bluuebunny/crossref_metadata_2025_split huggingface dataset:
Distributed manufacturing systems
Authors: Weston R. H. , Sumpter C. M. , Gascoigne J. D. 
Published: March 2009

SUMMARYIn the context of computer-integrated manufacture (CIM), the paper describes the need for flexible “intelligent” machinery and the need for integrated and distributed software. Methodologies in obtaining appropriate solutions are discussed and related to two major SERC sponsored research programmes at Loughborough University, which concern (i) the design of a family of mechanical and control system modules to allow robots to be configured with user defined kinematic and dynamic properties, and (ii) the design of distributed hardware and software structures, based on internationally accepted communication protocols, to allow FAS's to be produced.In batch manufacture today's increased demand for product variety, requiring reduced lead times and work in progress, the need arises for computer-integrated manufacture (CIM). Similarly, in many conventional continuous flow manufacturing processes dramatic improvements in plant efficiency can be achieved by linking shop floor computer systems with computers performing management and design functions.Considerable research and development work has centred on flexible manufacturing systems (FMSs)3−1 which conventionally relate to metal cutting environments. Similarly the labour intensive nature of assembly operations has led to considerable interest in the design of flexible assembly systems.3.4 The principles embodied in FMS and FAS are translatable, being applicable to most manufacturing environments.To achieve flexible integrated manufacturing two major requirements can be identified, viz.
(i) the need for flexible “intelligent” machinery, and
(ii) the need for integrated but distributed software systems.
This paper will consider future trends in (i) and (ii).
Automation and Maintenance Training
Authors: Senker Peter 
Published: March 2009

SUMMARYThe effective use of robots, FMS systems and other complex modern production equipment demands the deployment of multi-skilled maintenance people. Although this need has been well known for several years, several factors conspire to prevent sufficient appropriate maintenance training schemes being established. Such factors include demarcation problems, deficiencies in management industrial relations competence, and excessive reliance on ‘poaching’ trained people rather than on training. Reasons are adduced why reliance on equipment suppliers for maintenance is likely to prove insufficient.
World representation and path planning for a mobile robot
Authors: Palma-Villalon E. , Dauchez P. 
Published: March 2009

SUMMARYThis paper is related to the problem of navigation of a mobile robot amidst obstacles. In order to easily take into account any modification of the environment, we propose a very simple representation of the obstacles, based on the use of rectangles, as well as a matrix description of the spatial relationships between the obstacles. We also present a path planner based on aA*algorithm, the features of which are specifically designed for our world of rectangles. The cost function takes into account both the length of the path and the number of turns. Some experimental results and implementation details are also given in this paper.
Distance calculation for imminent collision indication in a robot System simulation
Authors: Hurteau G. , Stewart N. F. 
Published: March 2009

SUMMARYMinimum distance algorithms may be used in robotic simulation programs to provide the user with the distances of approach of the manipulator to obstacles in the work environment; this is important for task planning using graphical simulation of configuration maps, and for the implementation of automatic detection of (imminent) collision in robot task development Systems that are based on a graphical simulation facility. In this paper we present algorithms that may be used for the calculation of distances between objects, not necessarily convex, that are made up of unions of convex polyhedra and cylindrically shaped objects (where the cross-section of the cylinder may be ellipsoidal, rather than circular).
Fitting of crimp contacts to connectors using industrial robots supported by vibrating tools
Authors: Warnecke H. J. , Frankenhauser B. , Gweon D. G. , Cho H. S. 
Published: March 2009

SUMMARYWhen fitting contacts to connectors, the flexibility of the wires and the irregularity of the contact shapes have proved to be the greatest obstacles in developing automation. Within the framework of the present project, two methods for fitting irregular and flexible parts have been developed, both using industrial robots supported by vibrating tools. For theoretical analysis the irregular, flexible part is mathematically idealized. The tests are carried out with these idealized parts and crimp contacts. These tests proved that the vibration method is suitable for fitting irregular, flexible parts.
Robot programming languages: the statement of a problem
Authors: Van Aken L. , Van Brussel H. 
Published: March 2009

SUMMARYThe programming of robots forms a popular research topic. Different approaches for developing ideal robot programming system have already been proposed. They all attempt to raise the level of abstraction of the robot programming system. They differ, however, to a great extent in the stage of maturity they have reached to become eligible for industrial application. “Explicit robot programming languages”, in which every robot action has to be specified explicitly, can be said to be ready for industrial application. Therefore a detailed analysis is made of the requirements that are put on the class of “explicit robot programming languages”. Their basic composing elements are recognized and discussed in detail.
On the elimination of branching in the synthesis of spatial single-loop mechanisms with lower pairs
Authors: Sandor George N. , Xu Yongxian , Weng Tzu-Chen 
Published: March 2009

