2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献_第7页

Contact force computation for bimanual grasps 双手抓取接触力计算

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247760

Abiud Rojas-de-Silva, R. Suárez

引用次数: 2

Optimized configuration of a tactile sensor system for flexible grippers 柔性抓手触觉传感系统的优化配置

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247763

S. Zug, Veit Müller, M. Seidel, Pascal Krenckel

{"title":"Optimized configuration of a tactile sensor system for flexible grippers","authors":"S. Zug, Veit Müller, M. Seidel, Pascal Krenckel","doi":"10.1109/ETFA.2017.8247763","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247763","url":null,"abstract":"Autonomous grasping operations in dynamical environments are key elements of solutions for Factory-of-the-Future scenarios. The manipulator has to cope with a broad variety of objects with different shapes, materials and uncertain poses but at the same time it should provide reliable grasping and placement operations. Within this context, tactile sensors mounted directly on the grippers are a promising solution for monitoring the grasping process. They operate independently from light or line of sight configurations, thus offer a new object detection modality, besides optical-based systems. We receive an imprint of the grasped object with a spatial resolution according to the sensor pattern. However, in case of grippers with a flexible structure and material, this method generates spurious measurements if the gripper is deformed during a manipulation process. This effect disturbs the evaluation of the gripper's state or object position. In this paper, we develop the specification of a tailored tactile sensor configuration able to handle gripper deformations. Based on the results we present a proof-of-concept implementation.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"26 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84299497","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

Wireless network performance evaluation for networked robots 网络化机器人无线网络性能评价

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247734

Insaf Sassi, Alexia Gouin, J. Thiriet

引用次数: 3

Validation of a monthly quasi-steady-state simulation model for the energy use in buildings 建筑物能源使用每月准稳态模拟模型的验证

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247665

A. Moronis, C. Koulamas, A. Kalogeras

{"title":"Validation of a monthly quasi-steady-state simulation model for the energy use in buildings","authors":"A. Moronis, C. Koulamas, A. Kalogeras","doi":"10.1109/ETFA.2017.8247665","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247665","url":null,"abstract":"The evaluation of the energy consumption or the energy performance of buildings, from a complex engineering system point of view, is a multi-parametric problem where different static or dynamic methods are being used. Quantitative analysis is usually required, not only in the context of building regulations, but also as an important engineering tool for planning energy efficiency measures or interventions. In this paper a quasi-steady state model for the energy use in buildings is presented, which combines simplicity, minimum requirements for data input and adequate accuracy. This model is based on the methodologies described in the ISO 13790 standard. It combines a basic steady state physical model, where dynamic effects are also taken into account by introducing different correlation factors and reference parameters. It's main advantage over more complex dynamic models requiring detailed data and high expertise, is that it can be used not only from a small number of experts but also from engineers involved in energy management or energy efficiency projects. This model is validated according to the procedures of the EN 15265 standard, in order to investigate the dependence of the results on the different parameters used.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"35 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80657835","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

Decomposition and distributed algorithms for home healthcare routing and scheduling problem 家庭医疗保健路由调度问题的分解与分布式算法

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247622

Sarmad Riazi, Oskar Wigström, Kristofer Bengtsson, B. Lennartson

{"title":"Decomposition and distributed algorithms for home healthcare routing and scheduling problem","authors":"Sarmad Riazi, Oskar Wigström, Kristofer Bengtsson, B. Lennartson","doi":"10.1109/ETFA.2017.8247622","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247622","url":null,"abstract":"Many people in need of care still live in their homes, requiring the caretakers to travel to them. Assigning the people to caretakers and generating their schedules can be formulated as a mixed integer linear programming problem (MILP) that inherits many features of the well-known vehicle routing problem with time windows (VRPTW). Currently, the most successful exact algorithms for VRPTW are based on branch and price framework, which combine column generation (CG) and branching. While these methods could be successful for Home Healthcare Routing and Scheduling Problem (HHCRSP) as well, fast approximate algorithms are appealing, especially for large problems. We recently employed a heuristic distributed gossip algorithm to solve HHCRSP. The method had the potential to provide approximate solutions for relatively large problem instances, but its effectiveness was limited to the performance of its local MILP solver. In this paper, we integrate the gossip algorithm with a local solver based on CG, which makes it an effective algorithm for larger problem instances. We also provide numerical experiments and complexity evaluations of the improved gossip algorithm (gossip-CG) with the standard gossip (gossip-MILP) and CG, and show that gossip-CG outperforms the pure CG in case of large problems.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"73 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80893631","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: 4

