Pub Date : 2016-07-08DOI: 10.1109/ARSO.2016.7736281
XiaoPeng Lu, W. Jiang
Fuel cell has become one of the best sources of power source for sustainable transportation because of its low temperature chamber gas emission and high power density. Fuel cell hybrid vehicle use fuel cell and battery/super capacitor drive system. Energy management strategy is the most important issues in the efficiency and performance of hybrid vehicle systems. This paper summarizes the system structure, energy and energy management strategy of the fuel cell hybrid electric vehicle. The rapid growth of electric vehicles makes the intelligent power grid control play an important role in the management of demand. Aware of environmental issues and fuel crisis, has brought the world's fuel cell hybrid car sales.
{"title":"The structures and the energy management strategies in FCHVs","authors":"XiaoPeng Lu, W. Jiang","doi":"10.1109/ARSO.2016.7736281","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736281","url":null,"abstract":"Fuel cell has become one of the best sources of power source for sustainable transportation because of its low temperature chamber gas emission and high power density. Fuel cell hybrid vehicle use fuel cell and battery/super capacitor drive system. Energy management strategy is the most important issues in the efficiency and performance of hybrid vehicle systems. This paper summarizes the system structure, energy and energy management strategy of the fuel cell hybrid electric vehicle. The rapid growth of electric vehicles makes the intelligent power grid control play an important role in the management of demand. Aware of environmental issues and fuel crisis, has brought the world's fuel cell hybrid car sales.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124749009","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736246
Tora Koyama
Recent robotics research is shifting its focus from industrial robots to social robots. One of the most difficult issues facing social robots is ethics. In this paper, I discuss how ethical issues on robots should be addressed from a philosophical point of view. After a brief survey of the previous research, I raise some issues that I found with the studies. Finally, I propose a novel approach that I call the Trust-based approach.
{"title":"Ethical issues for social robots and the trust-based approach","authors":"Tora Koyama","doi":"10.1109/ARSO.2016.7736246","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736246","url":null,"abstract":"Recent robotics research is shifting its focus from industrial robots to social robots. One of the most difficult issues facing social robots is ethics. In this paper, I discuss how ethical issues on robots should be addressed from a philosophical point of view. After a brief survey of the previous research, I raise some issues that I found with the studies. Finally, I propose a novel approach that I call the Trust-based approach.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123594529","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736282
X. Zhou, H. B. Chen, J. Chen, S. B. Chen, Zhili Feng
Experiments for measuring high temperature full-field strain were conducted during GTAW welding process using digital image correlation (DIC) technology. A special visual sensor system was equipped with image acquisition module. In order to reduce the influence of intense arc interference, a special laser-based illumination and filtering system was utilized. The in situ total strain close to the fusion line was measured during arc welding process. According to the total strain measured by DIC method and thermal strain calculated by the coefficient of thermal expansion, the mechanical strain was obtained, illustrating the sum of elastic and plastic strain distribution and deformation in the heated affected zone of the joint. Results showed that there remained compressive strain in both horizontal and vertical direction near the welding joint after welding. It demonstrated that full-field strain measurement could be achieved by DIC method during in situ arc welding.
{"title":"High temperature full-field strain measurement based on digital image correlation during arc welding","authors":"X. Zhou, H. B. Chen, J. Chen, S. B. Chen, Zhili Feng","doi":"10.1109/ARSO.2016.7736282","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736282","url":null,"abstract":"Experiments for measuring high temperature full-field strain were conducted during GTAW welding process using digital image correlation (DIC) technology. A special visual sensor system was equipped with image acquisition module. In order to reduce the influence of intense arc interference, a special laser-based illumination and filtering system was utilized. The in situ total strain close to the fusion line was measured during arc welding process. According to the total strain measured by DIC method and thermal strain calculated by the coefficient of thermal expansion, the mechanical strain was obtained, illustrating the sum of elastic and plastic strain distribution and deformation in the heated affected zone of the joint. Results showed that there remained compressive strain in both horizontal and vertical direction near the welding joint after welding. It demonstrated that full-field strain measurement could be achieved by DIC method during in situ arc welding.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132648410","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736258
Jie Chen, Yuan Fang, H. Lau
With the rapid development of virtual realities, it becomes possible nowadays for industrial practitioners to incorporate these technologies into their own applications. In air cargo industries, operating the air bridge system is of high importance, but due to the limited resources and potential damages to the aircrafts, training every operator in real world systems is difficult. To solve this problem, an air bridge simulator embedded into virtual reality systems will be a very good alternative. In this paper, a four degrees-of-freedom (DOF) robotic motion platform is designed to simulate the movement of an air bridge. The platform is driven by four pairs of motors and ball screws, and we also design a damping system for the proposed platform to avoid sudden shock. The proposed design of the structure has several advantages. Firstly, the structure itself is very simple. Secondly, due to its redundant DOF, many challenging requirements can be easily satisfied, such as singularity avoidance and energy minimization. Thirdly, as the load of the system is shared by many universal ball bull eye bearings, the required driving force of the platform is reduced drastically due to the low friction coefficient, which increases the agility of the system a lot. The inverse kinematic model (IK) of the proposed robotic air bridge simulator is also derived, and the derived IK is then used to drive the platform to perform a trajectory tracking task in simulation environment.
