Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524588
C. Marco
In this paper the kinematic design of CaPaMan (Cassino Parallel Manipulator) is used to deduce other new architectures for parallel manipulators through an approach that is based on kinematic inversion concept. Kinematic designs are outlined with basic considerations for both design and operation feasibility.
{"title":"Parallel manipulator architectures from CAPAMAN design","authors":"C. Marco","doi":"10.1109/RAAD.2010.5524588","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524588","url":null,"abstract":"In this paper the kinematic design of CaPaMan (Cassino Parallel Manipulator) is used to deduce other new architectures for parallel manipulators through an approach that is based on kinematic inversion concept. Kinematic designs are outlined with basic considerations for both design and operation feasibility.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125176017","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524586
D. Panescu, C. Pascal
This contribution reveals some problems concerning the use of holonic manufacturing systems. These regard both the design and implementation phases and they can be discovered since the system analysis. A new Petri net based model is proposed for the holonic system organized according to the Contract Net Protocol coordination scheme. Certain weaknesses are discovered both at the model and implementation levels and some solutions are sketched. These are illustrated with a case from an experimental manufacturing environment that could exemplify the problems regarding the resource sharing and holons' coordination.
{"title":"Some issues on holonic systems analysis, design and implementation","authors":"D. Panescu, C. Pascal","doi":"10.1109/RAAD.2010.5524586","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524586","url":null,"abstract":"This contribution reveals some problems concerning the use of holonic manufacturing systems. These regard both the design and implementation phases and they can be discovered since the system analysis. A new Petri net based model is proposed for the holonic system organized according to the Contract Net Protocol coordination scheme. Certain weaknesses are discovered both at the model and implementation levels and some solutions are sketched. These are illustrated with a case from an experimental manufacturing environment that could exemplify the problems regarding the resource sharing and holons' coordination.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121777123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524548
N. Sram
Decision making can be regarded as an outcome of a cognitive process leading to the selection of a course of action among several alternatives. With the latest advances in decision making systems it is important to study which methods provide better results and in which fields, contexts. By creating a hybrid approach to decision making we can outline the performance and deviations between different methods, but more importantly we establish the foundation for building a hybrid decision making system. With the analysis of the decision making methods, we are able to build a hybrid decision making system, which is a composition and cooperation of different methods and uses the optimal methods for specific contexts. In this paper the author presents an approach to creating and evaluating hybrid decision making systems.
{"title":"A hybrid approach to decision making and problem analysis","authors":"N. Sram","doi":"10.1109/RAAD.2010.5524548","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524548","url":null,"abstract":"Decision making can be regarded as an outcome of a cognitive process leading to the selection of a course of action among several alternatives. With the latest advances in decision making systems it is important to study which methods provide better results and in which fields, contexts. By creating a hybrid approach to decision making we can outline the performance and deviations between different methods, but more importantly we establish the foundation for building a hybrid decision making system. With the analysis of the decision making methods, we are able to build a hybrid decision making system, which is a composition and cooperation of different methods and uses the optimal methods for specific contexts. In this paper the author presents an approach to creating and evaluating hybrid decision making systems.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"53 10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128152292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524543
Szilard Jagasics
Three phase permanent magnet synchronous motors are widely used in high performance industrial drives. The torque produced by these machines has a pulsating component which is a function of actual rotor position. The main part of this component is usually cogging torque. A variety of special machine construction techniques exist for reducing cogging torque which is affected greatly by mechanical misalignments. If the manufacturing tolerances are not well defined cogging may vary in a wide range. If analysis is made by several cases of each kind of mechanical misalignments, manufacturing tolerances can be defined.
{"title":"Comprehensive analysis on the effect of static air gap eccentricity on cogging torque","authors":"Szilard Jagasics","doi":"10.1109/RAAD.2010.5524543","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524543","url":null,"abstract":"Three phase permanent magnet synchronous motors are widely used in high performance industrial drives. The torque produced by these machines has a pulsating component which is a function of actual rotor position. The main part of this component is usually cogging torque. A variety of special machine construction techniques exist for reducing cogging torque which is affected greatly by mechanical misalignments. If the manufacturing tolerances are not well defined cogging may vary in a wide range. If analysis is made by several cases of each kind of mechanical misalignments, manufacturing tolerances can be defined.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133210205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524560
T. Petrič, A. Gams, A. Ude, L. Žlajpah
In this paper we describe the use of a standard game console joystick, namely the Nintendo WIIMOTE, for an active real-time 3D marker tracking. We show the ease of applicability of inexpensive and robust standard game controllers for 3D object tracking, e.g. to track an infrared source in 3D space. Recovering the 3D information using stereo vision is still one of the major research areas in computer vision and has given rise to a great deal of literature in the recent past. In this paper we present the method for calibrating a WIIMOTE stereo pair without knowing any parameters of the build-in infrared cameras in advance. The results are two matrices which includes both the intrinsic and extrinsic parameters for left and right cameras. The comparison between the stereo and the mono WIIMOTE tracking system is presented. Furthermore, to demonstrate the use of the WIIMOTE stereo system we considered the task of throwing a ball with robotic hand, to the target identified with an infrared source. The throwing task was divided into two separate parts: the tracking part and the throwing part.
