Smart Robotic Assistants for Small Volume Manufacturing Tasks
|
|
- Winifred Charles
- 6 years ago
- Views:
Transcription
1 Smart Robotic Assistants for Small Volume Manufacturing Tasks Satyandra K. Gupta Director, Center for Advanced Manufacturing Smith International Professor Aerospace and Mechanical Engineering Department Viterbi School of Engineering University of Southern California
2 Examples of Applications for Traditional Industrial Robots ASSEMBLY WELDING (Image Source: (Image Source: LOADING AND UNLOADING (Image Source: PAINTING (Image Source:
3 Characteristics of Traditional Industrial Robots Cannot share space with humans Need human experts to program robots Able to perform simple repetitive tasks Require significant lead time to develop custom hardware Installed at fixed locations Require high utilization rate to justify return on investment Characteristics of traditional industrial robots make it difficult to use them in small volume manufacturing
4 Why use robots in small volume manufacturing applications? Tasks that humans cannot do High speed composite layup to improve part quality Tasks that human should not do Handling of heavy parts Tasks that humans don t want to do Sanding and polishing, support structure removal from 3D printed metal parts Small volume manufacturing can benefit tremendously from use of industrial robots!
5 Current Situation New capabilities are removing traditional barriers Industrial robot costs have come down It is now possible to consider using robots on small volume manufacturing applications
6 Our Goal Develop physics-aware decision making methodologies and computational tools to enable use of robots on non-repetitive manufacturing tasks
7 Examples of Small Volume Manufacturing Applications being developed at USC Center for Advanced Manufacturing
8 Robotic Finishing: Motivation Finishing tasks can take up to 25% of manufacturing costs Examples: cleaning, sanding, polishing, de-burring, support material removal for 3D printing, rust removal Finishing operation performed on complex geometries require constant monitoring and adjustment Source: A large number of finishing tasks are currently performed manually!
9 Robotic Finishing: Approach On-line Planning Setup planning to determine optimal number of setups Grasp location planning Generation of tool trajectories for each setup On-line Learning Selection of tool trajectory parameters using active learning Combination of data-driven and model-driven approach to learn cleaning process model Task Safety Impedance control and on-line perception for task safety
10 Robotic Finishing: Videos VWiGuaoxL0sGNw-PNi8r3h2tK6zz (Advanced Robotic Finishing KUKA Innovation Award 2017 Finalist Spotlight) (Robotic Finishing Demo with User Interface) (Robotic Finishing Motivation) (Robotic Finishing Experiments Compilation) (Robotic Cleaning) (Robotic Cleaning of Compliant Objects)
11 Robotic Bin Picking for Complex Parts: Motivation Currently robotic bin picking is used only for simple parts Robotic bin picking is not used in mixed bins or parts that have tendency to tangle
12 Robotic Bin Picking for Complex Parts: Approach Automated perception to estimate part location in the bin and associated uncertainty Extraction planning to remove the part from the bin without causing the part to be tangled with other parts in the bin If the task completion confidence is low, then the system seeks help from the human operator
13 Robotic Bin Picking for Complex Parts: Video (RoboSAM: Robotic Smart Assistant for Manufacturing)
14 Robotic Additive Manufacturing: Motivation Traditional additive manufacturing uses planar layers 3D object converted to 2D layers Constrained by deposition orientation and geometric irregularity Building curved geometries takes a long time Strength is compromised
15 Robotic Additive Manufacturing: Approach Robots enable deposition of non-planar layers Minimize number of layers Improve strength Reduce support material Reduces cost, time, and material waste Ability to exploit composite material Capability of material deposition on irregular surfaces and platforms
16 Robotic Additive Manufacturing: Video (Additive Manufacturing with Non-planar Layers)
17 Collaborative Assembly: Motivation Robots are used only on high volume assembly applications Low volume applications will require collaboration between humans and robots Challenging tasks will need to be assigned to humans Robots should be able to seek help from humans to handle contingencies Source: GE, Photo: JIM R. BOUNDS, BLOOMBERG NEWS
