bluuebunny/crossref_metadata_2025_split huggingface dataset:
Analysis of a memory module failure pattern
Authors: Hale P. W. , Mactaggart I. K. 
Published: July 2007

AbstractMemory modules used in personal computers were discovered to have a potential reliability defect caused by a fault in the module manufacturing process.In order to assess the eventual impact on personal computer reliability, should it be decided to use these modules, thermal stress testing and subsequent analysis of the results was performed.Several approaches were employed in the calculation of the relevant statistical parameters which would describe the failure pattern; and the validity of each approach was assessed by comparing predicted with actual results. The optimum approach was used in making a projection to normal operating conditions.Finally the analysis was developed to account for the configuration of modules as assembled in the personal computer. This last stage of the analysis allowed the definition of the expected failure pattern of the machine due to defective memory modules.
The use of visual feedback for the acquisition of pseudorandomly oriented parts
Authors: Driels Morris , Huang Mingzen , Liscano Ramiro , Michael Kim 
Published: July 2007

AbstractThe problem of picking up single cylindrical objects using a robot equipped with a vision system is investigated. Explanation of how the robot defines the position of objects located within the workcell is provided. Image analysis, camera calibration, and algorithm specification are also defined.
The creation of line drawings as a basis for feature‐based stereo vision
Authors: Van Gool L. , Van Thillo M. , Akkermans M. , Oosterlinck A. 
Published: July 2007

AbstractIn this article an algorithm for the creation of line drawings of polyhedral scenes is described. It finds the two‐dimensional position of the vertices and it generates a topological description of the scene in terms of the connectiveness of the vertices by edges. Application of this algorithm on a stereoscopic pair of views yields the basis for the range data acquisition. The algorithm is far from complete yet, but the results are promising.
Sensor‐based obstruction avoidance technique for a mobile robot
Authors: Ahluwalia R. S. , Hsu E. Y. 
Published: July 2007

AbstractThis article describes a sensor‐based obstruction avoidance technique. This technique, if implemented on the on‐board computer of a mobile robot, would enable the robot to move through an unknown environment. The proposed approach is driven by sensory data. The robot thus senses and adapts to the changes in the environment. The software also does path planning. As more information about the environment is obtained the robot's path planning capabilities improve. Illustrative examples are used to describe the algorithms.
Detection of an ellipse by use of a recursive least‐squares estimator
Authors: Nagata Tadashi , Tamura Hirotoshi , Ishibashi Kohichi 
Published: July 2007

AbstractA method for detecting an ellipse in an image by use of a recursive least‐squares estimator is described. This method is based on classifying the behavior of parameters in a quadratic equation estimated by the estimator. The segmentation of an image is executed using a statistical measure called the adjacent separability factor. Noise elimination is performed by the expansion‐contraction method and a contour for each region is extracted. Points on the contour are supplied to a recursive least‐squares estimator in succession and the parameters in a quadratic equation are estimated recursively. It is possible to decide whether the contour is an ellipse by analyzing the behavior of an estimated parameter. A main feature of this method is the generality and the simplicity of the procedure.
A simplified visual inspection system using a personal computer
Authors: Nakajima T. , Kamei M. , Inari T. 
Published: July 2007

AbstractFor a practical visual inspection system, data processing in real time, flexibility for variety of products, and cost performance have been required. This article describes a simplified visual inspection system that has well‐balanced performance that meets these requirements. Inspection data processing by software makes the inspection system flexible. Development of a simplified pattern matching method based on limiting the inspection within the area pointed by an user and direct memory access of binary image data performs a high speed inspection function. By using a personal computer as a processor of this system, a cost effective inspection system is realized.
An approach to software organization for control of industrial robots
Authors: Nagamatsu Ikuo , Tomiyama Toshihide , Tanaka Masato , Kyura Nobuhiro 
Published: July 2007

AbstractThis article describes a philosophy and practical application of software organization for control of industrial robots. In order to apply an industrial robot to a work cell as a component or device, not only is a language to command the robot motion necessary, powerful functions of the robot to realize a robot work cell with a hierarchical structure are also required.First, we discuss an outline of industrial robot control and select required functions. Second, we discuss software organizations and significant points to realize them. Finally, as a practical application we introduce a robot system using a personal computer that is widely available in Japan.
A solution to the inverse kinematics of redundant manipulators
Authors: Benhabib B. , Goldenberg A. A. , Fenton R. G. 
Published: July 2007

