bluuebunny/crossref_metadata_2025 huggingface dataset:
Comments
Authors: Grew Raymond
Published: March 2009

One of the dangers at any conference is that the commentator, rather than doing his assigned task, will deliver still another (and lengthy) paper. In inviting me, the organizers of the conference must have felt they had taken the ultimate precaution against this danger, for they invited a commentator who is no specialist in the history of the Austrian empire. There were, of course, to have been two papers at this session that, at least linguistically, would have provided me some more familiar ground, and I regret for reasons both personal and professional that Professors Valsecchi and Greenfield were unable to present their papers.1 I shall merely allude to the Italian case in putting forth some general propositions which were stimulated by the three papers I have seen—those of Professors Ľudovít Holotík, Stephen Fischer-Galati, and Ivan Rudnytsky.
Comments
Authors: Grew Raymond
Published: March 2009

In the course of his survey of Italian nationalism in the Austrian empire—an account written with scrupulous fairness—Professor Greenfield makes, it seems to me, three particularly important points. First, though he finds these matters hard to measure, he suggests that irredentist sentiment was probably less intense, universal, or consistent than prior studies implied. Second, he notes that Austria protected herself from irredentism more through diplomatic than through domestic policy and that this approach was for some time fairly effective. Third, he finds that the Italian population became more anti-imperial as it felt itself threatened by the nationalism of Germans and Slavs and by what seemed to be Vienna's preferential treatment of them. The Italians in the Habsburg empire thus contributed to its disintegration primarily after the empire came to be conceived of as a system of competing nationalities in which concessions to any one of them became a source of grievance for some other national group. At the same time, an empire of declining international power found diplomacy an inadequate restraint on its increasingly independent Italian neighbor.
The Changing Views of Marx and Engels about the Nationalities in the Austrian Monarchy, 1845–1855
Authors: Swoboda Wolfram W.
Published: March 2009

Since developments of the last century increasingly involved the political emergence of ethnic and national minorities within polyglot empires, the concern of Karl Marx and Friedrich Engels with nationalities is not surprising. It was they, in fact, who claimed a “scientific” basis for advocating revolution and who asked the important question: “What is the relationship between nationalist aspirations and social revolution?”

The authors of the few works in English about the Marxist view of nationality tend to take a simplistic approach to this complex issue. Treating Marx's and Engels' ideas as though they were static has led to an interpretation portraying Marx and Engels as mere revolutionary nationalists. But although it avoids the complexities of a dynamic treatment of a problem in intellectual history, such an interpretation not only stumbles into oversimplification but it also, and almost unavoidably, misses one of the most novel interpretations of the European nationalities question in the mid-nineteenth century.

An accurate analysis of Marxist ideas on the nationality issue can be made only in the context of Marx's and Engels' materialist view of history and with reference to the actual political upheavals in which Marx and Engels themselves participated and which colored their perceptions. This combination of ideology and experience evolved, slowly, within the Marxist framework into a set of clear criteria on nationality.
The Development of the Hungarian Military Frontier until the Middle of the Eighteenth Century
Authors: Wessely Kurt
Published: March 2009

After a long period of neglect, the Austrian Military Frontiers have once again aroused the interest of historians. This article is based on the assumption that, because of the new interest, the reader will be familiar with the frontiers' basic organizational features. Presumably it is well known that the inhabitants of the border area between the Austrian and Turkish empires were subject to military conscription and that because of their unique role their living conditions were better than those of the Hungarian serfs.
The Mormons in the Habsburg Lands, 1841–1914
Authors: Kimball Stanley B.
Published: March 2009

Since its organization in 1830 the Mormon Church has been extremely active in proselytizing. Believing themselves representatives of a unique and chosen people—the bearers of the restored gospel of Jesus Christ—Mormon elders, encouraged both by the New Testament admonition “to teach all nations and baptize them” and by Joseph Smith's injunction that “the greatest and most important duty is to preach the Gospel,” have proselytized indiscriminately among Christians and non-Christians. Their missionary zeal eventually prompted them to attempt to make converts in the Habsburg monarchy, which, with the exception of Spain, was the most loyal pro-Catholic power in Europe. In Austria, where the movement was usually branded either as an emigration scheme or as a contrivance to recruit women for “Mormon harems,” the elders were confronted with an apathetic public and a hostile government that denied them permission to preach. Harassed, imprisoned, and expelled, they faced one discouragement after another. No amount of discouragement and persecution, however, daunted the Mormons for long. Constant difficulties came to be expected and considered normal.
An Historiographical Guide to Subcarpathian Rus'
Authors: Magocsi Paul R.
Published: March 2009

It is customary among western scholars who have written about the Carpatho-Rusyns to consider them “the most forgotten among the forgotten.” Little is known in the West about the political, economic, and cultural developments of Subcarpathian Rus', especially before 1918. Yet such an enormous amount of material has been written in eastern European languages about this territory that as early as 1931 the noted Slavic linguist Roman Jakobson could write: “In the whole east Slavic world, there is hardly any other marginal area whose past has been examined with such affectionate meticulousness and scholarliness as Carpatho-Russia.”

