bluuebunny/crossref_metadata_2025_split huggingface dataset:
Assemblability Evaluation Method Based on an Assembly Model and an Assembly Process Model
Authors: Okano Akira 
Published: April 2021

Abstract
An evaluation of assemblability at an early design phase leads to a better product and a better assembly process plan. This paper proposes a method for computerized evaluation of assemblability, based on an assembly model and an assembly process model, which are also proposed in the paper. An assembly model consists of form features, assembly features, and constraints among those features. An AND/OR graph is used to represent all the assembly processes. A node has the direction of access to a subassembly as an attribute. This make it possible to create an actual assembly process plan. To generate a graph efficiently, the system interacts with the user and acquires knowledge about order of precedence of operations. In the evaluation of assemblability, consideration is given to factors such as assembly operations and direction of access. These are calculated from the assembly model. The assembly process model is then used to calculate the best assembly process.
Multi-Criteria Optimal Placement of Manipulators in Cluttered Environments
Authors: Pamanes G. J. A. , Zeghloul S. 
Published: April 2021

Abstract
A general method is presented to automatically determine the placement of manipulators which allows to optimize multiple kinematic performances indices during the execution of their tasks. It considers the presence of obstacles in the workstation and constraints on the motion of the manipulator’s joints. The algorithm used for obstacle avoidance allows to limit the proximity between the manipulator and the obstacles to an admissible minimum value. The complete formulation is included, and an example with a six-degree-of-freedom manipulator in a cluttered environment is solved which shows the improvements achieved for the manipulator performances by applying the proposed method.
On Fast Computation of Minimum Distance Between Convex Polyhedrons: Application to Collision Detection in a Robotic Simulation System
Authors: Zeghloul S. , Rambeaud P. , Lallemand J. P. 
Published: April 2021

Abstract
In this paper, we suggest an algorithm which detects collisions based on the computation of the minimum distance between two convex polyhedrons. This algorithm can be used for simulations of robotic structure movement. It offers two advantages: first, it detects the collisions between two convex polyhedral shapes and secondly, if there is no collision, it calculates the distance between the solids. This information is of greatest importance for more advanced path planning systems which must not only detect collisions but also avoid them.
Multi-Axis Motion Controllers for Robots and AGVs
Authors: Rajagopalan Ramesh , Cheng R. M. H. , Huard Gilles 
Published: April 2021

Abstract
A micro computer based multi-axis motion controller for servo control of d.c. motors for robotic applications is presented in this paper. The motion controller interface uses LM628 precision motion controller chips. The design presented in this paper facilitates control of four motors from a single PC board consisting of four LM628 chips. The motion controller board has provisions to issue commands to all or some chips simultaneously. The presence of LM628 chips relieves the host computer of the responsibility of feedback control and it is free to perform other tasks once the necessary commands are downloaded to the motion controller board. The motion controller chips perform the closed loop control to drive the motors to the desired positions and/or to run at the desired velocity. The motion controller board also has safety features to stop the motors in case of problems and provide self diagnostics. This motion controller is used to control a prototype Automatic Guided Vehicle (AGV) and a five axis robot. The performance of the motion controller board is observed to be satisfactory.
Feasibility Study of Designing a Three Legged Walking Robot: Tribot
Authors: Lin Yueh-Jaw , Tegland Aaron 
Published: April 2021

Abstract
In recent years, walking robot research has become an important robotic research topic because walking robots possess mobility, as oppose to stationary robots. However, current walking robot research has only concentrated on even numbered legged robots. Walking robots with odd numbered legs are still lack of attention. This paper presents the study on an odd numbered legged (three-legged) walking robot — Tribot. The feasibility of three-legged walking is first investigated using computer simulation based on a scaled down tribot model. The computer display of motion simulation shows that a walking robot with three legs is feasible with a periodic gait. During the course of the feasibility study, the general design of the three-legged robot is also analyzed for various weights, weight distributions, and link lengths. In addition, the optimized design parameters and limitations are found for certain knee arrangements. These design considerations and feasibility study using computer display can serve as a general guideline for designing odd numbered legged robots.
Microcomputer-Based Control System for a Surface-Climbing Robot
Authors: Bahr Behnam , Lankarani Hamid M. , Motavalli Saeid 
Published: April 2021

Abstract
A new portable surface-climbing robot is presented for the inspection and maintenance of structures such as nuclear power plants, aircraft, bridges, and so on. The robot uses vacuum suction cups for sticking to the surface of the structure. It is capable of climbing on straight or curved surfaces in four directions, up/down or left/right in strokes of 55 millimeters. The positioning of the robot is achieved by the use of a joy-stick or a personal computer. The emphasis of this paper is on the hardware and software designs of this new surface-climbing robot. The robot is maneuvered by a microcomputer which is linked to a logical network for receiving the feedback and the status of the robot at any time. The address and data lines of the computer are used to issue control commands.
Combining Heuristics With Inverse Kinematics for Automatic Path Planning
Authors: Agba Emmanuel I. , Huang Ming Z. , Wong Tin-Lup 
Published: April 2021