AbstractA solution to the inverse kinematics is a set of joint coordinates which correspond to a given set of task space coordinates (position and orientation of end effector). For the class of kinematically redundant robots, the solution is generically nonunique such that special methods are required for obtaining a solution. The method addressed in the paper, introduced earlier and termed “generalized inverse,” is based on a certain partitioning of the Jacobian functional corresponding to a nonlinear relationship of the inverse kinematics type. The article presents a new algorithm for solving the inverse kinematics using the method of generalized inverse based on a modified Newton‐Raphson iterative technique. The new algorithm is efficient, converges rapidly, and completely generalizes the solution of the inverse kinematics problem for redundant robots. The method is illustrated by numerical examples.
Modeling and feedback control of a flexible arm
Authors: Sakawa Yoshiyuki , Matsuno Fumitoshi , Fukushima Shigenobu 
Published: July 2007

AbstractWhen a flexible arm is rotated by a motor about an axis through the arm's fixed end, transverse vibration may occur. The motor torque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible arm so that it is arrested as soon as possible at the end of rotation. In this paper, we first derive a partial differential equation and a set of boundary conditions governing the vibration. Then, a feedback control system which incorporates a dynamic compensator is designed using sensor outputs. A set of experiments has been constructed to demonstrate control strategies for a flexible arm, where a strain gage was used as a vibration sensor and a microcomputer was equipped as a controller. Several satisfactory experimental results are shown.
Duty‐cycle analysis of a human‐controlled manipulator
Authors: Stoughton Robert S. , Martin H. L. 
Published: July 2007

AbstractThe duty cycles of a human‐controlled servomanipulator system have been experimentally measured revealing how humans use manipulators to perform tasks. The use of the kinematic ranges, in both joint and Cartesian space is valuable to engineers in the kinematic design of servomanipulators. The working volume of human manipulation presented here is also of interest to designers of prosthetic systems. These results illuminate the relative merits of various system drive configurations. A graphical representation of mechanical power usage, which displays the total operation time as a function of torque and velocity, is presented for each manipulator joint. These data are compared with data representing idealized joint performance resulting in design criteria for quantitative improvements in joint torque and velocity capacities. A generalized method for applying this representation to any robotic system is discussed.
Dynamic omnidirectional vision for mobile robots
Authors: Cao Zuo L. , Oh Sung J. , Hall Ernest L. 
Published: July 2007

AbstractMobile robotic devices hold great promise for a variety of applications in industry. A key step in the design of a mobile robot is to determine the navigation method for mobility control. The purpose of this paper is to describe a new algorithm for omnidirectional vision navigation. A prototype omnidirectional vision system and the implementation of the navigation techniques using this modern sensor and an advanced automatic image processor is described. The significance of this work is in the development of a new and novel approach—dynamic omnidirectional vision for mobile robots and autonomous guided vehicles.
Contribution to synthesis of manipulator control
Authors: Goldenberg A. A. , Bazerghi A. 
Published: July 2007

AbstractThe article addresses the control problem associated with tracking a trajectory which is predefined by the desired position and orientation of the end‐effector tip (stage of nominal control). The problem is compounded by the assumption that variations in system parameters may occur thereby requiring that the nominal control be complemented with a controller (stage of perturbed control) which would regulate the disturbance produced by the variation in system parameters. A new formulation of the robot model for control synthesis is presented. The new formulation facilitates the synthesis of regulators for parameter variations using a robust servomechanism approach or a force feedback approach. The two approaches are illustrated using examples. The first example uses robust regulation to reject step input disturbances. The second example simulates the operation of peg‐in‐hole insertion using force feedback with an LQ controller.
Binocular stereo vision system using an eye and neuron model
Authors: Ohmori Takashi 
Published: July 2007

AbstractHumans have two eyes and see objects binocularly. The three‐dimensional sensing capacity of humans depends both on the eyes and the neuron system controlling them. In this article, we made a model of the human visual system, including eye movement, and tried to realize the capacity in an artificial sensor. For this, the visual system is separated into two parts—the Eye System and the Neuron System. The former is realized by the sensor mechanisms that are similar to human eyes and the latter by the Neuron Simulator which consists of sixty‐four microprocessors. This system can be used as a passive three‐dimensional sensor in unarranged surroundings such as the outdoors.
New type of miniaturized optical range‐sensing methods RORS and RORST
Authors: Idesawa Masanori , Kinoshita Gen‐Ichiro 
Published: July 2007

AbstractTwo types of miniaturized optical range‐sensing methods have been developed. The first is called RORS (Riken Optical Range‐Sensing Scheme). In this method, a mirror tunnel is first placed between an objective lens and an object to be measured; a bright spot is then projected onto the object through the objective lens. This spot is observed through the objective lens after reflection with the mirror tunnel, and range information is determined by the triangulation. The width of an optical system can be reduced remarkably smaller than the effective base line length of the triangulation. Therefore, it is suitable to miniaturize a range‐sensing system such as an optical stylus and a proximity sensor. The second method, RORST (Riken Optical Range Sensing Method for Surface Tracing), projects an axially symmetrical light sheet onto an object and a ring pattern is produced. The ring pattern image is then projected onto the observation plane by the objective lens, radii of the ring pattern image for different azimuths are detected, distances corresponding to the specified azimuths are determined by the triangulation, and thus the information of partial inclination can be obtained.
A prototype of optical proximity sensor based on RORS
Authors: Kurahashi A. , Adachi M. , Idesawa M. 
Published: July 2007