The present study is intended as an introductory guide to the voluminous historiography of Subcarpathian Rus'. The material has been arranged according to the following topical and chronological subdivisions: bibliographical aids; general historical studies; early history to 1514; 1514 to 1711; 1711 to 1848; 1848 to 1918; 1918 to 1938; October, 1938, to March, 1939; 1939 to 1944; 1945 to the present; cultural developments; Rusyns in Hungary; Rusyns in Jugoslavia; and Rusyns in the United States. Works will be discussed under the heading which most nearly describes the period dealt with in the text regardless of the date of publication. The time periods were not designated arbitrarily but are based on certain historical events the significance of which will be clarified in the appropriate subsection. Most studies treated in this article deal exclusively or primarily with Subcarpathian Rus' only a few are concerned with problems of a more general nature. Many studies dealing with the recent history of the area are not necessarily included because they represent sound historical research but because they are valuable, highly selective accounts of crucial events, many of them written by the participants themselves.
Recently Published French Studies
Authors: Kreissler Félix
Published: March 2009

The following recently published French studies might be of interest to students of Austrian history:

Brook-Shepherd, Gordon, Le dernier Habsbourg. Paris: Flammarion,1971. Pp. 402. A French translation of the German edition.
Grace and the Word: Austria's Two Cultures and Their Modern Fate
Authors: Schorske Carl E.
Published: March 2009

No one who has investigated the high culture of Vienna in the era of liberal ascendancy can fail to be impressed by the sturdy integration of its components. Not only were political, scientific, and aesthetic culture closely related to each other in principle and in practice, but the very social life and cultural forms of the elite sustained the synthesis achieved. Yet by the end of the nineteenth century, this complex was breaking apart, with aesthetic culture often going its separate way from the liberal-rationalist political and academic culture with which it had been linked. The character of this union and its breakup will provide my theme.
Prince Felix zu Schwarzenberg and Italy
Authors: Sondhaus Lawrence
Published: March 2009

In recent years, the personality and policies of Prince Felix zu Schwarzenberg have continued to attract the attention of historians. Was Schwarzenberg a Realpolitiker attempting a decisive turn from the policies of Prince Clemens von Metternich, as the traditional interpretation would have it? Or is the revisionist view more accurate: that Schwarzenberg was an old-fashioned conservative, whose policies had much more in common with those of Metternich than previous generations of historians have believed?
Mobilizing Conservative Women: The VienneseKatholische Frauenorganisationin the 1920s
Authors: Gellott Laura S.
Published: March 2009

In the 1920s newly enfranchised Austrian women crossed the line separating the private sphere of home and family and entered the arena of political participation. Catholic women, schooled in the experience of their church organizations, were no exception. But although they mobilized within the democratic framework and under the rights and privileges provided by the First Republic, their initial agenda consisted of a commitment to the primacy of woman's role as mother and homemaker, and saw involvement in the political arena merely as an expedient in defense of the domestic sphere. Furthermore, theWeltanschauungof Catholic women was initially hostile to parliamentary democracy, to the very system that allowed—or in their eyes made necessary—their political mobilization.
Crossroads of East and West: Lemberg, Lwów, Ľviv on the Threshold of Modernity
Authors: Hrytsak Yaroslav
Published: March 2009

Recent surveys on post-soviet Eastern Europe reveal that ethnicity and ethnic differentiation are gradually losing their salience among local citizens, while social identification (for example, identities of workers or businesspeople) has become increasingly important as a way for people to perceive both themselves and ongoing political and economic changes. This tendency purports to herald the emergence of a society in which citizens compete for rewards and opportunities on the basis of merit rather than ethnic heritage. In Lithuania and Western Ukraine, however, this is not the case. National identification axes are the most important, and a strong national identity promotes democracy and opposition to communism.
Language learner autonomy and the European Language Portfolio: Two L2 English examples
Authors: Little David
Published: March 2009

This article argues that the Council of Europe's European Language Portfolio is capable of supporting the implementation of language learner autonomy on a large scale. It begins by explaining what the author understands by ‘language learner autonomy’, then introduces the European Language Portfolio and explains how it can stimulate reflective learning in which goal setting and self-assessment play a central role. It concludes by giving two practical examples that involve the learning of L2 English in Ireland, in one case by adult immigrants with refugee status and in the other by newcomer pupils in primary schools.
Improvement of dynamic capabilities of heavy robots
Authors: Potkonjak V. , Krstulović A.
Published: March 2009