{"title":"Real-time 3D marker tracking with a WIIMOTE stereo vision system: Application to robotic throwing","authors":"T. Petrič, A. Gams, A. Ude, L. Žlajpah","doi":"10.1109/RAAD.2010.5524560","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524560","url":null,"abstract":"In this paper we describe the use of a standard game console joystick, namely the Nintendo WIIMOTE, for an active real-time 3D marker tracking. We show the ease of applicability of inexpensive and robust standard game controllers for 3D object tracking, e.g. to track an infrared source in 3D space. Recovering the 3D information using stereo vision is still one of the major research areas in computer vision and has given rise to a great deal of literature in the recent past. In this paper we present the method for calibrating a WIIMOTE stereo pair without knowing any parameters of the build-in infrared cameras in advance. The results are two matrices which includes both the intrinsic and extrinsic parameters for left and right cameras. The comparison between the stereo and the mono WIIMOTE tracking system is presented. Furthermore, to demonstrate the use of the WIIMOTE stereo system we considered the task of throwing a ball with robotic hand, to the target identified with an infrared source. The throwing task was divided into two separate parts: the tracking part and the throwing part.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133430651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524583
N. ZakeriNejad, A. Bakhtiary, M. R. Jahed Motlagh
With the advancement of autonomous vehicles the problem of navigation in rough terrain is becoming an interesting problem to tackle. One possible solution that has already been demonstrated for navigation on flat surfaces has been the use of Particle Swarm Optimization, PSO. This document aims to present results obtained from experiments gauging the adequacy of PSO for path planning in rough terrain environments. The PSO algorithm is set up to choose paths composed of straight line segments. A Controller is then used in a simulator to guide our vehicle along each path and the quality of the route traversed is then used to evaluate each path. Two different environments are prepared and solved for and the result for each environment is presented. It is shown that PSO is indeed applicable for use in path planning for rough environments.
{"title":"Use of Particle Swarm Optimization in path planning for rough terrain","authors":"N. ZakeriNejad, A. Bakhtiary, M. R. Jahed Motlagh","doi":"10.1109/RAAD.2010.5524583","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524583","url":null,"abstract":"With the advancement of autonomous vehicles the problem of navigation in rough terrain is becoming an interesting problem to tackle. One possible solution that has already been demonstrated for navigation on flat surfaces has been the use of Particle Swarm Optimization, PSO. This document aims to present results obtained from experiments gauging the adequacy of PSO for path planning in rough terrain environments. The PSO algorithm is set up to choose paths composed of straight line segments. A Controller is then used in a simulator to guide our vehicle along each path and the quality of the route traversed is then used to evaluate each path. Two different environments are prepared and solved for and the result for each environment is presented. It is shown that PSO is indeed applicable for use in path planning for rough environments.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122134572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524601
Grégory Guire, L. Sabourin, G. Gogu, E. Lemoine
Nowadays, companies in the abattoir and meat-cutting sector are encountering increasing difficulties in meeting their labor requirements. Therefore, the mechanization of these professions has become essential. The first part of this article involves on in-depth study of operators' expertise, so as to translate their actions into automatable operative tasks and to identify the constraints of robotization. We detail more particularly a cutting strategy using a bone as a guide which shows the complexity of the process. The analysis of the cutting and task constraint parameters involves the use of a kinematically redundant robotized cell with force control. Then the cell model is developed, and experimentation is performed. This study was carried out within the framework of the SRDViand project in cooperation with meat industry partners.
{"title":"Robotic cell with redundant architecture and force control: application to cutting and boning","authors":"Grégory Guire, L. Sabourin, G. Gogu, E. Lemoine","doi":"10.1109/RAAD.2010.5524601","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524601","url":null,"abstract":"Nowadays, companies in the abattoir and meat-cutting sector are encountering increasing difficulties in meeting their labor requirements. Therefore, the mechanization of these professions has become essential. The first part of this article involves on in-depth study of operators' expertise, so as to translate their actions into automatable operative tasks and to identify the constraints of robotization. We detail more particularly a cutting strategy using a bone as a guide which shows the complexity of the process. The analysis of the cutting and task constraint parameters involves the use of a kinematically redundant robotized cell with force control. Then the cell model is developed, and experimentation is performed. This study was carried out within the framework of the SRDViand project in cooperation with meat industry partners.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125329197","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524606
E. Bauzano, V. Muñoz, I. García-Morales
This paper focuses on autonomous movements to aid the surgeon to perform certain tasks. Robotic assistants have solved the drawbacks of Minimally Invasive Surgery (MIS) and provide additional skills to the surgeons. However, some authors argue that these systems could lengthen the operating time. The solution is the automation of certain maneuvers that help the surgeon during a surgical maneuver. This work proposes control architecture for a surgical robot capable of performing autonomous movements. In this way, a trajectory planner based on a behavior concept computes the required velocity vector of the surgical instrument hold by the robot.
