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Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice最新文献

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A tele-operated semi-intelligent climbing robot for nuclear applications 用于核应用的遥控半智能攀爬机器人
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625305
S. Galt, B. Luk, D. S. Cooke, A. Collie
{"title":"A tele-operated semi-intelligent climbing robot for nuclear applications","authors":"S. Galt, B. Luk, D. S. Cooke, A. Collie","doi":"10.1109/MMVIP.1997.625305","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625305","url":null,"abstract":"This paper describes the design and construction of a tele-operated eight-legged walking/climbing robotic vehicle aimed at meeting the specifications provided by the nuclear industry. The overall design philosophy is based upon biological systems and their behaviours so that the resulting vehicle can perform the required duties in an efficient manner. A hybrid control architecture is employed in the system which combines the advantages of both hierarchical and reactive methodologies. Preliminary on-site trials have shown that the designed and constructed vehicle is capable of fulfilling the user requirements.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126331617","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}
引用次数: 19
Mechatronic wrist unit with fine positioning capabilities 具有精细定位功能的机电腕单元
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625309
D. Kwok, B. Shirinzadeh, C. Leigh-Lancaster
{"title":"Mechatronic wrist unit with fine positioning capabilities","authors":"D. Kwok, B. Shirinzadeh, C. Leigh-Lancaster","doi":"10.1109/MMVIP.1997.625309","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625309","url":null,"abstract":"This paper describes the research into and development of a mechatronic wrist unit with fine motion capabilities. The wrist has been originally designed as a four-axis system with three revolute and one prismatic joints. However, at this time only two of the axes have been implemented - one revolute and one prismatic. It is expected that the other two axes will also be implemented in the near future. This paper describes the underlying techniques for the design and development of the wrist unit given the constraints and goals, such as weight and the required accuracy set out at the start of the project. The paper also describes the control strategies as well as the actuation mechanism for fine positioning operations. The sensing strategies and the results of the experiments carried out for performance analysis are also presented.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"457 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125684554","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}
引用次数: 0
Implementation of a PC based controller for a PUMA robot 基于PC的PUMA机器人控制器的实现
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625229
J. Katupitiya, R. Radajewski, J. Sanderson, M. Tordon
{"title":"Implementation of a PC based controller for a PUMA robot","authors":"J. Katupitiya, R. Radajewski, J. Sanderson, M. Tordon","doi":"10.1109/MMVIP.1997.625229","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625229","url":null,"abstract":"The paper describes the replacement of the controller for a PUMA 512 robot with a newly designed PC based controller employing real-time direct control of the six articulated joints. The original mechanical structure of the PUMA 512 has been retained. The control software has been implemented by user programs written in C and C++ programming languages. The hardware of the new controller includes in-house designed: PWM amplifiers; PC interface cards; and a watchdog timer. The system uses two PC interface cards, each providing: two 24 bit and one 16 bit quadrature counters; a 12 bit analog to digital converter; a timer; and digital input/output. An Intel 486 DX2-66 based computer is used as the central controller. Preliminary results of the system performance are included.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132872213","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}
引用次数: 8
Robot positioning of a flexible hydraulic manipulator utilizing genetic algorithm and neural networks 基于遗传算法和神经网络的柔性液压机械臂机器人定位
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625321
A. Rouvinen, H. Handroos
{"title":"Robot positioning of a flexible hydraulic manipulator utilizing genetic algorithm and neural networks","authors":"A. Rouvinen, H. Handroos","doi":"10.1109/MMVIP.1997.625321","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625321","url":null,"abstract":"Robot positioning requires that the actuator positions are calculated as a function of end effector position. This mapping is called inverse kinematics of a robot. The inverse kinematics problem is very nonlinear and in some cases it cannot be solved in closed form. Several iterative and neural network approaches are studied in solving the inverse kinematics problem. Deflection of the manipulator arms due to flexibility and mass load causes positioning error. The magnitude of the error depends on the amount of mass load and arm positions and the stiffness characteristics of arms. In this paper a method based on genetic algorithm is used to solve the inverse kinematics of a three degrees of freedom log crane. Neural networks are used to solve the correction values for deflection compensation.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134601444","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}
引用次数: 11
An introductory course in mechatronics: Robo-Cricket 机电一体化入门课程:机器人板球
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625232
G. Wyeth
{"title":"An introductory course in mechatronics: Robo-Cricket","authors":"G. Wyeth","doi":"10.1109/MMVIP.1997.625232","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625232","url":null,"abstract":"At the University of Queensland, mechatronic engineering is introduced to first year students through a project-based subject in which students design and build a robot to play Robo-Cricket. The aim of the subject is to introduce students to engineering design and, most importantly, to the range of personal and interpersonal skills required to complete mechatronic engineering projects. The implementation of this subject has been based on studies of collaborative learning in an engineering educational context. Particular attention has been paid to achieving a balance between student stress and student motivation. As well as a review of the educational considerations, the paper describes the technical resources used and the task assigned the students. Evaluation data is presented that shows high student motivation and mastery of the technical skills. The data also shows student appreciation of the importance of management skills to mechatronic engineering practice.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"83 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121870881","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}