AbstractIn an effort to develop a practical implementation of the RORS (Riken Optical Range Sensing Method), a prototype was developed. An evaluation was performed with this prototype in combination with an Integrated Circuit intended for use in an auto‐focus camera. The sensor was developed for use in noncontact robot sensor applications and is thus compact, low cost, and easily available. This sensor system consists of a head section and a processing/display section. The size of the sensor head section is 16 mm in dia and 23.5 mm in length, and is capable of measuring the distance from top of the sensor head to a target in 0–6 mm range. The distance signal is obtained as a dc voltage of 90 mV/mm and a digital signal which divides the measuring range into eight levels is also available.
A study on robot path planning from a solid model
Authors: Itoh Y. , Idesawa M. , Soma T. 
Published: July 2007

AbstractCAD/CAM technologies have been developed and are beginning to penetrate rapidly into industries. At present, however, there are many problems that should be solved before CAD/CAM technologies can play their proper role in the total process. In an effort to improve CAD/CAM current circumstances, a trial CAE system which generates an operation path of a robot from a solid‐model built‐in CAD process, has been examined. In this system, solid models are built by performing set operations such as addition, subtraction, intersection between several primitives or solid models. Processing is made for a solid model represented by B‐rep (boundary representation). To ease the processing, curved faces such as spherical, cylindrical, or conical surfaces, are approximated by several flat planes. As a first step, by assuming Gaussian spatial distribution for a painting gun, path planning of a painting robot for a convex solid body has been examined. A scanning plane is defined for each flat plane and a path of robot effector is generated on this plane.
Integrated design of an end effector for a visual servoing algorithm
Authors: Palm William J. , Liscano Ramiro 
Published: July 2007

AbstractAn algorithm is presented for using a robot system with a single camera to position in threedimensional space a slender object for insertion into a hole; for example, an electrical pin‐type termination into a connector hole. The algorithm relies on a control‐configured end effector to achieve the required horizontal translations and rotational motion, and it does not require camera calibration. A force sensor in each fingertip is integrated with the vision system to allow the robot to teach itself new reference points when different connectors and pins are used. Variability in the grasped orientation and position of the pin can be accommodated with the sensor system. Performance tests show that the system is feasible. More work is needed to determine more precisely the effects of lighting levels and lighting direction.
Robotic range sensor with projection of bright ring pattern
Authors: Kinoshita Genichiro , Idesawa Masanori , Naomi Shigeo 
Published: July 2007

AbstractA new type of optical range sensor is being proposed as a robotic sensor. The range sensor consists of the projection subsystem of an axially symmetrical light sheet and the detection subsystem for monitoring the focussing process of a lens. The projection subsystem produces a bright ring pattern through an objective lens on the surface of an object. Next, the distance from the range sensor to the surface of an object is calculated from the position of the lens. The prototype range sensor is able to measure the distance in the range of 430 to 570 mm with an accuracy of 0.3 mm. As the position of the objective lens is controlled so that the ring pattern projected on the surface of an object becomes a fine spot, the detection subsystem finds the position of the objective lens on which the output of photodiode comes to be maximum.
Exact solution to the inverse kinematics problem of a standard 6‐axis robot manipulator
Authors: Shahinpoor M. , Jamshidi M. , Kim Young T. 
Published: July 2007

AbstractPresented are four sets of exact solutions for the vector of the joint angles {θi} pertaining to the inverse kinematics problem of a standard 6‐axis robot manipulator with two different kinds of gripper configurations. Here a standard 6‐axis robot is meant to be a general computer‐controlled revolute robot with base, shoulder, elbow, wrist pitch, wrist yaw, wrist roll, and gripping action.Explicit solutions are obtained using Denavit‐Hartenberg homogeneous transformations. Furthermore, the inverse solutions are examined by means of a direct kinematic computer program.
Computer generation of robot dynamics equations and the related issues
Authors: Koplik J. , Leu M. C. 
Published: July 2007

