Reconfigurable robot tool designs and integration applications

2003 ◽  
Vol 30 (4) ◽  
pp. 338-344 ◽  
Author(s):  
Paul G. Ranky
Keyword(s):  
General Purpose ◽  
Robotic Welding ◽  
Flexible Robot ◽  
General Terms ◽  
Machine Loading ◽  
Robot Wrist ◽  
Working Together ◽  
Reconfigurable Robot ◽  
End Effectors ◽  
Task Oriented

Robot tools, or in more general terms, end‐of‐arm tools, or robot end‐effectors are general purpose, programmable or task‐oriented devices connected between the robot wrist and the object or load to be manipulated and/or processed by the robot. They can offer and/or limit the versatility of grasping and/or processing of different components, sensing their characteristics and working together with the robot control system to provide a reliable “service” throughout the component manipulation cycle. Reconfigurable robot tooling enables the robot to rapidly change its end‐effectors or fingers of its end‐effectors, typically under programmable software control. The importance of providing lean‐flexibility by means of reconfigurable, automated robot hand changers (ARHC), particularly in small‐batch robotic welding, assembly, machine loading and in other flexible robot cells, is discussed with examples. Some known systems are demonstrated and the “Ranky‐type” ARHC design is illustrated in more detail.

A Programmer-Centric and Task-Optimized Object Graph Visualizer for Debuggers

2014 ◽  
pp. 385-396
Author(s):  
Anthony Savidis ◽  
Nikos Koutsopoulos
Keyword(s):  
Social Networking ◽  
Defect Detection ◽  
Graph Drawing ◽  
General Purpose ◽  
Regular Expressions ◽  
Visualization Technique ◽  
Integrated Development ◽  
Integrated Development Environments ◽  
Object Graph ◽  
Task Oriented

Today, existing graph visualizers are not popular for debugging purposes because they are mostly visualization-oriented, rather than task-oriented, implementing general-purpose graph drawing algorithms. The latter explains why prominent integrated development environments still adopt traditional tree views. The authors introduce a debugging assistant with a visualization technique designed to better fit the actual task of defect detection in runtime object networks, while supporting advanced inspection and configuration features. Its design has been centered on the study of the actual programmer needs in the context of the debugging task, emphasizing: 1.) visualization style inspired by a social networking metaphor enabling easily identify who deploys objects (clients) and whom objects deploy (servers); 2.) inspection features to easily review object contents and associations and to search content patterns (currently regular expressions only); and 3.) interactively configurable levels of information detail, supporting off-line inspection and multiple concurrent views.

scholarly journals A comprehensive transition matrix model for projecting production and resource consumption in reindeer herds

Rangifer ◽  
1994 ◽  
Vol 14 (3) ◽  
pp. 99 ◽  
Author(s):  
Öje Danell ◽  
Carl Johan Petersson
Keyword(s):  
Herd Size ◽  
General Purpose ◽  
Leslie Matrix ◽  
Economic Evaluations ◽  
Stochastic Variation ◽  
Dynamic Changes ◽  
General Terms ◽  
Extension Work ◽  
Nonlinear Features ◽  
Computational Procedures

A deterministic herd model was developed for projecting the dynamic changes in reindeer herd size and structure under defined harvest policies. The model distinguishes between females, males and castrates up to an optional number of age-classes. Calves are further classified based on the age and status (present/absent) of their mother. The yearly cycle is divided up into a maximum of 11 time steps, including five grazing seasons. The model is described in general terms using the Leslie matrix approach in order to suit different computer implementations. The conventional Leslie matrix solution was extended so that nonlinear features and stochastic variation in performance parameters could be considered. Computational procedures for making detailed economic evaluations of harvest output and herd feed requirements or consumption are given. This general purpose model can be tailored to specific study conditions. An advantage of this is that the sensitivity to necessary approximations can be tested with the general purpose model. The model is intended for use in both research and extension work.

scholarly journals Acting and Planning Using Operational Models

2019 ◽  
Vol 33 ◽  
pp. 7691-7698
Author(s):  
Sunandita Patra ◽  
Malik Ghallab ◽  
Dana Nau ◽  
Paolo Traverso
Keyword(s):  
Closed Loop ◽  
State Transition ◽  
General Purpose ◽  
Planning System ◽  
Control Structures ◽  
Planning Algorithm ◽  
State Transition System ◽  
Operational Models ◽  
Task Oriented ◽  
Descriptive Models

