Pub Date : 2004-06-03DOI: 10.1109/ICMECH.2004.1364449
H. Allam
This work describes the design and performance of a single element tactile display using shape memory alloy wire (SMA) as an actuator which when pulsed with an electrical current (in effect heating the metal), can be raised and lowered to approximate the desired output signal. The system is designed in order to obtain a linear approximation between displacement and resistance as well as the necessary A/D conversion, and the pulse width modulation (PWM) control of thhe wire through its electroni circuitry using a PIC Micro-controller 16C74A used to perform all the necessary control. The paper also focuses on the ability to stimulate the perception experienced from the operator's fingertip and to provide a sensation of touch or force. This work presents a means by which the system can be developed further so that such devices could be used to explore objects in virtual environment and act as input device to CAD tools.
{"title":"Single element based tactile display","authors":"H. Allam","doi":"10.1109/ICMECH.2004.1364449","DOIUrl":"https://doi.org/10.1109/ICMECH.2004.1364449","url":null,"abstract":"This work describes the design and performance of a single element tactile display using shape memory alloy wire (SMA) as an actuator which when pulsed with an electrical current (in effect heating the metal), can be raised and lowered to approximate the desired output signal. The system is designed in order to obtain a linear approximation between displacement and resistance as well as the necessary A/D conversion, and the pulse width modulation (PWM) control of thhe wire through its electroni circuitry using a PIC Micro-controller 16C74A used to perform all the necessary control. The paper also focuses on the ability to stimulate the perception experienced from the operator's fingertip and to provide a sensation of touch or force. This work presents a means by which the system can be developed further so that such devices could be used to explore objects in virtual environment and act as input device to CAD tools.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130482377","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317617
G. Steiner, D. Watzenig, B. Schweighofer
Ultrasonic distance sensors are widely used in robotics and automotive applications because of their low cost, robustness and small size. One disadvantage of low frequency piezoelectric transducers operating in air is their small bandwidth. This results in poor spatial resolution when discriminating multiple objects within the directivity of the sensors. One method proposed in the literature is using amplitude modulation. Drawbacks of this method are very long pulse duration and the resulting high effort for matched filtering of the received signals. In order to detect multiple objects, a novel approach is proposed. It is based on time optimal control of the transmitting transducer. The optimal control sequence is determined by quadratic programming. The resulting pulse signal has a considerably shorter decay time compared to a conventional burst excitation. This allows a better resolution for the recognition of objects that are close to each other.
{"title":"Time optimal control of ultrasonic transducers for improved multiple object recognition","authors":"G. Steiner, D. Watzenig, B. Schweighofer","doi":"10.1109/ROSE.2004.1317617","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317617","url":null,"abstract":"Ultrasonic distance sensors are widely used in robotics and automotive applications because of their low cost, robustness and small size. One disadvantage of low frequency piezoelectric transducers operating in air is their small bandwidth. This results in poor spatial resolution when discriminating multiple objects within the directivity of the sensors. One method proposed in the literature is using amplitude modulation. Drawbacks of this method are very long pulse duration and the resulting high effort for matched filtering of the received signals. In order to detect multiple objects, a novel approach is proposed. It is based on time optimal control of the transmitting transducer. The optimal control sequence is determined by quadratic programming. The resulting pulse signal has a considerably shorter decay time compared to a conventional burst excitation. This allows a better resolution for the recognition of objects that are close to each other.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126820435","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317620
Yu‐Chi Chang, Mitul Saha, Friedrich Prinz, J. Latombe, J. M. Pinilla
Medial Axis Transform (MAT) is a representation that encodes an object with symmetric (medial) axes in the object interior. MAT has been employed in a variety of applications such as pattern recognition, biological shape analysis and robotic motion planning. This work considers the problem of planning robot paths using a Probabilistic Roadmap (PRM) approach when obstacles create "narrow passages" in the robot collision-free space (the free-space). Past studies suggest that the performance of PRM planners degrades considerably in the presence of narrow passages. However, experiments also show that the dilation of the robot's free-space may dramatically alleviate the narrow-passage problem. Here, a novel MAT-based method is presented to "skinnify" the robot and/or the obstacles, hence to dilate the robot's free-space. A new PRM strategy exploits the dilated free-space to efficiently construct paths through narrow passages. Simulation results validate the use of the proposed MAT-based skinnification technique.