Abstract
In manipulator path planning, degeneracies from inverse kinematics solutions has been observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. In addition, closed-form inverse kinematics offers multiple sets of solutions from which one set must be selected. In this paper, using an increasingly popular manipulator, we discuss the implementation issues of the closed-form inverse kinematics solution in planning trajectory to ensure that joint solutions exist for all possible manipulator configurations. We use an approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy will be demonstrated to be related to singularity conditions, and allowable solutions will be selected based on physical constraints of the joints.
Robot Path Planning by Means of Binary Algebra
Authors: Yannoulakis Nicholas J. , Wysk Richard A. 
Published: April 2021

Abstract
The issues of robot path planning and collision avoidance have been addressed extensively in literature. This paper examines these problems for a specific domain: that of a rectangular gripper moving in a two-dimensional space of iso-oriented rectangular obstacles. The free space is represented by a set of binary strings. These strings are manipulated through Boolean algebra to yield the largest convex areas in which the gripper can move without colliding with any obstacles. The largest convex areas then become the nodes of two networks (one for each of the orthogonal orientations of the gripper), the arcs of which indicate the possible gripper paths and roll locations. Based on these networks, a search procedure can produce the shortest path from a start to a target position. This algorithm is easy to implement on a PC and will go from a workspace representation to robot control commands.
Two Robot Arm Cooperative Path Planning Using String Stretching
Authors: Schima Francis , Derby Stephen 
Published: April 2021

Abstract
Two arm robot path planning has many applications. Potential uses of 2 arm robot path planning include terrestrial and space based construction, and general movement of objects. The U.S. space station will most likely be built using robots so that humans do not have to be put into space regularly at great expense and risk. Control of robots from Earth via telerobotics is not practical because the robots will be so far away that there is a delay in the signals due to the great distance between the robots and the controllers and the fact that the signals are limited by the speed of light. The robot arms could also be controlled remotely from space, but only one at a time could be controlled and thus many people would need to be sent up to control all of the robots. One pair of robot arms can replace one human to manually build a structure. However, there would not be any savings in the number of humans sent into space because each pair of robot arms would require a human operator in space. Thus the robot arms should be autonomous or at least semi-autonomous to reduce the number of humans required in space for construction of the space station.
Optimization in Trajectory Planning of Multi-Jointed Fingers in Dextrous Hand Designs
Authors: Meghdari A. , Sayyaadi H. 
Published: April 2021

Abstract
An optimization technique based on the well known Dynamic Programming Algorithm is applied to the motion control trajectories and path planning of multi-jointed fingers in dextrous hand designs. A three fingered hand with each finger containing four degrees of freedom is considered for analysis. After generating the kinematics and dynamics equations of such a hand, optimum values of the joints torques and velocities are computed such that the finger-tips of the hand are moved through their prescribed trajectories with the least time or/and energy to reach the object being grasped. Finally, optimal as well as feasible solutions for the multi-jointed fingers are identified and the results are presented.
Optimization of Polynomial Trajectories for Robotic Manipulators
Authors: Yildirim Yüksel , Onwubiko Chinyere , Fichter Eugene F. 
Published: April 2021

Abstract
This paper utilizes the modified pattern search method to solve the nonlinear optimization problem of design of minimum-time robot trajectories between given end states in a workspace containing obstacles. This method is applied to a collision-free path of a two-degree-of-freedom elbow manipulator. Bezier curves, B-spline curves, and parabolic blend curves are used to simplify end-effector path planning.
Motion of the manipulator, represented by a sequence of Cartesian knots along the end-effector path, is first transformed into sets of joints displacements. Piecewise cubic spline functions are then fit to the sequence of joint displacements. The minimum-time trajectory planning problem is formulated as the problem of minimizing the total traveling time, taken as objective function, subject to constraints on joint positions, velocities, accelerations, jerks, motor torques, and end-effector acceleration.
The computer program, ROBOPATH, has been developed to implement this algorithm for generating end-effector paths and joint trajectories for a manipulator with two links. The results show the modified pattern search method to be a very effective nonlinear optimization technique in design of minimum-time robot trajectories. Also, ROBOPATH can be a useful tool in the design of manipulators, robot tasks and workcells.
A Multi-Assessment Diagnosis for Robot Manipulators
Authors: Tzou H. S. , Fang M. , Rong Y. , Bahrami H. 
Published: April 2021