The most common representation formalisms for planning are descriptive models. They abstractly describe what the actions do and are tailored for efficiently computing the next state(s) in a state transition system. But acting requires operational models that describe how to do things, with rich control structures for closed-loop online decision-making. Using descriptive representations for planning and operational representations for acting can lead to problems with developing and verifying consistency of the different models.We define and implement an integrated acting-and-planning system in which both planning and acting use the same operational models, which are written in a general-purpose hierarchical task-oriented language offering rich control structures. The acting component is inspired by the well-known PRS system, except that instead of being purely reactive, it can get advice from the planner. Our planning algorithm, RAEplan, plans by doing Monte Carlo rollout simulations of the actor’s operational models. Our experiments show significant benefits in the efficiency of the acting and planning system.

Modular Self Reconfigurable Robotic Systems

2020 ◽  
Vol 12 (10) ◽  
pp. 1257-1260
Author(s):  
Nandini Kaushik ◽  
Vrinatri Velentina Boro ◽  
Manoj Soni ◽  
Pooja Bhati
Keyword(s):  
Robotic Systems ◽  
Changing Environment ◽  
Reconfigurable Robot ◽  
High Utility ◽  
Task Oriented

Modular Self-Reconfigurable robot (MSR) is a combinational system of independent and identical robotic modules. An MSR can further reconstitute itself out of the identical building units for adaptability to task-oriented functions and changing environment. An overview of the taxonomy related to the building of MSR modules has been discussed. Further, the high utility areas of the MSR robots have been considered. Then a study of the existing MSR robotic systems has been carried out. Lastly, control architectures of MSR modules and reconfiguration along with the further scope of advancement in the technological aspects have been discussed related to MSR.

scholarly journals A teleoperation system for micro-invasive brain surgery

2010 ◽  
Vol 1 (4) ◽  
Author(s):  
Rudy Manganelli ◽  
Francesco Chinello ◽  
Alessandro Formaglio ◽  
Domenico Prattichizzo
Keyword(s):  
Controller Design ◽  
General Purpose ◽  
Point Of View ◽  
Control Architecture ◽  
Brain Surgery ◽  
Linear Stage ◽  
Design Issues ◽  
Trade Off ◽  
Teleoperation System ◽  
Task Oriented

AbstractThis paper deals with controller design issues for a neurosurgical teleoperator system. The specific application of interest consists of remotely inserting a linear-stage rigid endoscope into the patient's brain for microinvasive neurosurgery interventions. This work aims at evaluating advantages and drawbacks of using a general-purpose control architecture versus a simpler task-oriented architecture, from a point of view of stability and transparency. Experiments revealed that in spite of its simplicity, the task-oriented design allows an improvement in the trade-off between performance, transparency and stability requirements.

Full-Wave Bi-Directional Rotation-Rectifier to Assist Robotic End-Effectors in the Automated Assembly of Large Truss Structures in Space

1992 ◽  
Author(s):  
W. V. Brewer
Keyword(s):  
Wrist Joint ◽  
Truss Structures ◽  
Gantry Crane ◽  
Motor Shaft ◽  
End Effector ◽  
Continuous Rotation ◽  
Structural Assembly ◽  
Robot Wrist ◽  
End Effectors ◽  
Robotic Construction

Abstract In 1987 work was initiated on the Automated Structural Assembly Laboratory (ASAL) at NASA/LaRC to demonstrate the feasibility of robotic construction in orbit. To move itself as the structure grows, the robot is mounted on a carriage that traverses a beam which moves longitudinally, similar to a gantry crane. Gantry motions will be operated by the self-sufficient robot with its wrist roll motion. Interfaces for the robot at each gantry motor shaft are provided for that purpose. Wrist roll is limited by the large and growing number of wires that must communicate thru the wrist joint to connect the end-effector to power, sensory devices, and computation services. Rotation-Rectifiers applied to robot mobility simplify the end-effector to motor shaft interface, reduce the number of interface operations that must be performed, and convert oscillating robot wrist roll motions to continuous rotation in either direction.