18 Collaborative Assembly: Approach Task planning and resource allocation to explicitly account for managing contingencies Real-time monitoring of the task progress during the execution Real-time replanning algorithms to handle contingencies Human robot collaboration to deal with contingencies
19 Collaborative Assembly: Video (Robotic Assistants to Support Complex Assembly Operations in Small Production Volumes) (Assembly automation using smart robotic assistant) (A Flexible Hybrid Cell for Low Production Volume Assembly)
20 Robotic Composite Layup: Motivation Automated tape layup (ATL) machines can only handle simple geometries Complex layup operations will require collaboration among multiple robots and humans Task monitoring needs to be integrated with task execution to prevent defects in the part n/cms/sb09_compositesthematerials_h.jpg dxt5xhaejru/tq_vlw1m3ri/aaaaaaaabiw/8dgwvcw3ouu /s1600/hand_lay_up_01.jpg
21 Robotic Composite Layup: Approach Design of end effectors for material dispensing and layup on complex molds Multi-arm manipulation of deformable sheets Trajectory planning and refinement Efficient and safe human robot collaboration
22 Robotic Composite Layup: Video (Collaborative Robotic Cell for Composite Sheet Layup) (Hybrid Cells for Multi-Layer Prepreg Composite Sheet Layup)
23 Conclusions Recent advances in the field of industrial robots are adding new capabilities at an unprecedented rate Physics-aware decision making is a key to realizing smart robotic assistants Application context is very important Need to model Interactions among component technologies We have demonstrated feasibility of smart robotic assistants in new manufacturing applications Finishing Bin Picking for Complex Parts Collaborative Assembly Composite Layup Additive Manufacturing
24 References Alsharhan, A. T., Centea, T., Gupta, S. K., Enhancing mechanical properties of thin-walled structures using non-planar extrusion based additive manufacturing. ASME Manufacturing Science and Engineering Conference, Kabir, A. M., Langsfeld, J. D., Zhaung, C., Kaipa, K. N., and Gupta, S. K. A systematic approach for minimizing physical experiments to identify optimal trajectory parameters for robots. IEEE International Conference on Robotics and Automation, Kabir, A. M. and Kaipa, K. N. and Marvel, J. and Gupta, S. K. Automated Planning for Robotic Cleaning using Multiple Setups and Oscillatory Tool Motions. IEEE Transactions on Automation Science and Engineering, Kabir, A. M., Langsfeld, J. D., Zhuang, C., Kaipa, K. N., Gupta, S. K. Automated Leaning of Operation Parameters for Robotic Cleaning by Mechanical Scrubbing. ASME Manufacturing Science and Engineering Conference, Kabir, A. M., Langsfeld, J. D., Shriyam, S., Rachakonda, V., Zhaung, C., Kaipa, K. N., Marvel, J., and Gupta, S. K. Planning Algorithms for Multi-Setup Multi-Pass Robotic Cleaning with Oscillatory Moving Tools. IEEE International Conference on Automation Science and Engineering, 2016.
25 References (Cont.) Kaipa, K. N., Kankanhalli-Nagendra, A. S., Kumbla, N. B., Shriyam, S., Thevendria-Karthic, S. S., Marvel, J., Gupta, S. K. Addressing Perception Uncertainty Induced Failure Modes in Robotic Bin-Picking, Robotics and Computer-Integrated Manufacturing, Kaipa, K. N., Shriyam, S., Kumbla, N. B., Gupta, S. K., Resolving Occlusions Through Simple Motions in Robotic Bin-Picking, ASME Manufacturing Science and Engineering Conference, Kaipa, K. N., Shriyam, S., Kumbla, N. B., Gupta, S. K. Automated Plan Generation for Robotic Singulation from Mixed Bins. IROS Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, Kaipa, K. N., Kumbla, N. B., Gupta, S. K. Characterizing Performance of Sensorless Fine Positioning Moves in the Presence of Grasping Position Uncertainty, IROS Workshop on Task Planning for Intelligent Robots in Service and Manufacturing, Kaipa, K. N., Thevendria-Karthic, S. S., Shriyam, S., Kabir, A. M., Langsfeld, J. D., & Gupta, S. K., Resolving automated perception system failures in bin-picking tasks using assistance from remote human operators. IEEE International Conference on Automation Science and Engineering, 2015 Kumbla, N. B., Thakar, S., Kaipa, K. N., Marvel, J., Gupta, S. K., Simulation Based On-Line Evaluation of Singulation Plans to Handle Perception Uncertainty in Robotic Bin Picking, ASME Manufacturing Science and Engineering Conference, 2017.