Automatic light control of an arbitrary color source for AMOLED inspection using random-search method 用随机搜索法实现任意色源AMOLED检测的自动光控

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247639

HyungTae Kim, KyungChan Jin, Jongseok Kim, EungJoo Ha, JinHyeok Lee

{"title":"Automatic light control of an arbitrary color source for AMOLED inspection using random-search method","authors":"HyungTae Kim, KyungChan Jin, Jongseok Kim, EungJoo Ha, JinHyeok Lee","doi":"10.1109/ETFA.2017.8247639","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247639","url":null,"abstract":"Illumination is one of the important factors in machine-vision systems, and optimization of illumination is essential to acquire high-quality images during an inspection process. This paper proposes optimization process of the light color and intensity for inspection of active matrix organic light emitting diode (AMOLED) panels using a random-search method. The raw image acquired by a line scan camera had low luminance uniformity due to the surface condition of the AMOLED. The brightness deviation of the image was corrected to increase uniformity. The image quality after the correction was evaluated using a kind of image index, namely Tenenbaum gradient. The random-search method switched the dimming levels of the color source until a better image index was obtained. The random search was formulated for a multi-dimensional vector to be used in an arbitrary number of color sources. The random value in this study was generated using Gaussian random method, and was terminated when the size of a random vector became sufficiently smaller. The random-search method for automatic light control of AMOLED inspection showed 0.6% difference in the image index between the equal-step search and the proposed method. However the number of iterations in the proposed method was 22 but that of the combinations was 20484.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"21 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89698825","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

The role of the Industry 4.0 asset administration shell and the digital twin during the life cycle of a plant 工业4.0资产管理外壳和数字孪生在工厂生命周期中的作用

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247583

Constantin Wagner, Julian Grothoff, U. Epple, R. Drath, S. Malakuti, Sten Grüner, M. Hoffmeister, Patrick Zimmermann

引用次数: 125

Model-based maintenance scheduling in flexible modular automation systems 柔性模块化自动化系统中基于模型的维护调度

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247738

Deepak Pal, J. Vain, S. Srinivasan, S. Ramaswamy

引用次数: 2

Motion planning with motion primitives for industrial bin picking 运动规划与运动原语工业料仓拣选

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247759

Vojtěch Vonásek, A. Vick, M. Saska

{"title":"Motion planning with motion primitives for industrial bin picking","authors":"Vojtěch Vonásek, A. Vick, M. Saska","doi":"10.1109/ETFA.2017.8247759","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247759","url":null,"abstract":"In the bin picking problem, the task is to automatically unload objects from a container using a robotic manipulator. The task is often approached by organizing the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions at known times. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. The demand for fast and highly flexible handling and manipulation abilities of industrial robots requires to solve all the bin picking methods, including motion planning, online. In this paper, we propose a novel technique for fast sampling-based motion planning of robotic manipulators using motion primitives. Motion primitives are short trajectories that boost search of the configuration space and consequently speed up the planning phase. The proposed work has been verified in a simulation and on a prototype of a bin picking system.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"55 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90594619","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: 7

Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt 传送带上未知旋转对称物体的跟踪、重建和抓取

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247651

Denis Stogl, Daniel Zumkeller, S. E. Navarro, Alexander Heilig, B. Hein

{"title":"Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt","authors":"Denis Stogl, Daniel Zumkeller, S. E. Navarro, Alexander Heilig, B. Hein","doi":"10.1109/ETFA.2017.8247651","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247651","url":null,"abstract":"Many manipulation applications in industrial settings using robots depend on reliable detection and grasping capabilities of stationary or moving objects. The latter demand an extended use of intrinsic and extrinsic sensors being in a closed control-loop with a robotic system. In this paper we present an approach for tracking, reconstruction and grasping of unknown objects from a moving conveyor belt using an external depth sensor and an industrial robot. The approach consists of an algorithm for the estimation of the position, velocity and form of an object, an algorithm for estimation of the conveyor's path and an algorithm for calculating an interception trajectory for the robot. The presented scheme is designed for tracking and reconstruction of unknown rotationally symmetrical objects. Nevertheless, the reconstruction algorithm is able to detect asymmetrical parts of an object and recognize if an object is hollow. This is further used for calculation of a feasible grasp. From the reconstruction data a mesh of the object is created. Finally, robots interception and grasping trajectory are calculated on-line for any arbitrary position on the conveyor. The objects are sucessfully grasped from moving conveyor up to the speed of more than 10 [cm/s].","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"60 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87517132","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: 13