The application of heavy robots is usually restricted to those problems where large loads are carried and high speed is not required. This paper proposes a method for the improvement of robot dynamic capabilities thus enabling a heavy robot to perform the fast manipulation. The approach follows the idea of “distributed positioning” and introduces redundancy. The concept adopted is proved on two different configurations: an elbow-scheme manipulation robot and a gantry welding robot.
Robot deboning for beef forequarters
Authors: Purnell G. , Maddock N. A. , Khodabandehloo K.
Published: March 2009

Initial development of a robotic meat cutting system based on force feedback control and continuous path planning is described. Forequarter beef cutting is attempted where each carcass processed will be compared to a database containing cut information for previously processed beef carcasses. Using the database information, cut start and end points can be defined along with initial path direction for each cut. A robot then drives a powered knife through the carcass utilising force feedback control to follow bone profiles, thus removing meat from the forequarter. An original cutting scheme suitable for robotic butchery of a beef forequarter is defined, along with a notation scheme for describing the cutting procedures.
Some comparisons of serial-driven and parallel-driven manipulators
Authors: McCloy D.
Published: March 2009

A two-dimensional serial-driven manipulator is compared with two different parallel-driven manipulators, using workspace, power requirements and stiffness as criteria. The parallel-driven devices are based on the planar five-bar linkage; one has four revolute joints and one prismatic joint; the other has five revolute joints. Parallel operation is shown to offer advantages.
Displacements by Successive rotations for Vehicles Subject to Given Constraints
Authors: Romerio Michel V. , Burckhardt Christof W.
Published: March 2009

The displacements of a vehicle on a plane can be subject to constraints depending on the nature of the vehicle. One can, for instance, think of the existence of a smallest turning circle for a car.

In this paper our purpose is to show, on a simple example, how such constraints can be handled. We, in fact, consider the case of a vehicle the motions of which consist of a finite sequence of rotations, each rotation being subject to the following constraints.

1) The radius of the circles along which the displacements of the vehicle take place are larger than a critical radius.

2) The centers of the successive rotations are located along a straight line defined by the geometry of the vehicle.

The mathematical analysis of this problem relies on a suitable choice of frames of reference in which the expression of the constraints is particularly simple. It is then shown that, under the above constraints, an arbitrary displacement can always be achieved by three approriate rotations.
A multi-agent environment in robotics
Authors: Oliveira Eugénio , Camacho R. , Ramos C.
Published: March 2009

The use of Multi-Agent Systems as a Distributed AI paradigm for Robotics is the principal aim of our present work. In this paper we consider the needed concepts and a suitable architecture for a set of Agents in order to make it possible for them to cooperate in solving non-trivial tasks.

Agents are sets of different software modules, each one implementing a function required for cooperation. A Monitor, an Acquaintance and Self-knowledge Modules, an Agenda and an Input queue, on the top of each Intelligent System, are fundamental modules that guarantee the process of cooperation, while the overall aim is devoted to the community of cooperative Agents. These Agents, which our testbed concerns, include Vision, Planner, World Model and the Robot itself.
Relationships-based recognition of structural industrial parts stacked in a bin
Authors: Fukada Youji , Doi Hiroshi , Nagemine Keiji , Inari Tkahiko
Published: March 2009

This paper describes an algorithm which recognizes the position and the orientation of a structural industrial part, such as a crankshaft, utilizing the relationships between its elementary blobs. Crankshafts are arranged tightly and piled up in multiple layers and their image from above includes regions (i.e. pictures) of crankshafts not only of the current top layer but also of the lower ones; it thus becomes complicated. First, the algorithm carries out the connectivity analysis for an input binary image, and then extracts elementary blobs by applying a line fitting procedure on every sequence of boundary pixels of connected regions. Next, each blob is judged to determine to which component of a part it corresponds, using the size model. Then the relationships (distances and orientations) between blobs are examined, using their relational models, and a group of blobs of one part is recognized. Its position and orientation are calculated simultaneously. This model matching algorithm is implicitly included in the procedures.
Introduction of the industrial robot in Britain
Authors: Fleck James
Published: March 2009