引用次数: 6
Robbie the running robot: a distributed learning system 跑步机器人Robbie:一个分布式学习系统
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625297
K. Eng, A. Robertson, D. R. Blackman
{"title":"Robbie the running robot: a distributed learning system","authors":"K. Eng, A. Robertson, D. R. Blackman","doi":"10.1109/MMVIP.1997.625297","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625297","url":null,"abstract":"A unique distributed control system has been developed to allow a hexapod robot to learn how to walk. It models competing directives which drive the robot to walk as quickly as possible without falling over given minimal initial knowledge. The system architecture features highly decentralised arrangement of cooperating modules with no central controller. This has many advantages over conventional control systems, including robustness, scope for incremental development and the ability to facilitate accurate pre-prototype simulation. Accelerated learning was achieved by using the robot's intrinsic knowledge of its own symmetry to infer additional information about its surroundings. This was found to improve the robot's performance, particularly at the start of the learning process when information was limited. These concepts can be applied to autonomous robots for use in deep sea and other inhospitable environments.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122016205","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}
引用次数: 1
An autonomous underwater platform 自主水下平台
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625312
S. Harrold, D. Liao, L. Yeung
{"title":"An autonomous underwater platform","authors":"S. Harrold, D. Liao, L. Yeung","doi":"10.1109/MMVIP.1997.625312","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625312","url":null,"abstract":"For many subsea autonomous underwater vehicle (AUV) operations station-holding against water current and decoupling between yaw and position are necessary requirements. This paper describes an autonomous underwater platform (AUP) that has been designed specially to investigate and evaluate control methods which can provide this type of stability. The AUP described is small and nimble, and has a re-configurable structure, comprising a 2D A-frame with modules, thrust units and controllable buoyancy units, mounted upon it. Two and five modules can be controlled according to mission requirement. The structure design of an AUV is a complex trade-off among various design variables and mission requirements. This paper presents the design and discusses the optimal configuration of the dynamics of the AUP, its sensor systems and control methods. The control system of the platform consists of a state control loop, a self-planning and navigation subsystem and an ultrasonic communication subsystem.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124714216","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}
引用次数: 0
Sensor-based walking of human type biped robot that has 14 degree of freedoms 基于传感器的14自由度人型双足机器人行走
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625302
Masaaki Kumagai, T. Emura
{"title":"Sensor-based walking of human type biped robot that has 14 degree of freedoms","authors":"Masaaki Kumagai, T. Emura","doi":"10.1109/MMVIP.1997.625302","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625302","url":null,"abstract":"Walking robots are useful for uneven terrain where wheel or crawler is not suitable. The biped robot is a kind of walking robot which can be used in human-live environments. There are many research works on biped robots. Most of them use complex dynamic models of robots or prepared joint angle trajectories. In this paper, we propose a control method for human type biped robot which does not need complex dynamic model of the robot and prepared walking pattern. This control method is a combination of simple actions based on information obtained by many sensors. We show the experimental results which indicate ability of this method, here.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127829750","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}
引用次数: 8
Experiments on a time-optimal trajectory planning method based on neural networks 基于神经网络的时间最优轨迹规划方法实验
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625322
G. Fang, M. Dissanayake
{"title":"Experiments on a time-optimal trajectory planning method based on neural networks","authors":"G. Fang, M. Dissanayake","doi":"10.1109/MMVIP.1997.625322","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625322","url":null,"abstract":"Operating robots along time-optimal trajectories can significantly increase the productivity of robot systems. To plan realistic optimal trajectories, the robot dynamics have to be described precisely. In this paper, a neural network (NN) based algorithm for time-optimal trajectory planning is introduced. This method utilises neural networks for representing the inverse dynamics of the robot. As the proposed neural networks can be trained using data obtained from exciting the robot with given torque inputs, they will capture the complete dynamics of the robot system. Therefore, the optimal trajectories generated by using the neural network model will be more realistic than those obtained using robot dynamic equations with nominal parameters. Time-optimal trajectories are generated for a PUMA robot to demonstrate the proposed method.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128700065","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}
引用次数: 0
An ultrasonically controlled robot submarine for pipe inspection 一种用于管道检测的超声控制机器人潜艇
Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice Pub Date : 1997-09-23 DOI: 10.1109/MMVIP.1997.625310
F. Nickols, D. Ho, S. Harrold, R. Bradbeer, L. Yeung
{"title":"An ultrasonically controlled robot submarine for pipe inspection","authors":"F. Nickols, D. Ho, S. Harrold, R. Bradbeer, L. Yeung","doi":"10.1109/MMVIP.1997.625310","DOIUrl":"https://doi.org/10.1109/MMVIP.1997.625310","url":null,"abstract":"A model submarine with four legs and without an umbilical is described that is both radio controlled and ultrasonically controlled to walk in a pipe. The ultrasonic communication system is described together with the problem and solutions encountered and worked out. Finally, the leg kinematics, and their actuation system and control are discussed.","PeriodicalId":261635,"journal":{"name":"Proceedings Fourth Annual Conference on Mechatronics and Machine Vision in Practice","volume":" 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1997-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132157726","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}
引用次数: 14
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