26 References (Cont.) Langsfeld, J. D., Kabir, A. M., Kaipa, K. N., Gupta, S. K. Online Learning of Part Deformation Models for Robotic Cleaning. ASME Manufacturing Science and Engineering Conference, Langsfeld, J. D., Kabir, A. M., Kaipa, K. N., Gupta, S. K. Robotic Bimanual Cleaning of Deformable Objects with Online Learning of Part and Tool Models. IEEE International Conference on Automation Science and Engineering, Morato, C. W., Kaipa, K. N., Liu, J., & Gupta, S. K. A framework for hybrid cells that support safe and efficient human-robot collaboration in assembly operations. ASME Computers and Information in Engineering Conference, August Morato, C., Kaipa, K., Zhao, B., & Gupta, S. K. Safe human robot interaction by using exteroceptive sensing based human modeling. ASME Computers and Information in Engineering Conference, August 2013
27 References (Cont.) Morato, C., Kaipa, K. N., Zhao, B., Gupta, S. K. Toward safe human robot collaboration by using multiple kinects based real-time human tracking. Journal of Computing and Information Science in Engineering, 14(1), , Morato, C., Kaipa, K. N., & Gupta, S. K. Improving assembly precedence constraint generation by utilizing motion planning and part interaction clusters. Computer-Aided Design, 45(11), , 2013.
1. PERSONAL INFORMATION A. RESEARCH INTERESTS. Computer Aided Design, Manufacturing Automation, and Robotics
Curriculum Vitae of Dr. Satyandra K. Gupta 3650 McClintock Ave., OHE 430G Aerospace and Mechanical Engineering Department University of Southern California, Los Angeles, California 90089-1453 Phone: (213)
More informationMore Info at Open Access Database by S. Dutta and T. Schmidt
More Info at Open Access Database www.ndt.net/?id=17657 New concept for higher Robot position accuracy during thermography measurement to be implemented with the existing prototype automated thermography
More informationUNIT VI. Current approaches to programming are classified as into two major categories:
Unit VI 1 UNIT VI ROBOT PROGRAMMING A robot program may be defined as a path in space to be followed by the manipulator, combined with the peripheral actions that support the work cycle. Peripheral actions
More informationReal-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments
Real-time Adaptive Robot Motion Planning in Unknown and Unpredictable Environments IMI Lab, Dept. of Computer Science University of North Carolina Charlotte Outline Problem and Context Basic RAMP Framework
More informationAvailable theses in industrial robotics (October 2016) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin
Available theses in industrial robotics (October 2016) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin Politecnico di Milano - Dipartimento di Elettronica, Informazione e Bioingegneria Industrial robotics
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute (6 pts )A 2-DOF manipulator arm is attached to a mobile base with non-holonomic
More informationPhysics-Based Manipulation in Human Environments
Vol. 31 No. 4, pp.353 357, 2013 353 Physics-Based Manipulation in Human Environments Mehmet R. Dogar Siddhartha S. Srinivasa The Robotics Institute, School of Computer Science, Carnegie Mellon University
More informationRobot Task-Level Programming Language and Simulation
Robot Task-Level Programming Language and Simulation M. Samaka Abstract This paper presents the development of a software application for Off-line robot task programming and simulation. Such application
More informationPhysical Human Robot Interaction
MIN Faculty Department of Informatics Physical Human Robot Interaction Intelligent Robotics Seminar Ilay Köksal University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department
More informationInformation and Program
Robotics 1 Information and Program Prof. Alessandro De Luca Robotics 1 1 Robotics 1 2017/18! First semester (12 weeks)! Monday, October 2, 2017 Monday, December 18, 2017! Courses of study (with this course
More informationInnovating Intelligence
Innovating Intelligence Why Robonetics? Robonetics -Technologies was established in 2018 and has already taken a significant place across World. Our company able to System Integration of Yaskawa, UR, KUKA,
More informationOn-demand printable robots
On-demand printable robots Ankur Mehta Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology 3 Computational problem? 4 Physical problem? There s a robot for that.
More informationRobots Learning from Robots: A proof of Concept Study for Co-Manipulation Tasks. Luka Peternel and Arash Ajoudani Presented by Halishia Chugani
Robots Learning from Robots: A proof of Concept Study for Co-Manipulation Tasks Luka Peternel and Arash Ajoudani Presented by Halishia Chugani Robots learning from humans 1. Robots learn from humans 2.
More informationIntroduction What is Design for Manufacture and Assembly? How Does DFMA Work? Reasons for Not Implementing DFMA What Are the Advantages of Applying
What is Design for Manufacture and Assembly? How Does DFMA Work? Reasons for Not Implementing DFMA What Are the Advantages of Applying DFMA During Product Design? Typical DFMA Case Studies Overall Impact
More informationIntroduction to Robotics in CIM Systems
Introduction to Robotics in CIM Systems Fifth Edition James A. Rehg The Pennsylvania State University Altoona, Pennsylvania Prentice Hall Upper Saddle River, New Jersey Columbus, Ohio Contents Introduction
More informationSuccess Stories within Factories of the Future
Success Stories within Factories of the Future Patrick Kennedy Communications Advisor European Factories of the Future Research Association EFFRA Representing private side in Factories of the Future PPP
More informationIs your next colleague a cobot?
