Robust Motion Generation for Vision-Guided Robot Bin-Picking

2007 ◽  
Author(s):  
Simon Leonard ◽  
Ambrose Chan ◽  
Elizabeth Croft ◽  
James J. Little
Keyword(s):  
Visual Servoing ◽  
Industrial Robot ◽  
Three Dimensional ◽  
Cost Effective ◽  
Object Localization ◽  
Assembly Lines ◽  
Motion Generation ◽  
Simple Task ◽  
Bin Picking ◽  
Modern Manufacturing

This paper discusses work towards a vision-based solution to the problem of robot bin-picking. The problem of robot bin-picking is defined as searching for and recognizing a part among many lying jumbled in a bin such that the robot is able to grasp and manipulate the part. Despite decades of research in vision, robotics, and manufacturing, this problem remains open. Currently, in modern manufacturing, this seemingly simple task is performed by complex assembly lines or manual labor. The amount of efforts and costs associated with the current solutions to bin-picking is a testament to the importance of a new solution. The main objective of this research is a reliable and cost effective automated solution to the bin-picking problem encountered in manufacturing. As a broader contribution, this research also provides a robust visual servoing method that enables safe interactions between a robot and its environment. Our system uses visual feedback to generate tasks autonomously and to control the interaction of the manipulator with its environment. First, our system relies on robust vision-based object localization to generate three-dimensional pose hypotheses for each identified part. Then, the hypotheses are filtered according to the feasibility of their picking configuration. Finally, a trajectory is generated for a picking position. In this paper, we consider the specifications of the trajectory ensure that collisions with the bin and joints limits are avoided, while servoing the robot to the part. To ensure the reliability of the system, the procedure is tested in a simulation before being executed by a manipulator. Our experiments target the automotive industry and involve real engine parts a typical industrial robot and metal bin.

scholarly journals Cyber-Physical Systems Improving Building Energy Management: Digital Twin and Artificial Intelligence

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2338
Author(s):  
Sofia Agostinelli ◽  
Fabrizio Cumo ◽  
Giambattista Guidi ◽  
Claudio Tomazzoli
Keyword(s):  
Artificial Intelligence ◽  
Renewable Energy ◽  
Energy Management ◽  
Three Dimensional ◽  
Cost Effective ◽  
Automation System ◽  
Climate Conditions ◽  
Digital Twin ◽  
Building Energy Management ◽  
Computing Paradigm

The research explores the potential of digital-twin-based methods and approaches aimed at achieving an intelligent optimization and automation system for energy management of a residential district through the use of three-dimensional data model integrated with Internet of Things, artificial intelligence and machine learning. The case study is focused on Rinascimento III in Rome, an area consisting of 16 eight-floor buildings with 216 apartment units powered by 70% of self-renewable energy. The combined use of integrated dynamic analysis algorithms has allowed the evaluation of different scenarios of energy efficiency intervention aimed at achieving a virtuous energy management of the complex, keeping the actual internal comfort and climate conditions. Meanwhile, the objective is also to plan and deploy a cost-effective IT (information technology) infrastructure able to provide reliable data using edge-computing paradigm. Therefore, the developed methodology led to the evaluation of the effectiveness and efficiency of integrative systems for renewable energy production from solar energy necessary to raise the threshold of self-produced energy, meeting the nZEB (near zero energy buildings) requirements.

Improving Image-Based Visual Servoing with Three-Dimensional Features

2003 ◽  
Vol 22 (10-11) ◽  
pp. 821-839 ◽  
Author(s):  
E. Cervera ◽  
A. P. del Pobil ◽  
F. Berry ◽  
P. Martinet
Keyword(s):  
Visual Servoing ◽  
Three Dimensional

Trends in pediatric imaging: ultrasound

2013 ◽  
Vol 54 (9) ◽  
pp. 1096-1105 ◽  
Author(s):  
Ansgar Berg ◽  
Gottfried Greve
Keyword(s):  
Heart Diseases ◽  
Three Dimensional ◽  
Cost Effective ◽  
Clinical Work ◽  
Ventricular Volume ◽  
Tissue Doppler ◽  
Doppler Imaging ◽  
Strain And Strain Rate ◽  
2D Echocardiography ◽  
Systolic And Diastolic Function

For the last three decades, two-dimensional (2D) echocardiography and Doppler echocardiography have been the primary imaging modalities for the diagnosis and management of heart disease in infants, children, and adolescents. These methods are non-invasive, highly sensitive, and cost-effective, and widely available, making them very useful in clinical work. During this period, the anatomic and hemodynamic abnormalities associated with different congenital and acquired pediatric heart diseases have been well outlined by echocardiography. Recent advances in computer technology, signal processing, and transducer design have allowed the capabilities of pediatric echocardiography to be expanded beyond qualitative 2D imaging and blood flow Doppler analysis. New modalities such as three-dimensional echocardiography, tissue Doppler imaging and speckle tracking echocardiography have been used to evaluate parameters such as ventricular volume, myocardial velocity, regional strain, and strain rate, providing new insight into cardiovascular morphology and ventricular systolic and diastolic function. Accordingly, a comprehensive and sophisticated quantification of ventricular function is now part of most echocardiography protocols. Use of measurements adjusted for body size and age is common practice today. These developments have further strengthened the position of echocardiography in pediatric cardiology.