SUMMARYA single-loop spatial mechanism kinematically becomes an open robot, if we separate the grounded joint of the input link which may then be considered as the end effector of the robot. Any position of the end-effector within the workspace of such an open robot can be reached via a number of different configurations of the links. These configurations are called “branches” of the open robot for that particular position of the end effector.If the open robot is now stretched to a limiting position by a force exerted on the end effector, all the possible branches of the mechanism approach each other. When they become coincident, they form the “limiting configuration”. Any two related branches are at opposite sides of the limiting configuration. From the relationship between the links in th elimiting configuration and in related branches, conditions for aviodance of branching of the original closed-loop mechanism can be obtained. This is necessary in order to assure that a set of consistent relative displacements are specified for the open robot to move displacements are specified for the open robot to move toward the desired end-effector position without jumping from one branch to another. As for the closed-loop mechanism, open robot branching aviodance ensures that a desired sequence of positions of a particular floating link in the loop will be generated without changing the branch of the link configuration.In this paper, the above approach is applied to RSSR, RRSC, RRSRR, RRRRRRR and RPCRRR spatial closed-loop motion-generator mechanisms and the corresponding conditions for aviodance of branching in the synthesis of the mechanisms are derived.
Pictorial knowledge representation using pictorial semantic networks
Authors: Lee Edward T. 
Published: March 2009

SUMMARYClassifications of pictures and pictorial knowledge are presented. Pictorial knowledge is divided into three classes – angular pictorial knowledge, side pictorial knowledge, and angular and side pictorial knowledge. A block diagram of these three pictorial knowledge classes and a pictorial knowledge transformation module is also presented with illustrative examples. Pictorial semantic networks which in terms of pictorial nodes, property nodes, “is a” links, “has property” links, and “if and only if” links are introduced. Transitivity, generalization, specialization, inheritance hierarchy, and knowledge transformation properties are stated and illustrated by examples. Triangular, quadrangular, and polygonal knowledge representation using pictorial semantic networks are presented. The concepts of deducible property nodes are also presented with illustrative examples. Additional facts can be established from pictorial semantic networks. Thus, pictorial semantic networks are a useful way to represent pictorial knowledge in domains that use well-established taxonomies to simplify problem solving in pictorial information systems. Pictorial semantic networks offer what appears to be a fertile field for future study. The results may have useful applications in knowledge representation, expert systems, artificial intelligence, knowledge - based systems, pictorial information systems and related areas.
A generic tool management system architecture for flexible manufacturing systems (FMS)
Authors: Ranky Paul G. 
Published: March 2009

SUMMARYConsidering the fact that Flexible Manufacturing Systems (FMS) should be able to accommodate a variety of different parts in random order, tool management at cell level and tool transportation, tool data management, tooling data collection, tool maintenance, and manual and/or robotized tool assembly at FMS system level are very important. Tooling information in FMS is used by several subsystems, including: production planning, process control, dynamic scheduling, part programming, tool preset and maintenance, robotized and/or manual tool assembly, stock control and materials storage.The paper summarizes the major tasks to be solved when designing tool management systems for FMS, as well as gives a solution for describing the data structure of a tool data base integrated with a generic tool description method, and shows a sample transaction of the way the FMS real-time control system can access and use this data base.
Design and simulation of control systems of an inverted pendulum
Authors: Feng Qing , Yamafuji Kazuo 
Published: March 2009

SUMMARYThis is a preliminary study to provide useful information for the design of the control of a monocycle which is one of the intelligent movable robots. In this paper, the two-degree-of-freedom monocycle is modeled by an inverted pendulum with a controlling arm pivoted at its upper end. The controlling arm is rotated to give the pendulum restoring moment.The feedback control systems for the model have been designed using two methods – the pole assignment and the optimal control, respectively. Simulations of the control systems designed with the above methods are carried out on a personal computer. Although the pendulum can be stabilized with either of these methods, it is found that the optimal control method is superior to the pole assignment one, because in the former the control system can be designed to be suitably corresponding to the design demands based on a definite criterion.
Planning collision-free movements of a robot: A systems theory approach
Authors: Jacak W. , Lysakowska B. , Sierocki I. 
Published: March 2009

SUMMARYIn the paper we present system-theoretic descriptions of the robot's kinematics models, in a discrete and discretized workspace. For those descriptions, the problem of planning collision-free trajectories of motion is stated and represented as a classical problem of optimizing the behaviour of dynamical system.
Structure design and kinematics of a robot manipulator
Authors: Wang Kesheng , Lien Terje K. 
Published: March 2009