The technical, managerial, organisational, economic and labour factors found to be important in an empirical study of more than forty firms adopting or considering robots, are outlined. Specific problems, arising from the requirements for managing integrated mechanical, electronic and computational systems, and the novel choreographic approach to production embodied in robots, are posed by the introduction of this new technology. For their effective solution, these problems demand an increased level of competence and expertise, at all levels from the managerial to the technical. But robots are just one part of modern automation, and in the future programmable automation – the integration of computer technology, robotics and conventional automation – will increasingly become the competitive standard in manufacturing industry. The introduction of such new technological standards, though forced by competitive pressures, will, however, require extensive institutional, organisational, and disciplinary adaptation if their full potential is to be realised and the UK is to remain one of the leading industrial nations.
Coming robot new era (a viewpoint)
Authors: Kato Ichiro
Published: March 2009

This paper will review, firstly, the state and trend of robotics in Japan, and secondly, how to promote a rapid increase of robot population in Japan. Finally, in anticipation of the coming 21st century, human-robot symbiosis is discussed in connection with social implications.
Energy consumption of three-link manipulators as a function of geometric features and trajectory parameters
Authors: Klein A.
Published: March 2009

The method of parametric optimization is applied to the energy analysis of the motion of three-link manipulators. The quality criterion is the energy consumption along 1 m of the path. It consists of two parts: 1) The sum of the products of joint moments and relative joint velocities (an equivalent of the mechanical work); 2) a quadratic form of joint velocities (an analogue of dissipation losses). Typical spatial motions are studied: the hand of the robot moves along a straight line from an initial position to another one, and returns to the start. Several velocity function shapes (parabolic, sinusoidal, and triangular), both symmetric and non-symmetric ones, are considered. The dependence of the energy consumption on the velocity form, on the trajectory parameters and on mechanical and geometrical characteristics of links is discussed.
Precision robotics—within our grasp?—A viewpoint
Authors: Schnurr L. E.
Published: March 2009

After reviewing historical developments in robotics, particularly in Europe, and the current applications in industry, The author indicates possible trends in the future as regards the expansion of industrial automation and its impact on employment. Of interest is the concept of technological consortia or ‘systems houses’ capable of understanding from a ‘system’ perspective the cost-effective implications of overall system design. The final part of the paper is concerned with the examination of goals that lead to future developments, viz. the convergence of traditionally separate technologies, new design methodologies, rational software design, harmony between different kinds of software, and a new look at education and training leading to the emergence of a new type of engineer. The author advocates a balanced emphasis on these aspects and their co-ordination.
Sequential learning of automata from input–output behaviour
Authors: Luneau P. , Richetin M. , Cayla C.
Published: March 2009

A learning algorithm for the inference of sequential machines from input/output behaviour is developed. The construction of the models is sequentially achieved by processing input/output (i/o) sequences, and through an induction-contradiction-discrimination scheme. The various states are discriminated after the discovery of contradictory i/o sequences. The properties of the inferred machines and some reported experiments indicate the efficiency of the learning concept of contradiction for this application. Possible application in Robotics for the learning of assembling models is also mentioned.
Robots–from concept to commissioning (Company profile)
Authors: Lowe Duncan Barrie
Published: March 2009

Taylor Hitec Ltd are active in the field of inventive design and successful construction of unique robotic implements for remote working in nuclear power plant and associated waste processing. The company has widened its operation and expertise to provide a concept-to-commission service in consultant and applications engineering for the introduction of robots and FMS in manufacturing and process industries. In the profile presented here are some examples of the manipulators produced by the company and their technical evolution, together with an outline of the successful widening of business into the fields of industrial robotics and flexible manufacturing systems.
Controllability of nonlinear perturbations of linear systems with distributed delays in control
Authors: Balachandran K.
Published: March 2009

Sufficient conditions are derived for the relative controllability of nonlinear perturbations of linear systems with distributed delays in control variable. The results are a generalization of previous results and are obtained by using Schauder's fixed point theorem.
The integration barrier; problems in the implementation of advanced manufacturing technology
Authors: Bessant John
Published: March 2009

There can be little doubt that we are seeing a rapid acceleration in the pace of technological change as we approach the 1990s. In manufacturing industry this move towards automation is seen as a key element in preserving and improving competitiveness - the ‘fitter’ part of the well-known ‘leaner and fitter’ prescription for the revival of British industry.