AbstractTwo programs have been developed using the computer algebra system REDUCE to generate the dynamics equations of motion for robot manipulators. One of these programs is based on a Lagrange formulation and the other utilizes a recursive Newton‐Euler formulation. Both programs produce equivalent scalar symbolic expressions for the generalized actuator forces, but the program based on the recursive Newton‐Euler formulation is more efficient for the generation of equations. These programs have been used to generate the dynamics equations of manipulators with as many as six degrees of freedom.The efficiency of computing forces using the generated scalar symbolic expressions is compared with the efficiency of a numerical algorithm (implemented in FORTRAN '77) based on the recursive Newton‐Euler formulation. Force computation by the method of symbolic equations is shown to be more efficient than the numerical recursive Newton‐Euler algorithm. The technique of symbolic equations is also better adapted to multi‐CPU processing.
Dynamics of manipulation mechanisms with constrained gripper motion. Part I
Authors: Potkonjak Veljko , Vukobratović Miomir 
Published: July 2007

AbstractThis article deals with the dynamics of closed kinematic chains obtained from open ones by introducing some constraints upon the motion of the last segment. Such problems apear very often in practical manipulator operation (writing task, assembling, etc.). The reduced position vector is defined and the dynamic model formed so as to allow the calculation of both the relative motion with respect to the constraint and the reactions, of the constraint. Impact problems are discussed also. Finally, a surface‐type constraint is considered.
Linear multivariable control of two‐link robots
Authors: Seraji H. , Jamshidi M. , Kim Y. T. , Shahinpoor M. 
Published: July 2007

AbstractSeveral simple multivariable controllers such as proportional (P), proportional‐derivative (PD), proportional‐integral (PI), and proportional‐integral‐derivative (PID) are investigated and designed for stabilization and regulation of a two‐link planar robot. A new multivariable controller is introduced in this article to achieve command matching. The multivariable controllers are designed on the basis of a linearized model of the robot dynamics. Numerous simulation results are presented to evaluate the performance of the multivariable controllers for the two‐link planar robot.
A servo‐controlled robot gripper with multiple sensors and its logical specification
Authors: Luo Ren C. , Henderson Thomas C. 
Published: July 2007

AbstractThe logical specification of a microprocessor‐based air‐servo‐controlled robot hand is presented, as well as its actual implementation. This hand can accommodate a wide variety of workpieces and allows for flexible assembly through the use of an automatic quick‐change fingertip. The changeable set of gripper fingers is equipped with sensors, including a tactile force sensor, a crossfire sensor, a proximity sensor, and a slip sensor. A changeable set of gripper fingers with different sensing ranges can cope with certain subranges of the workpiece spectrum. A considerable cost saving is achieved by not changing the gripper itself. This specially designed hardware and software system includes position and force feedback. A PUMA 560 is used to test the success of the entire process.
The manipulator language with the characteristic of a functional programming language
Authors: Aramaki Shigeto 
Published: July 2007

AbstractThis article describes the motion‐oriented robot language IML (interactive manipulator language) with the characteristic of a functional programming language. The main functions of IML are (1) It is possible to describe the iterative motions without using a loop. (2) The user‐defined procedures (commands) can be called by specifying the command name. (3) It is possible to describe robot motion (a sequence of the position and orientation of a robot hand) and force magnitude in the task‐oriented Cartesian coordinate system (task coordinate system) suitable for robot tasks. Furthermore, it is possible to describe the translation and rotation of the coordinate system without syntactic distinction. (4) As the teaching data can be easily embedded in the language and can be played back in the force control mode, complex task programming becomes easy. In IML, as the user‐defined command and the teaching data can be used just as the builtin system command; the system can be extended easily and naturally. In this article these features are described, and it is shown that these functions can be realized with the unified representation by introducing the concept of a functional programming language. The effectiveness of IML was confirmed by actually making a robot perform some tasks programmed in IML.
A new displacement sensor using pseudoelastic titanium‐nickel alloy wire
Authors: Takeda Masanori , Hashimoto Minoru , Sato Kimiko 
Published: July 2007

AbstractThe authors have developed a new displacement sensor using a wire of pseudoelastic titaniumnickel (Ti‐Ni) alloy wire. In the measurement, it was found that this alloy exhibited good linearity between the strain and electric resistance. This linearity has been generally applicable up to several percent strain. In addition, a repeat test and dynamic characteristics have been examined. From these results, it is concluded that this Ti‐Ni alloy wire has a possible application as a displacement sensor. Its features include compactness, reduction in weight, and environment attack.
Dynamic simulation of a kinematically redundant manipulator system
Authors: Klein Charles A. , Chirco Antonio I. 
Published: July 2007

AbstractA number of methods have been proposed for the control of kinematically redundant manipulators, that is, those with more than the minimum number of degrees of freedom. This article uses a dynamic simulation to test whether proposed schemes should, in fact, work well when the dynamics of the actual system are considered. In order to perform a realistic simulation, a nine‐degree‐of‐freedom arm has been designed using commercially available motors. The simulation shows the effects that specifying a secondary goal has on the satisfaction of the primary goal. Also shown is the dependence of servo performance on modeling the load.