{"title":"Medial Axis Transform assists path planning in configuration spaces with narrow passages","authors":"Yu‐Chi Chang, Mitul Saha, Friedrich Prinz, J. Latombe, J. M. Pinilla","doi":"10.1109/ROSE.2004.1317620","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317620","url":null,"abstract":"Medial Axis Transform (MAT) is a representation that encodes an object with symmetric (medial) axes in the object interior. MAT has been employed in a variety of applications such as pattern recognition, biological shape analysis and robotic motion planning. This work considers the problem of planning robot paths using a Probabilistic Roadmap (PRM) approach when obstacles create \"narrow passages\" in the robot collision-free space (the free-space). Past studies suggest that the performance of PRM planners degrades considerably in the presence of narrow passages. However, experiments also show that the dilation of the robot's free-space may dramatically alleviate the narrow-passage problem. Here, a novel MAT-based method is presented to \"skinnify\" the robot and/or the obstacles, hence to dilate the robot's free-space. A new PRM strategy exploits the dilated free-space to efficiently construct paths through narrow passages. Simulation results validate the use of the proposed MAT-based skinnification technique.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130419755","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317616
Manfred Eibeck, Armin Risch, Michael Steiner
This work gives an overview of the current robotic applications and robot sensing systems at MAGNA STEYR, Graz. It discusses the purpose of current installations and their technological restrictions. Innovative solutions, which were installed in MAGNA STEYR's latest vehicle production lines, are presented and limitations summarized. Finally it provides requirements for future applications in the automotive industry from MAGNA STEYR's point of view.
{"title":"Range of robotic applications at MAGNA STEYR and areas for further advancement in automotive operations","authors":"Manfred Eibeck, Armin Risch, Michael Steiner","doi":"10.1109/ROSE.2004.1317616","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317616","url":null,"abstract":"This work gives an overview of the current robotic applications and robot sensing systems at MAGNA STEYR, Graz. It discusses the purpose of current installations and their technological restrictions. Innovative solutions, which were installed in MAGNA STEYR's latest vehicle production lines, are presented and limitations summarized. Finally it provides requirements for future applications in the automotive industry from MAGNA STEYR's point of view.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"44 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121008479","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317607
A. Fuchs, H. Zangl, G. Brasseur, E. Petriu
The paper discusses a parallel correlator architecture for the measurement of the flow velocity of powdery bulk solids in conveyor pipes. A robust random-data representation allows an efficient trade-off between the processing speed and the circuit complexity of the correlator architecture. This architecture has a high packing density and is well suited for modular very large-scale integration (VLSI).
{"title":"Random-data correlator architecture for flow velocity measurement applications","authors":"A. Fuchs, H. Zangl, G. Brasseur, E. Petriu","doi":"10.1109/ROSE.2004.1317607","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317607","url":null,"abstract":"The paper discusses a parallel correlator architecture for the measurement of the flow velocity of powdery bulk solids in conveyor pipes. A robust random-data representation allows an efficient trade-off between the processing speed and the circuit complexity of the correlator architecture. This architecture has a high packing density and is well suited for modular very large-scale integration (VLSI).","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125452860","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317619
A. Niel, P. Sommer, S. H. Kölpl, Y. Lypetskyy
We present an optical 3D-measurement system for highest possible flexibility for employment in an industrial environment, conceived for various industrial applications. The system is based on a 3D-measurement head attached to an industrial robot for positioning. The 3D sensor uses the structured light approach with multiple wavelength phase shifting and consists of two CCD cameras and a grid projector. To achieve high accuracy even at objects, which lack of geometric diversity, we combine the reconstruction process with indirect photogrammetry, in which structured objects of known shape are placed in fixed locations in the background. The paper presents the components of the system, describes the processing steps-generation of rawdata, sensor calibration, hand to sensor calibration, alignment of pointclouds, and compares results for different set-ups.