Abstract
Robot manipulators are highly integrated into manufacturing systems today. Similar to other manufacturing machines, robot failure can also significantly disrupt a production process. Thus, dynamic monitoring and diagnosis of robot manipulators is of importance, similar to other machines. This paper describes a diagnostic monitoring procedure for robot operations using a time series based multi-assessment technique. Experimental results shows the applicability of the technique.
An Adaptive Control Subsystem for Quasi-Static Cutting Force Control in Turning
Authors: Harder Lars , Lundholm Thomas , Lindström Bo 
Published: April 2021

Abstract
The future capital intensive manufacturing industry will demand efficient utilization of machine tools. Thus, a modular real-time adaptive control (AC) system for turning is being developed. Different real-time monitoring and control tasks are assigned to integral subsystems respectively, organized in a distributed computer system and supervised by a master computer in accordance with a main AC strategy. The subsystem for quasi-static cutting force control adapts the feedrate to the present machining situation in order to keep the tangential cutting force constant at a maximum level, given by the machine tool and the tool constraints. Since the cutting process is nonlinear and time-varying, it is difficult to control Therefore, a linearized process model has been introduced and a constant-gain, incremental Pi-controller has been designed and tested with good results. In this paper we will present the AC turning system, focusing on the subsystem for quasi-static cutting force control.
A Micro-Computer Based Part/Tool Monitoring System for a Robotic Cell
Authors: Motavalli Saeid , Bahr Behnam , Lankarani Hamid M. 
Published: April 2021

Abstract
This paper describes the elements of a unique robotic cell integrated with a vision system. The cell consists of a PUMA 560 robot, a vision system, and a conveyor belt. The robot end effector is a drill used in a drilling operation. The vision system has a two fold function: monitoring tool wear, and recognizing parts passing over the conveyor belt. Both tool monitoring and part recognition are performed using the vision system. The vision system is PC-based and uses two CCD video cameras. One camera is mounted vertically overlooking the conveyor belt, and the other camera is mounted horizontally for tool wear monitoring.
Algorithms have been developed that interface the vision system with the robot. Whenever a part reaches the view point of the camera, an image of the part is captured. A recognition algorithm has been developed that recognizes the part and signals the robot to perform a specific sequence of operation on that part. The part is then moved to the drilling station where the PUMA robot perform the operation sequence according to the stored process plan. After each part is manufactured, the robot moves the drill to the view point of the tool monitoring camera, where an image of the drill head is captured. This image is then processed with the developed tool monitoring algorithm and tool wear is identified.
Inverse Dynamics Based Trajectory Tracking for a One-Link Flexible Arm
Authors: López-Linares Santiago , Jacobus Roberto F. , Carrera Eliodoro , Serna Miguel A. 
Published: April 2021

Abstract
This paper presents a new method for controlling a one-link flexible manipulator, based on the solution to the Inverse Dynamic Problem and on a Linear Quadratic Gaussian regulator (LQG). The inverse dynamic solution provides the torque that must be applied by the actuator at the hub to obtain a given trajectory at the tip. This torque can then be used in an open-loop control but, in practice, errors in tip position will appear along the way due to friction, unknown parameters in the model, disturbances, etc. To cope with these problems a trajectory following control is suggested. The technique consists in designing an LQG capable of driving the arm to intermediate states computed in the Inverse Dynamic Problem. Computer simulations with a Finite Element Model of the flexible arm are presented showing a very accurate trajectory tracking.
Architecture of Operating System Software of an Autonomous Vehicle
Authors: Rajagopalan Ramesh , Cheng R. M. H. 
Published: April 2021

Abstract
Operating system software of a prototype autonomous vehicle is presented in this paper. The prototype Autonomous Vehicle employs binary camera vision for navigation and is differentially steered. The software is a top-down design, modular in architecture to facilitate software maintenance and continual enhancement. At this present stage of development, it contains several parameter definition files and close to 50 major sub functions/sub function groups besides the main supervisory module. The subroutines range from system validation (data acquisition in real-time) and equipment calibration, image data filtering and processing to the driving and steering of the vehicle. The control codes are developed using the Borland Turbo-C compiler.
An Analytic Solution for Minimum-Norm Rate Coordination in Redundant Manipulators
Authors: Varma Hareendra , Huang Ming Z. 
Published: April 2021

Abstract
In this paper, we present a novel method which results in efficient minimum norm solution for the rate coordination problem in redundant manipulators. The theory is developed based on a geometric interpretation that, for minimum norm criterion, vectors orthogonal to constraint space should pass through the origin of the solution space. It is shown that for any spacial manipulator with 1, 2 or 3 degrees of redundancy, the minimum norm rate solution can be derived in analytic closed form. The method offers an equivalent but much more efficient alternative to using the pseudoinverse in redundancy resolution and, in fact, is applicable to any underdetermined linear system. An alternative formulation of pseudo-inverse arrived at in the course of the development is also presented.
Dynamics Equations of Robots Mounted on Moving Bases
Authors: Toogood R. W. 
Published: April 2021