{"title":"A novel design of robotic air bridge training system","authors":"Jie Chen, Yuan Fang, H. Lau","doi":"10.1109/ARSO.2016.7736258","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736258","url":null,"abstract":"With the rapid development of virtual realities, it becomes possible nowadays for industrial practitioners to incorporate these technologies into their own applications. In air cargo industries, operating the air bridge system is of high importance, but due to the limited resources and potential damages to the aircrafts, training every operator in real world systems is difficult. To solve this problem, an air bridge simulator embedded into virtual reality systems will be a very good alternative. In this paper, a four degrees-of-freedom (DOF) robotic motion platform is designed to simulate the movement of an air bridge. The platform is driven by four pairs of motors and ball screws, and we also design a damping system for the proposed platform to avoid sudden shock. The proposed design of the structure has several advantages. Firstly, the structure itself is very simple. Secondly, due to its redundant DOF, many challenging requirements can be easily satisfied, such as singularity avoidance and energy minimization. Thirdly, as the load of the system is shared by many universal ball bull eye bearings, the required driving force of the platform is reduced drastically due to the low friction coefficient, which increases the agility of the system a lot. The inverse kinematic model (IK) of the proposed robotic air bridge simulator is also derived, and the derived IK is then used to drive the platform to perform a trajectory tracking task in simulation environment.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"98 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127343781","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}
In order to resolve issues such as excessive rigidity in polishing process with industrial robot, this paper proposed a solving method by installing a force feedback device at the robot end, designed an integrated pneumatic drive, servo control, mechanical drive force control flange device, built its control system platform, and proved in experiments that the dynamic performance of this device meets the requirements of the grinding and polishing system with industrial robot.
{"title":"Design of a flexible polishing force control flange","authors":"Ting Huang, Chuang Li, Zhenhua Wang, Lining Sun, Guodong Chen","doi":"10.1109/ARSO.2016.7736262","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736262","url":null,"abstract":"In order to resolve issues such as excessive rigidity in polishing process with industrial robot, this paper proposed a solving method by installing a force feedback device at the robot end, designed an integrated pneumatic drive, servo control, mechanical drive force control flange device, built its control system platform, and proved in experiments that the dynamic performance of this device meets the requirements of the grinding and polishing system with industrial robot.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127871235","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736287
Jie Chen, H. Lau
In this work, we first discuss details about a novel motion planning approach for robot point to point reaching tasks called stable estimator of dynamical systems (SEDS). A human operator first demonstrates reaching movements several times, and Gaussian Mixture Model and Gaussian Mixture Regression are used to roughly encode human demonstrations through a first order ordinary differential equation. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential model and SEDS is derived. Since during human demonstrations, the velocity is usually quite low which heavily restricts the kinetic capability of the robot, and sometimes we expect the robot to move more fast, such as to catch flying objects and to avoid fast moving obstacles. Therefore, it is extremely significant to develop a method to control the velocity and duration of the robot movement. In this paper, we define a nonlinear function based on the distance between the robot and the target to adjust the velocity of the robot. Experiments have been conducted in simulation environments to verify three properties of the proposed method, namely global asymptotical stability, adaptation to spatial perturbations and velocity controllability.
{"title":"Learning adaptive reaching skills with nonlinear dynamical systems directly from human demonstrations","authors":"Jie Chen, H. Lau","doi":"10.1109/ARSO.2016.7736287","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736287","url":null,"abstract":"In this work, we first discuss details about a novel motion planning approach for robot point to point reaching tasks called stable estimator of dynamical systems (SEDS). A human operator first demonstrates reaching movements several times, and Gaussian Mixture Model and Gaussian Mixture Regression are used to roughly encode human demonstrations through a first order ordinary differential equation. Then based on Lyapunov Stability Theorem, a constrained nonlinear optimization problem is formulated to iteratively refine the previously learned differential model and SEDS is derived. Since during human demonstrations, the velocity is usually quite low which heavily restricts the kinetic capability of the robot, and sometimes we expect the robot to move more fast, such as to catch flying objects and to avoid fast moving obstacles. Therefore, it is extremely significant to develop a method to control the velocity and duration of the robot movement. In this paper, we define a nonlinear function based on the distance between the robot and the target to adjust the velocity of the robot. Experiments have been conducted in simulation environments to verify three properties of the proposed method, namely global asymptotical stability, adaptation to spatial perturbations and velocity controllability.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121720579","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736252
S. Du, J. Schlattmann, S. Schulz, A. Seibel
In this paper, a digital prototype of a novel robot system for the sustainable mobility assurance in the assistance and care is presented. In contrast to established systems, the new robot system renounces totally the use of wheels as the locomotion concept and uses two serially arranged parallel kinematics (hexapods) instead. As a ride-on device, the system offers high mobility and is able to move forwards, backwards, and sidewards as well as automatically recognize and overcome obstacles. Furthermore, the telescopic motion of the legs enables the handling of steps, stairs, and low clearances.