{"title":"High precision measurement of free formed parts using industrial robots","authors":"A. Niel, P. Sommer, S. H. Kölpl, Y. Lypetskyy","doi":"10.1109/ROSE.2004.1317619","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317619","url":null,"abstract":"We present an optical 3D-measurement system for highest possible flexibility for employment in an industrial environment, conceived for various industrial applications. The system is based on a 3D-measurement head attached to an industrial robot for positioning. The 3D sensor uses the structured light approach with multiple wavelength phase shifting and consists of two CCD cameras and a grid projector. To achieve high accuracy even at objects, which lack of geometric diversity, we combine the reconstruction process with indirect photogrammetry, in which structured objects of known shape are placed in fixed locations in the background. The paper presents the components of the system, describes the processing steps-generation of rawdata, sensor calibration, hand to sensor calibration, alignment of pointclouds, and compares results for different set-ups.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124629832","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317610
Slobodan Ilic, J. Katupitiya, M. Tordon
The work presents a cost-effective custom-made data logging system for in-vehicle use. Based on the required bandwidth and accuracy of the torque signal a real-time data acquisition system for long-term data logging of torque signal has been designed and implemented. The system is based on a computer running Windows CE 3.0 operating system. Filtered input signal is sample by over-sampling data acquisition system. Data reduction is achieved by decimation and data compression. Three data compression methods are compared: two methods based on zero-order and first-order predictors and a piecewise linear approximation method followed by run-length and Huffman coding. Several error bands have been investigated in the data compression methods. Test result show that a system with 1 GB flash card can store over 10000 hrs of drive shaft load history data allowing signal reconstruction with satisfactory accuracy.
提出了一种具有成本效益的车载定制数据记录系统。根据扭矩信号对带宽和精度的要求，设计并实现了一种用于扭矩信号长期数据记录的实时数据采集系统。该系统基于运行Windows CE 3.0操作系统的计算机。滤波后的输入信号通过过采样数据采集系统进行采样。数据缩减是通过抽取和数据压缩来实现的。比较了三种数据压缩方法:两种基于零阶和一阶预测量的方法和分段线性逼近方法，然后是游程长度和霍夫曼编码。研究了数据压缩方法中的几种误差带。测试结果表明，1 GB闪存卡系统可以存储10000小时以上传动轴负荷历史数据，能够以满意的精度进行信号重构。
{"title":"In-vehicle data logging system for fatigue analysis of drive shaft","authors":"Slobodan Ilic, J. Katupitiya, M. Tordon","doi":"10.1109/ROSE.2004.1317610","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317610","url":null,"abstract":"The work presents a cost-effective custom-made data logging system for in-vehicle use. Based on the required bandwidth and accuracy of the torque signal a real-time data acquisition system for long-term data logging of torque signal has been designed and implemented. The system is based on a computer running Windows CE 3.0 operating system. Filtered input signal is sample by over-sampling data acquisition system. Data reduction is achieved by decimation and data compression. Three data compression methods are compared: two methods based on zero-order and first-order predictors and a piecewise linear approximation method followed by run-length and Huffman coding. Several error bands have been investigated in the data compression methods. Test result show that a system with 1 GB flash card can store over 10000 hrs of drive shaft load history data allowing signal reconstruction with satisfactory accuracy.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134471003","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317614
K. Bergstrand, K. Carlsson, P. Wide, B. Lindgren
In rock drilling, as in many industries today, the drive towards unmanned equipment and full automation is a big issue. A challenge in the automation process for rock drilling is the retraction of the drill steels when the drilling is completed. Today the drilling can be performed automatically to some extend, but a human ear is required for the final part: when the splices between the drill steels are opened up enough to allow retraction. This paper discusses a Fast Fourier Transform (FFT) method to search through audio data in order to detect and locate specific sounds appearing when retraction of the drill steels is possible, and to investigate if achieving full automation of the drilling process is possible. The use of Wavelets has also been evaluated. As far as the authors know, there is no system today for automatic retraction of the drill steels. By recording and analysing sounds from rock drill rigs, a comparison between a system implemented with an electronic ear and a human ear has been evaluated. The FFT has been applied as a pre-processing method and examines features of power spectrum for the detection of the sound, when the splices are opened up. This sound contains higher power spectrum than sounds from the rest of the drilling procedure. Using these features, a classification program has been designed. The experimental results shows that there is a good possibility to make a commercialized product that automatically detect when the drill steels are ready to be retracted.