Automated Welding Process Fixture Planning Using Features

1992 ◽  
Author(s):  
R. J. Straus ◽  
F. W. Liou
Keyword(s):  
Mathematical Modeling ◽  
Welding Process ◽  
Design Stage ◽  
Geometric Description ◽  
Robotic Welding ◽  
Fixture Planning ◽  
Planning Procedure ◽  
Feature Based ◽  
Geometric Representations ◽  
End Effectors

Abstract Flexible robotic welding cells have been established as an integral part of manufacturing. In order to plan the entire welding process in the design stage, mathematical modeling of the planning procedure has become very important. Both the geometric and non-geometric representations, such as the geometric description of workpieces, fixtures, and end-effectors and the planning of the welding process, are the key elements to success. Emphasis in this paper is fixture planning, in which an automated fixturing approach is examined to greatly increase workcell flexibility. A feature-based modeling approach is proposed to simulate the fixturing process in an automated welding cell.

Exploiting the Wikipedia structure in local and global classification of taxonomic relations

2012 ◽  
Vol 18 (2) ◽  
pp. 235-262 ◽  
Author(s):  
QUANG XUAN DO ◽  
DAN ROTH
Keyword(s):  
Language Processing ◽  
Question Answering ◽  
General Purpose ◽  
Knowledge Sources ◽  
Knowledge Resources ◽  
General Terms ◽  
Taxonomic Relation ◽  
Textual Entailment ◽  
Global Classification ◽  
Low Coverage

AbstractDetermining whether two terms have an ancestor relation (e.g. Toyota Camry and car) or a sibling relation (e.g. Toyota and Honda) is an essential component of textual inference in Natural Language Processing applications such as Question Answering, Summarization, and Textual Entailment. Significant work has been done on developing knowledge sources that could support these tasks, but these resources usually suffer from low coverage, noise, and are inflexible when dealing with ambiguous and general terms that may not appear in any stationary resource, making their use as general purpose background knowledge resources difficult. In this paper, rather than building a hierarchical structure of concepts and relations, we describe an algorithmic approach that, given two terms, determines the taxonomic relation between them using a machine learning-based approach that makes use of existing resources. Moreover, we develop a global constraint-based inference process that leverages an existing knowledge base to enforce relational constraints among terms and thus improves the classifier predictions. Our experimental evaluation shows that our approach significantly outperforms other systems built upon the existing well-known knowledge sources.

scholarly journals Integration of Industrially-Oriented Human-Robot Speech Communication and Vision-Based Object Recognition

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7287
Author(s):  
Adam Rogowski ◽  
Krzysztof Bieliszczuk ◽  
Jerzy Rapcewicz
Keyword(s):  
Object Recognition ◽  
Recognition Rate ◽  
Industrial Robots ◽  
Speech Communication ◽  
Levels Of Abstraction ◽  
General Terms ◽  
Voice Control ◽  
Significant Research ◽  
Recognition Systems ◽  
Task Oriented

This paper presents a novel method for integration of industrially-oriented human-robot speech communication and vision-based object recognition. Such integration is necessary to provide context for task-oriented voice commands. Context-based speech communication is easier, the commands are shorter, hence their recognition rate is higher. In recent years, significant research was devoted to integration of speech and gesture recognition. However, little attention was paid to vision-based identification of objects in industrial environment (like workpieces or tools) represented by general terms used in voice commands. There are no reports on any methods facilitating the abovementioned integration. Image and speech recognition systems usually operate on different data structures, describing reality on different levels of abstraction, hence development of context-based voice control systems is a laborious and time-consuming task. The aim of our research was to solve this problem. The core of our method is extension of Voice Command Description (VCD) format describing syntax and semantics of task-oriented commands, as well as its integration with Flexible Editable Contour Templates (FECT) used for classification of contours derived from image recognition systems. To the best of our knowledge, it is the first solution that facilitates development of customized vision-based voice control applications for industrial robots.

scholarly journals Application of Force-Controlled End-Effectors to General-Purpose Robots.

1999 ◽  
Vol 17 (5) ◽  
pp. 736-741
Author(s):  
Masamitsu Okada ◽  
Shin'ya Hiramatsu ◽  
Shigeyuki Nagata
Keyword(s):  
General Purpose ◽  
End Effectors
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