A REAL-TIME KNOWLEDGE SCHEME FOR SENSORY-CONTROLLED ROBOT ASSEMBLY TASKS

1989 ◽  
pp. 353-358
Author(s):  
W.W. Simon ◽  
E. Ersue ◽  
H. Gose ◽  
M. Zoll
Keyword(s):  
Real Time ◽  
Assembly Tasks

scholarly journals A Real-Time Knowledge Scheme for Sensory-Controlled Robot Assembly Tasks

1988 ◽  
Vol 21 (16) ◽  
pp. 353-358
Author(s):  
W.W. Simon ◽  
E. Ersue ◽  
H. Gose ◽  
M. Zoll
Keyword(s):  
Real Time ◽  
Assembly Tasks

Pick-place of dynamic objects by robot manipulator based on deep learning and easy user interface teaching systems

2017 ◽  
Vol 44 (1) ◽  
pp. 11-20 ◽  
Author(s):  
Delowar Hossain ◽  
Genci Capi ◽  
Mitsuru Jindai ◽  
Shin-ichiro Kaneko
Keyword(s):  
Object Recognition ◽  
Real Time ◽  
Target Location ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Content Type ◽  
Intermediate Layers ◽  
Object Features ◽  
Short Time ◽  
Assembly Tasks

Purpose Development of autonomous robot manipulator for human-robot assembly tasks is a key component to reach high effectiveness. In such tasks, the robot real-time object recognition is crucial. In addition, the need for simple and safe teaching techniques need to be considered, because: small size robot manipulators’ presence in everyday life environments is increasing requiring non-expert operators to teach the robot; and in small size applications, the operator has to teach several different motions in a short time. Design/methodology/approach For object recognition, the authors propose a deep belief neural network (DBNN)-based approach. The captured camera image is used as the input of the DBNN. The DBNN extracts the object features in the intermediate layers. In addition, the authors developed three teaching systems which utilize iPhone; haptic; and Kinect devices. Findings The object recognition by DBNN is robust for real-time applications. The robot picks up the object required by the user and places it in the target location. Three developed teaching systems are easy to use by non-experienced subjects, and they show different performance in terms of time to complete the task and accuracy. Practical implications The proposed method can ease the use of robot manipulators helping non-experienced users completing different assembly tasks. Originality/value This work applies DBNN for object recognition and three intuitive systems for teaching robot manipulators.

scholarly journals Real Time Implementation of Learning-Forgetting Models for Cycle Time Predictions of Manual Assembly Tasks after a Break

2020 ◽  
Vol 12 (14) ◽  
pp. 5543
Author(s):  
Steven Hoedt ◽  
Arno Claeys ◽  
El-Houssaine Aghezzaf ◽  
Johannes Cottyn
Keyword(s):  
Real Time ◽  
Cycle Time ◽  
Mixed Model ◽  
Manufacturing Companies ◽  
Manual Assembly ◽  
Time Prediction ◽  
Curve Model ◽  
Assembly Operations ◽  
Assembly Tasks ◽  
Mixed Model Assembly

Industry 4.0 provides a tremendous potential of data from the work floor. For manufacturing companies, these data can be very useful in order to support assembly operators. In literature, a lot of contributions can be found that present models to describe both the learning and forgetting effect of manual assembly operations. In this study, different existing models were compared in order to predict the cycle time after a break. As these models are not created for a real time prediction purpose, some adaptations are presented in order to improve the robustness and efficiency of the models. Results show that the MLFCM (modified learn-forget curve model) and the PID (power integration diffusion) model have the greatest potential. Further research will be performed to test both models and implement contextual factors. In addition, since these models only consider one fixed repetitive task, they don’t target mixed-model assembly operations. The learning and forgetting effect that executing each assembly task has on the other task executions differs based on the job similarity between tasks. Further research opportunities to implement this job similarity are listed.

Toward Safe Human Robot Collaboration by Using Multiple Kinects Based Real-Time Human Tracking

2014 ◽  
Vol 14 (1) ◽  
Author(s):  
Carlos Morato ◽  
Krishnanand N. Kaipa ◽  
Boxuan Zhao ◽  
Satyandra K. Gupta
Keyword(s):  
Real Time ◽  
Physical Simulation ◽  
Human Model ◽  
Time Behavior ◽  
3D Space ◽  
Close Proximity ◽  
Articulated Robot ◽  
Physics Based Simulation ◽  
Assembly Tasks ◽  
Human Robot Collaboration

We present a multiple Kinects based exteroceptive sensing framework to achieve safe human-robot collaboration during assembly tasks. Our approach is mainly based on a real-time replication of the human and robot movements inside a physics-based simulation of the work cell. This enables the evaluation of the human-robot separation in a 3D Euclidean space, which can be used to generate safe motion goals for the robot. For this purpose, we develop an N-Kinect system to build an explicit model of the human and a roll-out strategy, in which we forward-simulate the robot's trajectory into the near future. Now, we use a precollision strategy that allows a human to operate in close proximity with the robot, while pausing the robot's motion whenever an imminent collision between the human model and any part of the robot is detected. Whereas most previous range based methods analyzed the physical separation based on depth data pertaining to 2D projections of robot and human, our approach evaluates the separation in a 3D space based on an explicit human model and a forward physical simulation of the robot. Real-time behavior (≈ 30 Hz) observed during experiments with a 5 DOF articulated robot and a human safely collaborating to perform an assembly task validate our approach.