{"title":"Sound detection in noisy environment-locating drilling sound by using an artificial ear","authors":"K. Bergstrand, K. Carlsson, P. Wide, B. Lindgren","doi":"10.1109/ROSE.2004.1317614","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317614","url":null,"abstract":"In rock drilling, as in many industries today, the drive towards unmanned equipment and full automation is a big issue. A challenge in the automation process for rock drilling is the retraction of the drill steels when the drilling is completed. Today the drilling can be performed automatically to some extend, but a human ear is required for the final part: when the splices between the drill steels are opened up enough to allow retraction. This paper discusses a Fast Fourier Transform (FFT) method to search through audio data in order to detect and locate specific sounds appearing when retraction of the drill steels is possible, and to investigate if achieving full automation of the drilling process is possible. The use of Wavelets has also been evaluated. As far as the authors know, there is no system today for automatic retraction of the drill steels. By recording and analysing sounds from rock drill rigs, a comparison between a system implemented with an electronic ear and a human ear has been evaluated. The FFT has been applied as a pre-processing method and examines features of power spectrum for the detection of the sound, when the splices are opened up. This sound contains higher power spectrum than sounds from the rest of the drilling procedure. Using these features, a classification program has been designed. The experimental results shows that there is a good possibility to make a commercialized product that automatically detect when the drill steels are ready to be retracted.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123435201","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317609
R. Abielmona, E. Petriu, V. Groza
This work discusses an agent-based control system utilized for target tracking by clusters of basic mobile robotic sensor agents coupled to form complex reconfigurable mobile structures. Coupling and de-coupling mobile agents are controlled using an adaptive algorithm, which does not initially know the physical constraints tying the agents together, but is able to navigate the structure as if it were a single entity.
{"title":"Agent-based control for a dynamically reconfigurable mobile robotic structure","authors":"R. Abielmona, E. Petriu, V. Groza","doi":"10.1109/ROSE.2004.1317609","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317609","url":null,"abstract":"This work discusses an agent-based control system utilized for target tracking by clusters of basic mobile robotic sensor agents coupled to form complex reconfigurable mobile structures. Coupling and de-coupling mobile agents are controlled using an adaptive algorithm, which does not initially know the physical constraints tying the agents together, but is able to navigate the structure as if it were a single entity.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114464698","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 : 2004-05-24DOI: 10.1109/ROSE.2004.1317621
M. Siegel, Huadong Wu
The field of sensor fusion is well developed, but approaches to describing the confidence one ought to have in the fused result as a function of the confidence one has in the individual measurements is not. This speculative paper is intended to stimulate discussion in the robotics and instrumentation communities regarding how to approach "confidence fusion" in a way that can be practically applied in robotics applications and is intuitively satisfying with respect our feelings regarding how confidence in measurements ought to propagate. Preliminary ideas are developed in the context of a scenario wherein two one-bit-output sensors in which we have different confidence are used together. The results are compared with numerical experiments simulating a real-life experiment that we have described in the field of sensor fusion for context-aware computing.
{"title":"Confidence fusion [sensor fusion]","authors":"M. Siegel, Huadong Wu","doi":"10.1109/ROSE.2004.1317621","DOIUrl":"https://doi.org/10.1109/ROSE.2004.1317621","url":null,"abstract":"The field of sensor fusion is well developed, but approaches to describing the confidence one ought to have in the fused result as a function of the confidence one has in the individual measurements is not. This speculative paper is intended to stimulate discussion in the robotics and instrumentation communities regarding how to approach \"confidence fusion\" in a way that can be practically applied in robotics applications and is intuitively satisfying with respect our feelings regarding how confidence in measurements ought to propagate. Preliminary ideas are developed in the context of a scenario wherein two one-bit-output sensors in which we have different confidence are used together. The results are compared with numerical experiments simulating a real-life experiment that we have described in the field of sensor fusion for context-aware computing.","PeriodicalId":142501,"journal":{"name":"International Workshop on Robot Sensing, 2004. ROSE 2004.","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776845","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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