It is, however, important to remember that technology is only one term in the equation and that, for the prescription to work, consideration must be made of the social and economic implications of change. This paper explores some of these implications from both a national and a company-level perspective and concludes that the benefits of advanced automation will only be realised if a total systems approach is taken to its implementation.
Sensor control for moving objects
Authors: Yamada Yoji , Matsuda Fumio , Tsuchida Nuio , Ueda Minoru
Published: March 2009

This paper deals with the simulation of a control of an industrial arm using a prediction filter to track an object. It also deals with a developed range-sensing subsystem (range sensor), which, making use of trigonometric principles, can sense the two-dimensional location of the object even if it is moving. First, the hardware and the software of the 2-D range sensor are described. Next, processes to give the arm successive locations to arrive at, using the data obtained by the range sensor are illustrated. Finally some resultant simulation follows.
Declarative modeling of symbolic continous processes in a robot simulation system
Authors: Salter Richard M.
Published: March 2009

The production system has been used extensively in Artificial Intelligence systems due, possibly, to a lack of a prior procedural orientation towards the knowledge embedded within it. As a result, this paradigm is especially useful in modeling domains in which a strong procedural correlation of data would not naturally appear. The production system is therefore an appropriate tool for designing models of systems of independent processes whose interactions can be defined in terms of system state.

We are interested in modeling continuous, concurrent processes for simulating robot activities, and present a description of a system which is capable of representing such processes as symbolic expressions within a production system database. This system implements a world model which acts as a continuous function of time, and a set of rules written in a language capable of specifying time-dependent properties of the model. In addition, rules may specify new rules, thus permitting processes to be mapped out over time as sequences of events.

The methodology presented in this paper is an attempt to utilize the power of symbolic programming in a design for world modeling, and a characterization of the requirements for applying such systems to problem domains which contain a continuous parameter, such as time. We believe that the technique of embedding time used here is appropriate for expressing the dynamic evolution of these models.
Representation and tactile sensing of 3-D objects by a gripper finger
Authors: Kinoshita Gen-Ichiro
Published: March 2009

The tactile sensor is constructed as a part of the finger of a parallel jaw hand; it is of the size of a finger and allows for a large displacement of the sensor element in response to force. The structure of the tactile sensor incorporates 20 successively and closely aligned elements, which allow for a 2.5 mm maximum displacement for each element. In the described experiments we present the capabilities of the tactile sensor. The tactile sensor has the functions of: 1) discriminating the shape of the partial surface of an object; and 2) tracing by finger on the surface along the profile of an object.
Corrugated PVDF bimorphs as tactile sensors and micro-actuators – A research note
Authors: Davis Alan F. , Nevill Gale E.
Published: March 2009

This note describes a new class of devices, corrugated polyvinylidene fluoride bimorphs. It describes the fabrication, testing and analysis of one simple configuration and discusses the general potential of the devices. As actuators, they offer promise for applications involving relatively large amplitude displacements and small forces with ease of control. As tactile sensors, the devices offer considerable promise due to their potentially high resolution, selectable compliance, sensitivity and durability.
Planning of flexible manufacturing systems
Authors: Kusiak Andrew
Published: March 2009

In this paper a new approach to planning of Flexible Manufacturing Systems (FMSs) is discussed. This approach takes advantage of FMS features and is based on linking of machining and assembling operations. There are two problems embedded in the presented approach: station loading and operation scheduling. A formulation of a station loading problem for a single machining period is presented. Some of the computational results are also discussed.
Software tools for FMS and FAS preliminary design: an industrial case study
Authors: De Luca Ing. Adriano
Published: March 2009

A complete industrial case study is presented, including FMS machinery selection, preliminary production planning, layout and transportation design and performance evaluation, after pallets quantity and fixtures mix optimization.

The case refers to an actual preliminary design performed to submit an offer for a System to a potential customer.

The aim of the paper is to show the impressive help coming to FMS and FAS designers from the use of effective software tools, very easy to deal with, very quick and highly reliable in their quantitative evaluations.
Sensitivity analysis of balanced robotic manipulators
Authors: Chung W. K. , Cho H. S.
Published: March 2009

The payload variation has been one of the principal reasons in reducing path tracking accuracy and complicating controller design. In this paper, the trajectory and input sensitivities for the payload variation are investigated for three different robot configurations which include unbalanced, inaccurately balanced and balanced configurations. Based upon the sensitivity theory, simulation studies were made to evaluate the sensitivities of these configurations with respect to payload variations. The simulation results are discussed in detail and compared for the three configurations.
Determination of elastodynamic errors in joints of industrial robots
Authors: Nikolić Ilija
Published: March 2009

This paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.
Sample manipulation using robotic principles
Authors: Huddleston J. , Burgess N.R. , Walmsley A.D.
Published: March 2009

In research and industry, there are many situations where components or samples are moved between processes or measurement stations. Where the sample throughput is low, or the application is unique, it may not be cost-effective to custom design a system. In order to allow automation in these cases, an approach which uses a family of components to construct a manipulator has been developed. Reliability and long term availability are major requirements of the system described.
Automatic diagnosis of task faults in flexible manufacturing systems
Authors: Hardy N. W. , Barnes D. P. , Lee M. H.
Published: March 2009