Is your next colleague a cobot? Technifutur 29 November 2016 30.11.16 1 Agenda Main features Cobots vs industrial robots Add-ons Trends Case assessment Demonstrator 30.11.16 2 What s in a name? "Collaborative
More informationDepartment of Robotics Ritsumeikan University
Department of Robotics Ritsumeikan University Shinichi Hirai Dept. Robotics Ritsumeikan Univ. Hanoi Institute of Technology Hanoi, Vietnam, Dec. 20, 2008 http://www.ritsumei.ac.jp/se/rm/robo/index-e.htm
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute Use an example to explain what is admittance control? You may refer to exoskeleton
More informationStrategies for Safety in Human Robot Interaction
Strategies for Safety in Human Robot Interaction D. Kulić E. A. Croft Department of Mechanical Engineering University of British Columbia 2324 Main Mall Vancouver, BC, V6T 1Z4, Canada Abstract This paper
More informationAvailable theses (October 2011) MERLIN Group
Available theses (October 2011) MERLIN Group Politecnico di Milano - Dipartimento di Elettronica e Informazione MERLIN Group 2 Luca Bascetta bascetta@elet.polimi.it Gianni Ferretti ferretti@elet.polimi.it
More informationNational Aeronautics and Space Administration
National Aeronautics and Space Administration 2013 Spinoff (spin ôf ) -noun. 1. A commercialized product incorporating NASA technology or expertise that benefits the public. These include products or processes
More informationUNIT-1 INTRODUCATION The field of robotics has its origins in science fiction. The term robot was derived from the English translation of a fantasy play written in Czechoslovakia around 1920. It took another
More informationCOPRIN project. Contraintes, OPtimisation et Résolution par INtervalles. Constraints, OPtimization and Resolving through INtervals. 1/15. p.
COPRIN project Contraintes, OPtimisation et Résolution par INtervalles Constraints, OPtimization and Resolving through INtervals 1/15. p.1/15 COPRIN project Contraintes, OPtimisation et Résolution par
More informationStabilize humanoid robot teleoperated by a RGB-D sensor
Stabilize humanoid robot teleoperated by a RGB-D sensor Andrea Bisson, Andrea Busatto, Stefano Michieletto, and Emanuele Menegatti Intelligent Autonomous Systems Lab (IAS-Lab) Department of Information
More informationTHE HUMAN POWER AMPLIFIER TECHNOLOGY APPLIED TO MATERIAL HANDLING
THE HUMAN POWER AMPLIFIER TECHNOLOGY APPLIED TO MATERIAL HANDLING H. Kazerooni Mechanical Engineering Department Human Engineering Laboratory (HEL) University ofcajifomia, Berkeley, CA 94720-1740 USA E-Mail:
More informationPI: Rhoads. ERRoS: Energetic and Reactive Robotic Swarms
ERRoS: Energetic and Reactive Robotic Swarms 1 1 Introduction and Background As articulated in a recent presentation by the Deputy Assistant Secretary of the Army for Research and Technology, the future
More informationAutomated Shingling. Team 1, Robot Autonomy (16-662), Spring Eitan Babcock, Dan Berman, Sean Bryan, Rushat Gupta Chadha, Pranav Maheshwari
Automated Shingling Team 1, Robot Autonomy (16-662), Spring 2016 Eitan Babcock, Dan Berman, Sean Bryan, Rushat Gupta Chadha, Pranav Maheshwari Table of Contents The Problem.....2 Background.. 2 What we
More informationROBOTIC AUTOMATION Imagine Your Business...better. Automate Virtually Anything
John Henry Foster ROBOTIC AUTOMATION Imagine Your Business...better. Automate Virtually Anything 800.582.5162 John Henry Foster 800.582.5162 At John Henry Foster, we re devoted to bringing safe, flexible,
More informationRobotics 2 Collision detection and robot reaction
Robotics 2 Collision detection and robot reaction Prof. Alessandro De Luca Handling of robot collisions! safety in physical Human-Robot Interaction (phri)! robot dependability (i.e., beyond reliability)!
