faster to give the operator direct haptic feedback if a collision will occur while executing the trajectory. To combine the haptic feedback with an intuitive input device, we have developed the ForceCube. The input parameters are separated in three translational and three rotational values. They are matched on three orthogonal sides of a cube in such way, that their axes correspond to their counterparts in the real word. Each of the axes can be blocked in one direction. With this feature it is possible to move the manipulator with contact in one direction and without any constraints in the other directions. The ForceCube is integrated in the teleoperation system TelOS developed at the institute for real-time Computing and robotics. © 1997 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Trajectories

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