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

Video real-time imaging of artificial membranes during freeze-drying by cryo-electron microscopy

1988 ◽  
Vol 46 ◽  
pp. 16-17
Author(s):  
Alan S. Rudolph ◽  
Ronald R. Price
Keyword(s):  
Real Time ◽  
Self Assembly ◽  
Freeze Drying ◽  
Video Capture ◽  
Drying Process ◽  
Artificial Membranes ◽  
The Past ◽  
Cryo Electron Microscopy ◽  
Spherical Structures ◽  
Capture Techniques

We have employed cryoelectron microscopy to visualize events that occur during the freeze-drying of artificial membranes by employing real time video capture techniques. Artificial membranes or liposomes which are spherical structures within internal aqueous space are stabilized by water which provides the driving force for spontaneous self-assembly of these structures. Previous assays of damage to these structures which are induced by freeze drying reveal that the two principal deleterious events that occur are 1) fusion of liposomes and 2) leakage of contents trapped within the liposome [1]. In the past the only way to access these events was to examine the liposomes following the dehydration event. This technique allows the event to be monitored in real time as the liposomes destabilize and as water is sublimed at cryo temperatures in the vacuum of the microscope. The method by which liposomes are compromised by freeze-drying are largely unknown. This technique has shown that cryo-protectants such as glycerol and carbohydrates are able to maintain liposomal structure throughout the drying process.

An Interactive Minicomputer Program for the Indexing and Simulation of Electron Diffraction Patterns

1976 ◽  
Vol 34 ◽  
pp. 542-543
Author(s):  
R.P. Goehner ◽  
W.T. Hatfield ◽  
Prakash Rao
Keyword(s):  
Electron Diffraction ◽  
Real Time ◽  
Pattern Analysis ◽  
Flow Diagram ◽  
Hard Copy ◽  
Time Analysis ◽  
Real Time Analysis ◽  
Transmission Electron ◽  
One Step ◽  
Diffraction Patterns

Computer programs are now available in various laboratories for the indexing and simulation of transmission electron diffraction patterns. Although these programs address themselves to the solution of various aspects of the indexing and simulation process, the ultimate goal is to perform real time diffraction pattern analysis directly off of the imaging screen of the transmission electron microscope. The program to be described in this paper represents one step prior to real time analysis. It involves the combination of two programs, described in an earlier paper(l), into a single program for use on an interactive basis with a minicomputer. In our case, the minicomputer is an INTERDATA 70 equipped with a Tektronix 4010-1 graphical display terminal and hard copy unit.A simplified flow diagram of the combined program, written in Fortran IV, is shown in Figure 1. It consists of two programs INDEX and TEDP which index and simulate electron diffraction patterns respectively. The user has the option of choosing either the indexing or simulating aspects of the combined program.

Microstructural investigation of surface roughness in MBE-grown AlAs

1995 ◽  
Vol 53 ◽  
pp. 454-455
Author(s):  
R. Rajesh ◽  
R. Droopad ◽  
C. H. Kuo ◽  
R. W. Carpenter ◽  
G. N. Maracas
Keyword(s):  
Thin Film ◽  
Real Time ◽  
Growth Control ◽  
Native Oxide ◽  
Effusion Cell ◽  
Surface Oxide Layer ◽  
Microstructural Investigation ◽  
Mbe Growth ◽  
Film Substrate ◽  
And Control

Knowledge of material pseudodielectric functions at MBE growth temperatures is essential for achieving in-situ, real time growth control. This allows us to accurately monitor and control thicknesses of the layers during growth. Undesired effusion cell temperature fluctuations during growth can thus be compensated for in real-time by spectroscopic ellipsometry. The accuracy in determining pseudodielectric functions is increased if one does not require applying a structure model to correct for the presence of an unknown surface layer such as a native oxide. Performing these measurements in an MBE reactor on as-grown material gives us this advantage. Thus, a simple three phase model (vacuum/thin film/substrate) can be used to obtain thin film data without uncertainties arising from a surface oxide layer of unknown composition and temperature dependence.In this study, we obtain the pseudodielectric functions of MBE-grown AlAs from growth temperature (650°C) to room temperature (30°C). The profile of the wavelength-dependent function from the ellipsometry data indicated a rough surface after growth of 0.5 μm of AlAs at a substrate temperature of 600°C, which is typical for MBE-growth of GaAs.

Real-time observation of vortex lattices in a superconductor

1993 ◽  
Vol 51 ◽  
pp. 1050-1051
Author(s):  
K. Harada ◽  
T. Matsuda ◽  
J.E. Bonevich ◽  
M. Igarashi ◽  
S. Kondo ◽  
...  
Keyword(s):  
Real Time ◽  
Flux Line ◽  
Electron Holography ◽  
Lorentz Microscopy ◽  
Vortex Lattices ◽  
Flux Lines ◽  
Magnetic Flux Lines ◽  
Time Observation ◽  
Thin Superconductor ◽  
Real Time Observation

Previous observations of magnetic flux-lines (vortex lattices) in superconductors, such as the field distribution of a flux-line, and flux-line dynamics activated by heat and current, have employed the high spatial resolution and magnetic sensitivity of electron holography. And recently, the 2-D static distribution of vortices was also observed by this technique. However, real-time observations of the vortex lattice, in spite of scientific and technological interest, have not been possible due to experimental difficulties. Here, we report the real-time observation of vortex lattices in a thin superconductor, by means of Lorentz microscopy using a 300 kV field emission electron microscope. This technique allows us to observe the dynamic motion of individual vortices and record the events on a VTR system.The experimental arrangement is shown in Fig. 1. A Nb thin film for transmission observation was prepared by chemical etching. The grain size of the film was increased by annealing, and single crystals were observed with a thickness of 50∼90 nm.

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