More informationHaptics CS327A
Haptics CS327A - 217 hap tic adjective relating to the sense of touch or to the perception and manipulation of objects using the senses of touch and proprioception 1 2 Slave Master 3 Courtesy of Walischmiller
More informationDesign Technology. IB DP course syllabus
Design Technology IB DP course syllabus 2016-2018 School of Young Politicians Gymnasium 1306 Teacher: Mariam Ghukasyan Nature of design technology Design, and the resultant development of new technologies,
More informationRandomized Motion Planning for Groups of Nonholonomic Robots
Randomized Motion Planning for Groups of Nonholonomic Robots Christopher M Clark chrisc@sun-valleystanfordedu Stephen Rock rock@sun-valleystanfordedu Department of Aeronautics & Astronautics Stanford University
More informationEuropass curriculum vitae. Academic Profile. Personal information. Education. Work Experience
Europass curriculum vitae Academic Profile Personal information Surname / First name Omirou Sotiris Telephones (+357) 22345158 ext 131 Fax (+357) 22438234 E-mail eng.os@fit.ac.cy Website http://staff.fit.ac.cy/eng.os
More informationPath Planning in Dynamic Environments Using Time Warps. S. Farzan and G. N. DeSouza
Path Planning in Dynamic Environments Using Time Warps S. Farzan and G. N. DeSouza Outline Introduction Harmonic Potential Fields Rubber Band Model Time Warps Kalman Filtering Experimental Results 2 Introduction
More informationMULTI CHANNEL ADJUSTABLE DC POWER SUPPLY WITH SINGLE TRANSFORMER BASED ON SPECTRAL SEPARATION
Journal of ELECTRICAL ENGINEERING, VOL. 65, NO. 1, 2014, 50 54 MULTI CHANNEL ADJUSTABLE DC POWER SUPPLY WITH SINGLE TRANSFORMER BASED ON SPECTRAL SEPARATION Zhang Benfeng Li Huafeng Li Sunan To meet the
More informationCAPACITIES FOR TECHNOLOGY TRANSFER
CAPACITIES FOR TECHNOLOGY TRANSFER The Institut de Robòtica i Informàtica Industrial (IRI) is a Joint University Research Institute of the Spanish Council for Scientific Research (CSIC) and the Technical
More informationSiddhartha Srinivasa Senior Research Scientist Intel Pittsburgh
Reconciling Geometric Planners with Physical Manipulation Siddhartha Srinivasa Senior Research Scientist Intel Pittsburgh Director The Personal Robotics Lab The Robotics Institute, CMU Reconciling Geometric
More informationAn Integrated Framework for Assembly-Oriented Product Design and Optimization
Volume 19, Number 2 - February 2003 to April 2003 An Integrated Framework for Assembly-Oriented Product Design and Optimization By Dr. Qiang Su and Dr. Shana Shiang-Fong Smith KEYWORD SEARCH CAD CIM Design
More informationShuguang Huang, Ph.D Research Assistant Professor Department of Mechanical Engineering Marquette University Milwaukee, WI
Shuguang Huang, Ph.D Research Assistant Professor Department of Mechanical Engineering Marquette University Milwaukee, WI 53201 huangs@marquette.edu RESEARCH INTEREST: Dynamic systems. Analysis and physical
More information3. s and Contact numbers : (alternate) (office) (mobile)
1. Name and full correspondence address : Dr. Atul Thakur R115/Block-3 Department of Mechanical Engineering Indian Institute of Technology Patna, Bihta Bihar - 801103 2. Designation : Assistant professor
More informationC. R. Weisbin, R. Easter, G. Rodriguez January 2001
on Solar System Bodies --Abstract of a Projected Comparative Performance Evaluation Study-- C. R. Weisbin, R. Easter, G. Rodriguez January 2001 Long Range Vision of Surface Scenarios Technology Now 5 Yrs
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute State one reason for investigating and building humanoid robot (4 pts) List two
More informationMotion Planning for Real Robots. Sachin Chitta
Motion Planning for Real Robots Needs, Challenges and Solutions Advanced Tools for Mobile Manipulation Sachin Chitta Associate Director Robotics Systems and Software SRI International Background PhD (GRASP,
More informationResearch Statement MAXIM LIKHACHEV
Research Statement MAXIM LIKHACHEV My long-term research goal is to develop a methodology for robust real-time decision-making in autonomous systems. To achieve this goal, my students and I research novel