Parameterization of Three-Dimensional Rigid Body Guidance Incorporating Planar Gear Connections in a Spatial Closed-Loop Mechanism With Parallel Consecutive Axes

2008 ◽  
Author(s):  
Javier Rolda´n Mckinley ◽  
Carl Crane ◽  
David B. Dooner
Keyword(s):  
Computer Animation ◽  
Closed Loop ◽  
Three Dimensional ◽  
Motion Generation ◽  
Repetitive Motion ◽  
End Effector ◽  
Spatial Mechanism ◽  
Joint Axis ◽  
Position And Orientation ◽  
Six Degree Of Freedom

This paper introduces a reconfigurable closed-loop spatial mechanism that can be applied to repetitive motion tasks. The concept is to incorporate five pairs of non-circular gears into a six degree-of–freedom closed-loop spatial chain. The gear pairs are designed based on given mechanism parameters and a user defined motion specification of a coupler link of the mechanism. It is shown in the paper that planar gear pairs can be used if the spatial closed-loop chain is comprised of six pairs of parallel joint axes, i.e. the first joint axis is parallel to the second, the third is parallel to the fourth, ..., and the eleventh is parallel to the twelfth. This paper presents the synthesis of the gear pairs that satisfy a specified three-dimensional position and orientation need. Numerical approximations were used in the synthesis the non-circular gear pairs by introducing an auxiliary monotonic parameter associated to each end-effector position to parameterize the motion needs. The findings are supported by a computer animation. No previous known literature incorporates planar non-circular gears to fulfill spatial motion generation needs.

The Use of Photogrammetry in Piping Design

1983 ◽  
Vol 197 (2) ◽  
pp. 125-138 ◽  
Author(s):  
P A Bracewell ◽  
U R Klement
Keyword(s):  
Information Retrieval ◽  
Mathematical Formulation ◽  
Three Dimensional ◽  
Cost Effective ◽  
Process Industry ◽  
Process Plant ◽  
Definition Of ◽  
High Degree ◽  
Positional Data

Piping design for ‘revamp’ projects in the process industry requires the retrieval of large amounts of ‘as-built’ data from existing process plant installations. Positional data with a high degree of accuracy are required. Photogrammetry, the science of measurement from photographs, was identified in Imperial Chemical Industries plc (ICI) as a suitable tool for information retrieval. The mathematical formulation enabling the definition of three-dimensional positions from photographic information is described. The process of using ICI's photogrammetric system for the definition of complete objects such as structures and pipes is illustrated. The need for specialized photogrammetric software for design purposes is explained. A case study describing how the photogrammetric system has been applied is described and graphical outputs from this exercise are shown. It is concluded that this particular photogrammetric system has proved to be a cost effective and accurate tool for the retrieval of ‘as-built’ information.

scholarly journals Computation of Three-Dimensional, Rotational Flow Through Turbomachinery Blade Rows for Improved Aerodynamic Design Studies

1986 ◽  
Author(s):  
S. V. Subramanian ◽  
R. Bozzola ◽  
Louis A. Povinelli
Keyword(s):  
Three Dimensional ◽  
Maximum Flow ◽  
Cost Effective ◽  
Computer Code ◽  
Integration Scheme ◽  
Aerodynamic Design ◽  
Design Studies ◽  
Flow Equations ◽  
Transonic Compressor ◽  
Numerical Predictions

The performance of a three dimensional computer code developed for predicting the flowfield in stationary and rotating turbomachinery blade rows is described in this study. The four stage Runge-Kutta numerical integration scheme is used for solving the governing flow equations and yields solution to the full, three dimensional, unsteady Euler equations in cylindrical coordinates. This method is fully explicit and uses the finite volume, time marching procedure. In order to demonstrate the accuracy and efficiency of the code, steady solutions were obtained for several cascade geometries under widely varying flow conditions. Computed flowfield results are presented for a fully subsonic turbine stator and a low aspect ratio, transonic compressor rotor blade under maximum flow and peak efficiency design conditions. Comparisons with Laser Anemometer measurements and other numerical predictions are also provided to illustrate that the present method predicts important flow features with good accuracy and can be used for cost effective aerodynamic design studies.

Simple fabrication of a three-dimensional porous polymer film as a diffuser for organic light emitting diodes

Nanoscale ◽  
2014 ◽  
Vol 6 (23) ◽  
pp. 14446-14452 ◽  
Author(s):  
Byung Wan Lim ◽  
Min Chul Suh
Keyword(s):  
Polymer Film ◽  
Spin Coating ◽  
Three Dimensional ◽  
Cost Effective ◽  
Porous Polymer ◽  
Organic Light Emitting Diodes ◽  
Coating Process ◽  
Light Emitting ◽  
Organic Light ◽  
Ultrasonic Humidifier

We have investigated a simple and cost-effective fabrication method for a porous polymer film employing the spin-coating process during continuous supply of water droplets by an ultrasonic humidifier.

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