SUMMARYIn this paper we show that a robot manipulator with 6 degrees of freedom can be separated into two parts: arm with the first three joints for major positioning and wrist with the last three joints for major orienting. We propose 5 arms and 2 wrists as basic construction for commercially robot manipulators. This kind of simplification can lead to a general algorithm of inverse kinematics for the corresponding configuration of different combinations of arm and wrist. The approaches for numerical solution and closed form solution presented in this paper are very efficient and easy for calculating the inverse kinematics of robot manipulator.
Intelligent adaptive control of a mobile robot: The automaton with an internal and external parameter approach
Authors: Kazimierczak Jan , Łysakowska Barbara 
Published: March 2009

SUMMARYIn the paper a formal model is presented of the discrete control of a bile robot moving over a plane. The model synthesis has been directed in such a way as to justify the use as a controller of the automaton with internal and external parameters. It has been shown that, while controlled in discrete time the mobile robot performance can be expressed by a one-sidely optimized tree of a two-person extensive game. The tree, after transforming into the form of the state diagram of an automaton, serves as a basis for the synthesis of the automaton with internal and external parameters playing the role of a controller. A method is presented of synthesizing an automaton of this type, being a hardware realization of the mobile robot controller.
Planning of quasi-minimum time trajectories for robot manipulators (Generation of a bang-bang control)
Authors: Yamamoto M. , Mohri A. 
Published: March 2009

SUMMARYA method for planning minimum time joint trajectories for robot manipulators is discussed. The minimum time trajectory planning problem for manipulators is one of the minimum time control problems of non-linear systems. The optimal input torque/force is of a bang-bang type, except for the singular control derived from the Maximum Principle. An algorithm for generating a bang-bang control is proposed. In the algorithm, the switching time vector is updated to decrease the final state error. The proposed algorithm is applied to a simple manipulator with two links, and the solution by this algorithm is compared with the sub-optimal solution obtained by another approximate method.
Developing robot programming languages using an existing language as a base—A viewpoint
Authors: Rock S. T. 
Published: March 2009

SUMMARYThe development of robot languages has followed a pattern similar to that of conventional programming languages, where robot languages have been based on an existing programming language. This paper first identifies the use of an existing base as one way of developing robot programming languages, and discusses the areas of difficulty in this approach. Then, on-line and off-line programming of robots is discussed and the requirements of robot programming languages that are different to those of non-specialised programming languages are presented. A discussion and evaluation of some programming languages in terms of their appropriateness for use as the base for an intelligent robot programming language is presented. This leads to the conclusion that no current language forms an adequate base for intelligent robot programming languages. What is needed as a base is a language for use in the artificial intelligence domain, that incorporates real-time facilities.
R&D Profile Section: The Robotics and Intelligent Systems Program (RISP) at the Oak Ridge National Laboratory
Authors: Weisbin C. R. , Hamel W. R. , Kuban D. P. , Meacham S. A. , Pin F. G. 
Published: March 2009

SUMMARYThis paper describes the Robotics and Intelligent Systems Program (RISP) at the Oak Ridge National Laboratory (ORNL). RISP is a focal point at ORNL for studies in robotics, teleoperations, and related aspects of intelligent machines, such as artificial intelligence, neural networks, and parallel computing. RISP research is intended to minimize human error through automation of repetitive, dull, and routine tasks; to minimize human risk by allowing effective remote operation in hazardous environments; to optimize cooperation of humans and machines; and to cope effectively with emergency situations where fast response is essential.
A Graph-Searching Approach to Trajectory Planning of Robots
Authors: Jacak Witold , Dulęba Ignacy , Rogalinski Paweł 
Published: March 2009

SUMMARYA new method of optimal cost trajectory planning based on a graph searching algorithm is presented. Various heuristic functions which play the key role in the construction of effective algorithms for solving such problems are proposed. Some numerical examples are given based on the kinematic and dynamic models of a IRb-6 ASEA robot. This method rooted in AI has less computational complexity than a dynamical programming method applying to the same optimal-cost trajectory planning problem.
Explicit Path Tracking by Autonomous Vehicles
Authors: Shin Dong Hun , Singh Sanjiv , Lee Ju Jang 
Published: March 2009

SUMMARYWe have suggested a novel approach to autonomously navigate a full sized autonomous vehicle that separately treats vehicle control and obstacle detection. In this paper we discuss the vehicle control that has enabled our autonomous vehicle to travel at speeds upto 20mph. We point out the limitations of existing schemes that restrict their consideration to kinematic models and show that it is possible to obtain an increase in performance through the use of approximate dynamical models that capture first–order effects. Our approach combines such a modeling philosophy with accurate feedback in world coordinates from sensors that have only recently become available. Experimental results of our implementation on NavLab, a modified van at CMU, are presented.
ELITE: A goal oriented vision system for moving objects detection
Authors: Borghese N. A. , Rienzo M. Di , Ferrigno G. , Pedotti A. 
Published: March 2009