More informationBoost Your Productivity
Boost Your Productivity 2 Askaynak Automation Askaynak Automation 1 2 3 Efficient Competitive Safe! Askaynak Automation is a fully-owned subsidiary of Eczacıbaşı-Lincoln Electric Askaynak, the leading
More informationEasy Robot Programming for Industrial Manipulators by Manual Volume Sweeping
Easy Robot Programming for Industrial Manipulators by Manual Volume Sweeping *Yusuke MAEDA, Tatsuya USHIODA and Satoshi MAKITA (Yokohama National University) MAEDA Lab INTELLIGENT & INDUSTRIAL ROBOTICS
More informationA Novel Robotic Manufacturing System for Learning Innovation
A Novel Robotic Manufacturing System for Learning Innovation Yuxin Liang 1, Jin Hu 2, Xiumin Diao 2 1 School of Agricultural & Biological Engineering 2 School of Engineering Technology Purdue University,
More informationCognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many
Preface The jubilee 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 was held in the conference centre of the Best Western Hotel M, Belgrade, Serbia, from 30 June to 2 July
More informationCraig Barnes. Previous Work. Introduction. Tools for Programming Agents
From: AAAI Technical Report SS-00-04. Compilation copyright 2000, AAAI (www.aaai.org). All rights reserved. Visual Programming Agents for Virtual Environments Craig Barnes Electronic Visualization Lab
More information2014 Market Trends Webinar Series
Robotic Industries Association 2014 Market Trends Webinar Series Watch live or archived at no cost Learn about the latest innovations in robotics Sponsored by leading robotics companies 1 2014 Calendar
More informationFranka Emika GmbH. Our vision of a robot for everyone sensitive, interconnected, adaptive and cost-efficient.
Franka Emika GmbH Our vision of a robot for everyone sensitive, interconnected, adaptive and cost-efficient. Even today, robotics remains a technology accessible only to few. The reasons for this are the
More informationAutomating Redesign of Electro-Mechanical Assemblies
Automating Redesign of Electro-Mechanical Assemblies William C. Regli Computer Science Department and James Hendler Computer Science Department, Institute for Advanced Computer Studies and Dana S. Nau
More informationOverview of Assembly Modeling, Planning, and Instruction Generation Research at the Advanced Manufacturing Lab
Overview of Assembly Modeling, Planning, and Instruction Generation Research at the Advanced Manufacturing Lab Satyandra K. Gupta Director, Advanced Manufacturing Lab University of Maryland, College Park,
More informationOn Observer-based Passive Robust Impedance Control of a Robot Manipulator
Journal of Mechanics Engineering and Automation 7 (2017) 71-78 doi: 10.17265/2159-5275/2017.02.003 D DAVID PUBLISHING On Observer-based Passive Robust Impedance Control of a Robot Manipulator CAO Sheng,
More informationAutonomous Mobile Robot Design. Dr. Kostas Alexis (CSE)
Autonomous Mobile Robot Design Dr. Kostas Alexis (CSE) Course Goals To introduce students into the holistic design of autonomous robots - from the mechatronic design to sensors and intelligence. Develop
More information1.8.3 Haptic-Based CAD 1.9 About this Book 1.10 Exercises References Development of Additive Manufacturing Technology
Contents 1 Introduction and Basic Principles 1 1.1 What Is Additive Manufacturing? 1 1.2 What Are AM Parts Used for? 3 1.3 The Generic AM Process 4 1.3.1 Step 1: CAD 4 1.3.2 Step 2: Conversion to STL 4
More informationCURRICULUM VITAE. Evan Drumwright EDUCATION PROFESSIONAL PUBLICATIONS
CURRICULUM VITAE Evan Drumwright 209 Dunn Hall The University of Memphis Memphis, TN 38152 Phone: 901-678-3142 edrmwrgh@memphis.edu http://cs.memphis.edu/ edrmwrgh EDUCATION Ph.D., Computer Science, May
More informationDr. Petr Švec. M.S., Computer Science (Applied Informatics): Faculty of Informatics, Masaryk University, Brno, Czech Republic, 2006