{"title":"A multi-behavior algorithm for auto-guided movements in surgeon assistance","authors":"E. Bauzano, V. Muñoz, I. García-Morales","doi":"10.1109/RAAD.2010.5524606","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524606","url":null,"abstract":"This paper focuses on autonomous movements to aid the surgeon to perform certain tasks. Robotic assistants have solved the drawbacks of Minimally Invasive Surgery (MIS) and provide additional skills to the surgeons. However, some authors argue that these systems could lengthen the operating time. The solution is the automation of certain maneuvers that help the surgeon during a surgical maneuver. This work proposes control architecture for a surgical robot capable of performing autonomous movements. In this way, a trajectory planner based on a behavior concept computes the required velocity vector of the surgical instrument hold by the robot.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126141367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524609
S. Herle, S. Man, G. Lazea, C. Marcu, P. Raica, R. Robotin
Myolectric control is nowadays the most used approach for electrically-powered upper limb prostheses. The myoelectric controllers use electromyographic (EMG) signals as inputs. These signals can be collected from the skin surface using surface EMG sensors, or intramuscular, using needle sensors. No matter which method is used, they have to be processed before being used as controller inputs. In this paper, we present an algorithm based on an autoregressive (AR) model representation and a neural network, for EMG signal classification. The results have shown that combining a low-order AR model with a feed-forward neural network, a rate of classification of 98% can be achieved, while keeping the computational cost low. We also present a hierarchical control architecture and the implementation of the high-level controller using Finite State Machine. The solution proposed is capable of controlling three joints (i.e. six movements) of the upper limb prosthesis. The inputs of the high-level controller are obtained from the classifier, while its outputs are applied as input signals for the low-level controller. The main advantage of the proposed strategy is the reduced effort required to the patient for controlling the prosthetic device, since he only has to initiate the movement that is finalized by the low-level part of the controller.
{"title":"Hierarchical myoelectric control of a human upper limb prosthesis","authors":"S. Herle, S. Man, G. Lazea, C. Marcu, P. Raica, R. Robotin","doi":"10.1109/RAAD.2010.5524609","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524609","url":null,"abstract":"Myolectric control is nowadays the most used approach for electrically-powered upper limb prostheses. The myoelectric controllers use electromyographic (EMG) signals as inputs. These signals can be collected from the skin surface using surface EMG sensors, or intramuscular, using needle sensors. No matter which method is used, they have to be processed before being used as controller inputs. In this paper, we present an algorithm based on an autoregressive (AR) model representation and a neural network, for EMG signal classification. The results have shown that combining a low-order AR model with a feed-forward neural network, a rate of classification of 98% can be achieved, while keeping the computational cost low. We also present a hierarchical control architecture and the implementation of the high-level controller using Finite State Machine. The solution proposed is capable of controlling three joints (i.e. six movements) of the upper limb prosthesis. The inputs of the high-level controller are obtained from the classifier, while its outputs are applied as input signals for the low-level controller. The main advantage of the proposed strategy is the reduced effort required to the patient for controlling the prosthetic device, since he only has to initiate the movement that is finalized by the low-level part of the controller.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129516944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2010-06-24DOI: 10.1109/RAAD.2010.5524602
A. A. Aljanobi, S. Al-hamed, S. Al-Suhaibani
The description of a mobile robotic unit for fruit harvesting was illustrated in this paper. The setup of the system was developed to harvest date palm fruit which is the most common fruit in Saudi Arabia. The system was based on readymade industrial robotic arm.
{"title":"A setup of mobile robotic unit for fruit harvesting","authors":"A. A. Aljanobi, S. Al-hamed, S. Al-Suhaibani","doi":"10.1109/RAAD.2010.5524602","DOIUrl":"https://doi.org/10.1109/RAAD.2010.5524602","url":null,"abstract":"The description of a mobile robotic unit for fruit harvesting was illustrated in this paper. The setup of the system was developed to harvest date palm fruit which is the most common fruit in Saudi Arabia. The system was based on readymade industrial robotic arm.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130580996","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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