The need for fault tolerant mechanisms in flexible manufacturing systems is described and previous work on diagnosis in robotics and other areas is considered. Fundamental difficulties in the analysis of robot cell malfunctions are described and a glossary of terms useful in this area is presented. Limited observational data on the occurrence of faults in assemblies are reported. Finally a proposal for an experimental mechanism for diagnosis within a knowledge rich supervisory system is explored.
Fuzzy rule-based motion controller for an autonomous mobile robot
Authors: Ciliz M. Kemal , Isik Can
Published: March 2009

Intelligent control of mobile systems allows for hierarchical structures that utilize sensory data with various levels of accuracy. This paper discusses a rule-based approach for the control problem. The assumed inexactness in world description is represented by fuzzy memberships, and the state space is discretized into a linguistic vocabulary. Fuzzy motion control rules that have been experimentally derived, are then used in a fuzzy inference mechanism to give the final control command to robot actuators. Finally, the developed algorithm is tested for real-time control applications.
R&D Profile Section: R & D at the robotics laboratory of the Jožef Stefan Institute (Yugoslavia)
Authors: Lenarčič Jadran
Published: March 2009

This is a concise survey of the activities carried out by the Robotics Laboratory of the “J. Stefan” Institute, University of E. Kardelj, Ljubljana (Yugoslavia) on the field of robotics research and development of robots. A list of research themes is given with a brief explanation of each containing the objectives, the obtained results, the history and the future outlook. Besides, the main projects concerned with the development of industrial robots are described, as well as the equipment which enables practical work and experimentations as a major element of the laboratory research and educational activities.
Adding flexibility to the links of a rigid-link dynamic model of an articulated robot
Authors: Bodner A.
Published: March 2009

A method was developed that takes into account flexibility of robot links in the inverse dynamics calculations. This method uses the Newton-Euler equations and is applicable for special case systems that allow for only a small degree of flexibility. Application of the method should improve the accuracy of the position of the end effector during motion of the robot.

The results of this study show that the method can be based entirely on an existing rigid-link model with only minimal changes required as additions. The computational complexity of the method is discussed briefly as well and indicates an increase of computations of slightly more than a factor of two as compared to a rigid-link model for the same robot geometry.
A Distributed–Processing Approach for Robot Dynamics Tuning
Authors: Zomaya Albert Y. , Morris Alan S.
Published: March 2009

The accurate modelling of robot dynamics is essential for the design of model-based robot controllers. However, dynamic models have very complicated features which can be attributed to several reasons. For example, the continuously-varying arm configuration, uncertain effects of load handling on the dynamic stability of the arm, and the high degree of non-linearity and coupling exhibited between the different links. Hence, the accurate modelling of these effects will play an important role in the design of robust controllers. Towards this end, an efficient and fast method for the on-line tuning of robot dynamic parameters must be devised. This work proposes to solve this problem as follows. First, a simplified dynamic model of the robot is developed. The model allows for direct and straightforward extraction and regrouping of dynamic parameters. The resulting dynamic parameters are formulated as a regression equation which is linear in the dynamic parameters. Finally, the algorithm is executed using a Transputer development system to speed up the computation and meet real-time constraints. The efficiency of the approach is demonstrated by a case study.
Fuzzy Qualitative Model of a Robot Sensor for Locating Three-dimensional Objects
Authors: Pham D.T. , Hafeez K.
Published: March 2009

A fuzzy qualitative model of a robot sensor, presented in this paper, is for locating 3-D objects, and the location information is used to guide the movements of an industrial robot to pick up the objects. The sensor consists of a rigid platform mounted on a flexible column. Each object to be located is held rigidly with respect to the platform. The static deflections of the column and natural frequencies of vibration of the dynamic system comprising the object, platform and column are measured and processed using a mathematical model of the system to determine the location of the object. In practice, the frequency measurements have low repeatability, which leads to inconsistent location information. Also, when the orientation is in the region 80°–90° relative to a reference axis of the sensor, the mathematical model becomes ill-conditioned. In this paper, a fuzzy qualitative model of the sensor is described. The fuzzy model is designed to yield the orientation in the region where the mathematical model is unusable. Different stages for constructing the fuzzy model are described. The on-line implementation of the model is outlined and the experimental results obtained are presented.
Fuzzy Logic-based Techniques for Motion Planning of a Robot Manipulator Amongst Unknown Moving Obstacles
Authors: Bagchi Anupam , Hatwal Himanshu
Published: March 2009