Dr. Petr Švec Department of Mechanical Engineering Cell: 301-256-5292 University of Maryland Office: 301-405-5577 2135 Martin Hall, College Park, E-mail: petrsvec@umd.edu MD 20742, USA Website: http://terpconnect.umd.edu/~petrsvec
More informationBIG IDEAS. Personal design interests require the evaluation and refinement of skills. Learning Standards
Ministry of Education Area of Learning: APPLIED DESIGN, SKILLS, AND TECHNOLOGIES Art Metal and Jewellery Grade 12 BIG IDEAS Products can be designed for life cycle. Personal design interests require the
More informationSHANTILAL SHAH ENGINEERING COLLEGE. Production engineering department. Computer Aided Manufacturing ( ) Laboratory Manual
SHANTILAL SHAH ENGINEERING COLLEGE Production engineering department Computer Aided Manufacturing (2171903) Laboratory Manual Compiled by: Prof. Khushbu P. Patel LIST OF EXPERIMENTS 1. Study of Computer
More informationAvailable theses in robotics (November 2017) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin
Available theses in robotics (November 2017) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin Ergonomic positioning of bulky objects Thesis 1 Robot acts as a 3rd hand for workpiece positioning: Muscular
More informationPick and Place Robotic Arm Using Arduino
Pick and Place Robotic Arm Using Arduino Harish K 1, Megha D 2, Shuklambari M 3, Amit K 4, Chaitanya K Jambotkar 5 1,2,3,4 5 th SEM Students in Department of Electrical and Electronics Engineering, KLE.I.T,
More informationOn Application of Virtual Fixtures as an Aid for Telemanipulation and Training
On Application of Virtual Fixtures as an Aid for Telemanipulation and Training Shahram Payandeh and Zoran Stanisic Experimental Robotics Laboratory (ERL) School of Engineering Science Simon Fraser University
More informationAvailable theses in robotics (March 2018) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin
Available theses in robotics (March 2018) Prof. Paolo Rocco Prof. Andrea Maria Zanchettin Ergonomic positioning of bulky objects Thesis 1 Robot acts as a 3rd hand for workpiece positioning: Muscular fatigue
More informationRethinking CAD. Brent Stucker, Univ. of Louisville Pat Lincoln, SRI
Rethinking CAD Brent Stucker, Univ. of Louisville Pat Lincoln, SRI The views expressed are those of the author and do not reflect the official policy or position of the Department of Defense or the U.S.
More informationNASA Technology Road Map: Materials and Structures. R. Byron Pipes
NASA Technology Road Map: Materials and Structures R. Byron Pipes John L. Bray Distinguished Professor of Engineering School of Materials Engineering, Purdue University bpipes@purdue.edu PMMS Center 1
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
More informationAccessible Power Tool Flexible Application Scalable Solution
Accessible Power Tool Flexible Application Scalable Solution Franka Emika GmbH Our vision of a robot for everyone sensitive, interconnected, adaptive and cost-efficient. Even today, robotics remains a
More informationSummary of robot visual servo system
Abstract Summary of robot visual servo system Xu Liu, Lingwen Tang School of Mechanical engineering, Southwest Petroleum University, Chengdu 610000, China In this paper, the survey of robot visual servoing
More informationSIGVerse - A Simulation Platform for Human-Robot Interaction Jeffrey Too Chuan TAN and Tetsunari INAMURA National Institute of Informatics, Japan The
SIGVerse - A Simulation Platform for Human-Robot Interaction Jeffrey Too Chuan TAN and Tetsunari INAMURA National Institute of Informatics, Japan The 29 th Annual Conference of The Robotics Society of
More informationNonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics
Nonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics X. Liu, M. Tavakoli, and Q. Huang Abstract Research so far on adaptive bilateral control of master-slave
More informationThis list supersedes the one published in the November 2002 issue of CR.
PERIODICALS RECEIVED This is the current list of periodicals received for review in Reviews. International standard serial numbers (ISSNs) are provided to facilitate obtaining copies of articles or subscriptions.