Abstract
A number of programs have been developed for the automatic symbolic generation of efficient computer code for the dynamic analysis of serial rigid and flexible link manipulators. Code for both the inverse and the direct dynamics computations can be generated. The symbolic generators allow the robot base to be given an arbitrary linear acceleration anchor angular velocity and acceleration. The efficiency of the generated code is an important consideration for simulation studies and/or implementation in control systems. This paper briefly describes the symbolic generation and simplification techniques. The added computational load due to including the base motion is discussed. Some dynamics simulation results are presented for a 3R rigid link manipulator mounted on an oscillating base, which graphically illustrates the effect of the base movement on the dynamics.
Robotic Manipulator Optimal Control Algorithm Based on Central Difference Approximation of Equation of Motion
Authors: Bahrami Mohsen , Jazar G. R. Nakhaie 
Published: April 2021

Abstract
The complex nature of robotic manipulator dynamic equations is well studied. Many different control algorithms have been developed; among them optimal control ones. However, most of them are either based on simplified equations of motion or are tedious to implement or set up.
In this work equations of motion are approximated using central difference technics and Taylor series expansion, while path of motion is divided in finite segments. The motion is assumed to have zero velocity at the beginning and at the end of the motion without loss of generality. Showing that Pontryagin principle is applicable and the optimal controller is bang bang. Actuator torques, iscolines, and switching points, can be calculated. The preparation time, problem set up and execution time are relatively small, and programming efforts are reasonably low.
The algorithm is implemented for a 2R planar robotic manipulator, and results are presented.
A Kalman Filter for Nonlinear Differential Algebraic Systems
Authors: Perz E. , Sargent R. W. H. 
Published: April 2021

Abstract
This paper describes a filtering algorithm for measurements from dynamical systems which are corrupted by noise. The standard Kalman filter is applicable only to systems which can be modelled by linear ordinary differential equations. In this work, the basic idea of the Kalman filter is extended to the more general case of systems which require a differential algebraic (DAE) system as the numerical model. The paper describes the mathematical formulation of this extension to the Kalman filter and its implementation. Finally some results obtained with a test system are given.
Database Considerations for an ICU Patient Data Management System
Authors: Fumai N. , Collet C. , Petroni M. , Roger K. , Saab E. , Malowany A. S. , Carnevale F. A. , Gottesman R. D. 
Published: April 2021

Abstract
A Patient Data Management System (PDMS) is being developed for use in the Intensive Care Unit (ICU) of the Montreal Children’s Hospital. The PDMS acquires real-time patient data from a network of physiological bedside monitors and facilitates the review and interpretation of this data by presenting it as graphical trends, charts and plots on a color video display.
Due to the large amounts of data involved, the data storage and data management processes are an important task of the PDMS. The data management structure must integrate varied data types and provide database support for different applications, while preserving the real-time acquisition of network data. This paper outlines a new data management structure which is based primarily on OS/2’s Extended Edition relational database. The relational database design is expected to solve the query shortcomings of the previous data management structure, as well as offer support for security and concurrency. The discussion will also highlight future advantages available from a network implementation.
Contribution to Computer Control and Optimization of Hydro-Abrasive Jet Machining Process
Authors: Groppetti Roberto , Comi Giuseppe 
Published: April 2021

Abstract
Hydro-Abrasive Jet Machining (HAJM) has demonstrated its suitability for several applications in the machining of a wide spectrum of materials (metals, polymers, ceramics, fibre reinforced composites, etc.). The paper is a contribution to the computer control, integration and optimization of HAJM process in order to establish a hierarchical control architecture and a platform for the implementation of a real-time Adaptive Control Optimization (ACO) module. The paper presents the approach followed and the main results obtained during the development and implementation of a HAJM cell and its computerized controller. A critical analysis of the process variables available in the literature is presented, in order to identify the process variables and to define a process model suitable for HAJM real-time control and optimization. Besides for HAJM computer control, in order to correlate process variables and parameters with machining results, a process model and an optimization procedure are necessary in order to avoid expensive and time-consuming experiments for the determination of optimal machining conditions. The paper presents the configuration of the cell and the specific components adopted in order to make possible a fully computerized control of the process, and the architecture of the controller, capable to manage the several logical and analogical signals from the different modules of the cell, for multiprogramming, process monitoring, controlling, process parameters predetermination, process condition multiobjective optimization. A prediction and an optimization model is presented allowing the identification of optimal machining conditions using multiobjective programming. This model is based on the definition of an economy function and a productivity function, with suitable constraints relevant to the required machining quality, the required kerfing depth and the available resources. A test case based on experimental results is discussed in order to validate the model.