{"title":"Robot system for the sustainable mobility assurance in the assistance and care","authors":"S. Du, J. Schlattmann, S. Schulz, A. Seibel","doi":"10.1109/ARSO.2016.7736252","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736252","url":null,"abstract":"In this paper, a digital prototype of a novel robot system for the sustainable mobility assurance in the assistance and care is presented. In contrast to established systems, the new robot system renounces totally the use of wheels as the locomotion concept and uses two serially arranged parallel kinematics (hexapods) instead. As a ride-on device, the system offers high mobility and is able to move forwards, backwards, and sidewards as well as automatically recognize and overcome obstacles. Furthermore, the telescopic motion of the legs enables the handling of steps, stairs, and low clearances.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125601339","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736298
Zhifen Zhang, G. Wen, Shanben Chen
Multiple sensors of various source have been increasingly applied into different civilian situations as well as robotic welding process monitoring. How to take full advantage of these information, more importantly, scientifically fusion multisensory data for the specific application system may be of great challenge. In this paper, different sensing technique used for real-time welding quality monitoring were briefly reviewed and discussed in terms of their ability for implementation of data fusion system. Then, a feature-level data fusion application case of aluminum GTAW condition monitoring will be given with thoroughly discussion. This paper will provide some guidance for implementation of fusion system for process monitoring and defect detection.
{"title":"Multisensory data fusion technique and its application to welding process monitoring","authors":"Zhifen Zhang, G. Wen, Shanben Chen","doi":"10.1109/ARSO.2016.7736298","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736298","url":null,"abstract":"Multiple sensors of various source have been increasingly applied into different civilian situations as well as robotic welding process monitoring. How to take full advantage of these information, more importantly, scientifically fusion multisensory data for the specific application system may be of great challenge. In this paper, different sensing technique used for real-time welding quality monitoring were briefly reviewed and discussed in terms of their ability for implementation of data fusion system. Then, a feature-level data fusion application case of aluminum GTAW condition monitoring will be given with thoroughly discussion. This paper will provide some guidance for implementation of fusion system for process monitoring and defect detection.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123099647","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 : 2016-07-08DOI: 10.1109/ARSO.2016.7736264
N. Lv, Y. L. Xu, G. Fang, X. W. Yu, S. B. Chen
This paper proposed a new recognition model of analyzing the relationship between arc sound and penetration state. The experiment system is based on Robotic GTAW welding system with acoustic sensor and signal conditioner on it. The arc sound signal was firstly preprocessed to remove the influence of DC component and environmental noise. Then the features of arc sound signal were extracted and analysed in time and frequency domain. Finally, a new type of prediction model BP-Adaboost was built up to recognize different penetration state and welding quality through arc sound signal. The results showed that the new model had better prediction effect for the welding penetration state monitoring.
{"title":"Research on welding penetration state recognition based on BP-Adaboost model for pulse GTAW welding dynamic process","authors":"N. Lv, Y. L. Xu, G. Fang, X. W. Yu, S. B. Chen","doi":"10.1109/ARSO.2016.7736264","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736264","url":null,"abstract":"This paper proposed a new recognition model of analyzing the relationship between arc sound and penetration state. The experiment system is based on Robotic GTAW welding system with acoustic sensor and signal conditioner on it. The arc sound signal was firstly preprocessed to remove the influence of DC component and environmental noise. Then the features of arc sound signal were extracted and analysed in time and frequency domain. Finally, a new type of prediction model BP-Adaboost was built up to recognize different penetration state and welding quality through arc sound signal. The results showed that the new model had better prediction effect for the welding penetration state monitoring.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132620066","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}
The welding unit is an indispensable part of the welding flexible manufacturing system (WFMS). The local welding units welding system is a typical hybrid systems, not only continuous variables involved, but also discrete variables involved, and there are many uncertainties in the welding process. Mixed logical dynamical (MLD) approach is a more effective tool for hybrid system, and more suitable for intelligent robotic welding process, therefore MLD can effectively predict and control the state of robot motion and welding process. The purpose of this paper is to apply the MLD to model the dual robot motion process and welding power supply. The stability and reliability of the MLD architecture indicates that it is adapted to dual robotic welding process.
{"title":"Mixed logic dynamic model for the hybrid characteristics of the dual robotic welding process and system","authors":"Hao Zhou, Yinshui He, Yuxi Chen, Di Wu, Huabin Chen, Shanben Chen","doi":"10.1109/ARSO.2016.7736299","DOIUrl":"https://doi.org/10.1109/ARSO.2016.7736299","url":null,"abstract":"The welding unit is an indispensable part of the welding flexible manufacturing system (WFMS). The local welding units welding system is a typical hybrid systems, not only continuous variables involved, but also discrete variables involved, and there are many uncertainties in the welding process. Mixed logical dynamical (MLD) approach is a more effective tool for hybrid system, and more suitable for intelligent robotic welding process, therefore MLD can effectively predict and control the state of robot motion and welding process. The purpose of this paper is to apply the MLD to model the dual robot motion process and welding power supply. The stability and reliability of the MLD architecture indicates that it is adapted to dual robotic welding process.","PeriodicalId":403924,"journal":{"name":"2016 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132982236","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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