SUMMARYA specially designed system for movement monitoring is here presented. The system has a two level architecture. At the first level, a hardware processor analyses in real-time the images provided by a set of standard TV cameras and, using a technique based on the convolution operator, recognizes in each frame objects that have a specific shape. The coordinates of these objects are fed to a computer, the second level of the system, that analyses the movement of these objects with the aid of a set of rules representing the knowledge of the context. The system was extensively tested on the field and the main results are reported.The whole system can work as a controlling device in robotics or as a general real-time image processor as well as an automatic movement analyser in biomechanics, orthopedic and neurological medicine.
Dextrous telerobotics with force feedback — An overview part 2: control and implementation
Authors: Burdea Grigore , Zhuang Jiachen 
Published: March 2009

SUMMARYThe control stategy for a dextrous masters is different from the general case of bilateral teleoperation since it models the human hand in much more detail. Such a model is discussed together with the selection of actuators used for force feedback control. Existing prototypes of dextrous masters with force feedback are then reviewed. These are the Servo Controlled Manipulator Device, the Portable Dextrous Force Feedback Master (P.D.M.F.F.), the Remote Handler, and the Advanced Multiple DOF Force Reflective Hand/Wrist Master.
Force-Controlled Assembly of two Objects with a Two-arm Robot
Authors: Dauchez Pierre , Delebarre Xavier 
Published: March 2009

SUMMARYThe use of a two-arm robot for assembling two objects, with each being held by one arm, is presented. The assembly task is decomposed into an approach phase and an assembly phase. For each phase, we propose a solution for describing the task. For the approach phase, we suggest to describe the task with respect to a mobile reference frame, attached to the end effector of one of the arms. This allows us to take advantage of the redundancy of the system. For the assembly phase, we propose two solutions, both involving some kind of force control. The first one is based upon a position control similar to the one used for the approach phase, with an updating of the reference position through a measurement of the contact forces. The second scheme is derived from a symmetrical hybrid control scheme initially proposed by Uchiyama and Dauchez to control a two-arm robot handling a single rigid object. The main results of this scheme are summarized, and the way of using it for an assembly task is presented. Finally, the experimental setup we have installed to validate our theoretical results is described.
Isoelastic behavior of parallel robots
Authors: Artigue F. , Amirat M. Y. , Pontnau J. 
Published: March 2009

SUMMARYThis paper presents a particular architecture of a parallel robot which is characterized by a diagonal stiffness matrix. This result suggests the use of a parallel robot in the final phase of insertion as a passive compliance device. The stiffness rate of this device is controlled by the gain of the feedback loop. As the correction of small angular misalignments due to contact forces do not generate lateral errors and vice versa, we have the equivalent of an isoelastic swivel.
Computer Automated Symbolic Modeling of Dynamics of Robotic Manipulators with Flexible Links
Authors: Cetinkunt Sabri , Ittop B. 
Published: March 2009

SummaryDynamic equations of chain structured robotic manipulators with compliant links and joints are developed in a non-recursive symbolic form. A program is developed in REDUCE to automate the symbolic expansion of these equations for any given chain structured manipulator. The symbolic non-recursive form of dynamic model is particularly suitable for controller synthesis and real-time control implementations. The link flexibility is included in the formulation using assumed mode shapes. The mode shapes and the parameters that are functions of the mode shapes are kept in symbolic form so that once a symbolic model is generated, different types of mode shapes can be studied using the same model. Because of the structural similarity between the developed equations and the well known rigid manipulator equations, the computer automated symbolic expansion capability presented here are likely to be utilized widely by many other researchers in the area who are already familiar with rigid manipulator problems.
Six degrees of freedom parallel robots with C5 links
Authors: Amirat Y. , Artigue F. , Pontnau J. 
Published: March 2009

SummaryThis paper presents at first a static and kinematic analysis of closed chains mechanisms which permits to deduce different possible fully parallel architectures. Then we focus on a particular parallel architecture with C5 links designed to perform precise assembly tasks. A general modeling of this C5 parallel robot is presented. Two typical assembly tasks in the automotive industry are also proposed; the first one uses the C5 links parallel robot as a left-hand device, while the second one uses it as the terminal tool of a sequential manipulator.
Step lengths and efficiencies of serial-operated and parallel-operated mechanical legs
Authors: McCloy D 
Published: March 2009

SUMMARYWhen a free-ranging walking machine carries its own fuel and power source as well as a payload, it is important to maintain high mechanical efficiency. If the masses of the legs are negligible then, in a straight and level walk, the only power to be generated would be that needed to overcome ground and wind resistance and internal frictions. The paper shows this to be the case when one-input straight-line generating mechanisms are used. However, when two-input mechanisms are used the actuators can work against each other resulting in finite, sometimes large, power requirements. The paper determines the effects of limb lengths and ground clearance on step length and quantifies the power requirements of serial-operated and parallel-operated legs. It shows that parallel-operation offers greater efficiency.