An algorithm for kinematic motion planning of redundant planar robots, having revolute joints, in an unknown dynamic environment is presented. Distance ranging sensors, mounted on the body of each manipulator link, are simulated here to estimate the proximity of an obstacle. The sensory data is analyzed through a fuzzy controller which estimates whether a collision is imminent, and if so, employs a geometric approach to compute the joint movements necessary to avoid the collision. Obstacles can sometimes move uncompromisingly in the environment attempting a deliberate collision. Strategies to deal with such cases are presented and recovery procedures to circumvent the obstacle from tight corners are suggested. Cases of link overlap have been avoided by considering each link as a body which is sensed as an obstacle by every other link of the same manipulator. Suitable examples are presented to demonstrate the algorithm.
Virtual Devices and Intelligent Gripper Control in Robotics
Authors: Nicholls H.R. , Rowland J.J. , Sharp K.A.I.
Published: March 2009

This paper is concerned with the design of intelligent subsystems that interface actuators and sensors to intelligent supervisors for robot work-cells. Benefits of our approach include removal of low level computation and stringent real-time constraints from the superviser, potential for combining and interpreting information from sensor combinations, and provision of a uniform information interface for disparate devices. Our approach to the design and organisation of these subsystems is based on the concept of virtual devices. We demonstrate the applicability of the concept by describing the design and implementation of an intelligent controller for a sensory gripper.
Symbolically Automated Direct Kinematic Equations Solver for Robotic Manipulators
Authors: Ho C.Y. , Sriwattanathamma Jen
Published: March 2009

Solving the direct kinematic problem in a symbolic form requires a laborious process of successive multiplications of the link homogeneous transformation matrices and involves a series of algebraic and trigonometric simplifications. The manual production of such solutions is tedious and error-prone. Due to the efficiency of theProloglanguage in symbolic processing, a rule–basedPrologprogram is developed to automate the creation of the following processes: Link transformation matrices; forward kinematic solutions; and the Jacobian matrix. This paper presents the backward recursive formulation techniques, the trigonometric identity rules, and some heuristic rules for implementing the System. A verification of the System has been demonstrated in case of several industrial robots.
Two–Stages Sliding Controller for Manipulators with Time–Varying Inertia Links
Authors: Jumarie Guy
Published: March 2009

The author introduced the use of time–varying inertia links to increase the flexibility (or versatility) of manipulators in the sense that they can so achieve more tracking capabilities. Clearly, we then have a pair of control vectors (link inertias and external forces) instead of one control vector only (applied forces). After a careful derivation of the dynamical equations of such manipulators, one shows that their control procedure can be decomposed into two stages, each of them involving sliding control schemes via prescribed dynamics on the error term, that is to say the difference between the desired position and the actual position. This approach provides a good technique to take account of possible constraints on the magnitude of the control, and in addition, it is possible to consider the sliding conditions as an ideal mechanical constraint, therefore the use of the principle of virtual displacements.

This paper is a continuation of the one entitled “Trajector control of manipulators with time–varying inertia links” (Robotica6, No. 3, 197–202, 1988). It described new techniques to circumvent difficulties arising when the values of the mechanical parameters are not exactly known and when linearization does not apply because of the important deviation. In addition this paper shows that Appel's principle of virtual displacements is more efficient than the Lagrangian parameters for the derivation of the manipulator's dynamic parameters in the presence of mechanical constraints.
Evaluation of ultrasonic inspection and imaging systems for robotics using TLM modelling
Authors: Pomeroy S. C. , Williams H. R. , Blanchfield P.
Published: March 2009

Airborne ultrasound based sensor systems have been applied to a variety of problems in robotics and advanced manufacturing. These include slot and hole inspection, and systems suitable for workspace imaging and autonomous guided vehicle (AGV) navigation. The transmission line matrix (TLM) method of modelling wave propagation has been used in the evaluation of these systems. The model gives both graphical and numerical outputs, and allows an improved understanding of the interaction of ultrasonic waves and targets to be obtained.
Approximate Dynamic Models of Manipulation Robots
Authors: Djurović N. , Vukobratović M.
Published: March 2009

In this paper, the problem of real-time computation of a dynamic model of manipulator is considered. In order to decrease the number of operations for dynamic model computation, an approximate model is introduced. Also, a relative error criterion is proposed, which enables one to determine the computing periods of various parts of a dynamic model of manipulator.
Stability analysis of mechanisms having unpowered degrees of freedom
Authors: Borovac B. , Vukobratović M. , Stokić D.
Published: March 2009

The stability analysis of active spatial mechanisms comprising both powered and unpowered joints is carried out for the first time using aggregation-decomposition method via Lyapunov vector functions. This method has already been used for analysis of mechanisms with all powered joints. To extend the application of the method to the stability analysis of mechanisms containing unpowered joints we developed modelling of special subsystem consisting of one powered and one unpowered joint. Then, we consider the stability of the complete system without neglecting any dynamic effect. The stability analysis is demonstrated by a numerical example of a particular biped system.
Using Short and Long Term Memory to induce environmental information from simple events
Authors: Gordon John L. , Williams David , Hobson Alan
Published: March 2009

This paper considers the use of memory models and machine intelligence, to dynamically update a computer based representation of the occupancy of a small building. The input to the model is derived from very simple, single bit, movement sensors in each room of the premises.I It will be shown that the information derived from these sensors can provide adequate data for a building control scheme.

Short and Long Term memory models of man will be briefly reviewed. Working models for Short and Long Term memory will be discussed, which have evolved from the earlier work but which have been tuned to fit the machine level constraints of this type of application.

A review of the performance of a working pilot installation will be given. A performance measure will be derived and initial figures using this measure will be presented.
Order-picking industrial robot
Authors: Warnecke H.-J. , Baumeister K.
Published: March 2009

Order-picking, i.e. arranging work-pieces of different types on a pallet, which is nowadays often carried out manually, will in future be more and more automated for economic reasons. The industrial robot in combination with an intelligent gripper, a supporting palletizing and order-picking software and a suitably designed periphery will permit fully automated order-picking. The Fraunhofer-Institute for Manufacturing Engineering and Automation (F.R.G.) has developed such a system which takes advantage of the arrangement of the work-pieces in the compartment stack and simultaneously grips the work-pieces that are then arranged in a pattern on a pallet.
A system for robot manipulation of electrical wires using vision
Authors: Vernon David
Published: March 2009

A prototype robot system for automated handling of flexible electrical wires of variable length is described. The handling process involves the selection of a single wire from a tray of many, grasping the wire close to its end with a robot manipulator, and either placing the end in a crimping press or, for tinning applications, dipping the end in a bath of molten solder. This system relies exclusively on the use of vision to identify the position and orientation of the wires prior to their being grasped by the robot end-effector. Two distinct vision algorithms are presented. The first approach utilises binary imaging techniques and involves object segmentation by thresholding followed by thinning and image analysis. An alternative general-purpose approach, based on more robust grey-scale processing techniques, is also described. This approach relies in the analysis of object boundaries generated using a dynamic contour-following algorithm. A simple Robot Control Language (RCL) is described which facilitates robot control in a Cartesian frame of reference and object description using frames (homogeneous transformations). The integration of this language with the robot vision system is detailed, and, in particular, a camera model which compensates for both photometric distortion and manipulator inaccuracies is presented. The system has been implemented using conventional computer architectures; average sensing cycle times of two and six seconds have been achieved for the grey-scale and binary vision algorithms, respectively.
New methods in artificial vision by using entropies of deterministic functions
Authors: Jumarie Guy
Published: March 2009

The purpose of this paper is to show how one can use entropies of deterministic functions (as previously defined by the author) in order to analyze some questions related to machine vision. The main advantage of this approach is that it provides information theoretic methods for solving problems which basically do not refer to probability distributions. After a short qualitative background on deterministic functions, one applies this theory to edge finding, image segmentation, transfer of information defined by brightness functions, and image processing. Some more theoretical details on the entropies of deterministic functions are given in the appendix.
Experimental dual-mode control of a flexible robotic arm
Authors: Yim Woosoon , Zuang Jichun , Singh Sahjendra
Published: March 2009

This paper focuses on the implementation of a dual-mode controller for the maneuver of a single link flexible robotic arm. The joint angle trajectory tracking is accomplished by a proportional and derivative PD and a feedforward controller. Based on the pole placement technique, a linear stabilizer is designed for elastic mode stabilization. The stabilizer is switched on when the trajectory reaches the vicinity of the terminal state, and the effect of switching time on arm vibration is investigated. An optical deflection sensor is used for on-line measurements of elastic deflections, and also used for the prediction of the static deflection of the arm in the target position. The robustness of the linear stabilizer at varying pay loads is presented.
An Intelligent Part Sorting Robot in Unstructured Manufacturing Environments
Authors: Mehdian M. , Rahnejat H.
Published: March 2009

This paper outlines a method for control of robotic systems for part sorting operations in unstructured manufacturing environments. The sorting is accomplished simply and without any change in the kinematic structure of the robot or any need for inclusion of complicated external sensory systems. The method developed is based on the inherent relationship between the mass of parts to be carried and the maximum velocity of the tool centre point attainable along certain specified paths.

The actuators' maximum velocity is detected and is communicated to a devised expert system. The expert system uses this maximum velocity as a part of its matching procedure for the purpose of part sorting.