More informationVisual Servoing. Charlie Kemp. 4632B/8803 Mobile Manipulation Lecture 8
Visual Servoing Charlie Kemp 4632B/8803 Mobile Manipulation Lecture 8 From: http://www.hsi.gatech.edu/visitors/maps/ 4 th floor 4100Q M Building 167 First office on HSI side From: http://www.hsi.gatech.edu/visitors/maps/
More informationSoftware-Intensive Systems Producibility
Pittsburgh, PA 15213-3890 Software-Intensive Systems Producibility Grady Campbell Sponsored by the U.S. Department of Defense 2006 by Carnegie Mellon University SSTC 2006. - page 1 Producibility
More informationDOWNLOAD OR READ : OPTIMIZATION AND COOPERATIVE CONTROL STRATEGIES PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON C PDF EBOOK EPUB MOBI
DOWNLOAD OR READ : OPTIMIZATION AND COOPERATIVE CONTROL STRATEGIES PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON C PDF EBOOK EPUB MOBI Page 1 Page 2 optimization and cooperative control strategies
More informationCS594, Section 30682:
CS594, Section 30682: Distributed Intelligence in Autonomous Robotics Spring 2003 Tuesday/Thursday 11:10 12:25 http://www.cs.utk.edu/~parker/courses/cs594-spring03 Instructor: Dr. Lynne E. Parker ½ TA:
More informationParallel Robot Projects at Ohio University
Parallel Robot Projects at Ohio University Robert L. Williams II with graduate students: John Hall, Brian Hopkins, Atul Joshi, Josh Collins, Jigar Vadia, Dana Poling, and Ron Nyzen And Special Thanks to:
More informationAutonomous Self-Extending Machines for Accelerating Space Exploration
Autonomous Self-Extending Machines for Accelerating Space Exploration NIAC CP 01-02 Phase I Hod Lipson, Evan Malone Cornell University Computational Motivation Robotic exploration has a long cycle time
More informationFabrication Activity: Space Station Remote Manipulator Arm
Drexel-SDP GK-12 ACTIVITY Fabrication Activity: Space Station Remote Manipulator Arm Subject Area(s) Astronomy, Mechanical Engineering Associated Unit Astronomy, module 2 Associated Lesson Fabrication
More informationUsing Dynamic Capability Evaluation to Organize a Team of Cooperative, Autonomous Robots
Using Dynamic Capability Evaluation to Organize a Team of Cooperative, Autonomous Robots Eric Matson Scott DeLoach Multi-agent and Cooperative Robotics Laboratory Department of Computing and Information
More informationICT4 Manuf. Competence Center
ICT4 Manuf. Competence Center Prof. Yacine Ouzrout University Lumiere Lyon 2 ICT 4 Manufacturing Competence Center AI and CPS for Manufacturing Robot software testing Development of software technologies
More informationCHAPTER 5 INDUSTRIAL ROBOTICS
CHAPTER 5 INDUSTRIAL ROBOTICS 5.1 Basic of Robotics 5.1.1 Introduction There are two widely used definitions of industrial robots : i) An industrial robot is a reprogrammable, multifunctional manipulator
More informationSAFETY CASES: ARGUING THE SAFETY OF AUTONOMOUS SYSTEMS SIMON BURTON DAGSTUHL,
SAFETY CASES: ARGUING THE SAFETY OF AUTONOMOUS SYSTEMS SIMON BURTON DAGSTUHL, 17.02.2017 The need for safety cases Interaction and Security is becoming more than what happens when things break functional
More informationMobile Manipulation in der Telerobotik
Mobile Manipulation in der Telerobotik Angelika Peer, Thomas Schauß, Ulrich Unterhinninghofen, Martin Buss angelika.peer@tum.de schauss@tum.de ulrich.unterhinninghofen@tum.de mb@tum.de Lehrstuhl für Steuerungs-
More informationRIT Scholar Works. Rochester Institute of Technology. Mario H. Castro-Cedeno Rochester Institute of Technology. Presentations and other scholarship
Rochester Institute of Technology RIT Scholar Works Presentations and other scholarship 6-2005 The Use of Manufacturing Commands and Features in a CAD Interface to Familiarize Engineering Students with
More informationAdvances in Industrial Automation Leveraging ROS-Industrial and Open Source Tools. Matthew M. Robinson Southwest Research Institute
Advances in Industrial Automation Leveraging ROS-Industrial and Open Source Tools Matthew M. Robinson Southwest Research Institute Southwest Research Institute Non-Profit Applied R&D Established: 1947
More informationPlanning and Execution with Robot Trajectory Generation in Industrial Human-Robot Collaboration
Planning and Execution with Robot Trajectory Generation in Industrial Human-Robot Collaboration Amedeo Cesta 1, Lorenzo Molinari Tosatti 2, Andrea Orlandini 1, Nicola Pedrocchi 2, Stefania Pellegrinelli
More informationTesting a Robotic System for Collecting and Transferring Samples on Mars -
Testing a Robotic System for Collecting and Transferring Samples on Mars - The Mars Surface Sample Transfer & Manipulation (MSSTM) Project Elie Allouis Elie.Allouis@astrium.eads.net Tony Jorden, Nildeep
More informationTECHNICAL UNIVERSITY OF CLUJ NAPOCA FACULTY OF MACHINE BUILDING. Department for Fabrication Engineering. Eng. Bogdan MOCAN.
TECHNICAL UNIVERSITY OF CLUJ NAPOCA FACULTY OF MACHINE BUILDING Department for Fabrication Engineering Eng. Bogdan MOCAN PhD THESIS Research and contributions on the oriented design and the performance
More informationVision-based Localization and Mapping with Heterogeneous Teams of Ground and Micro Flying Robots
Vision-based Localization and Mapping with Heterogeneous Teams of Ground and Micro Flying Robots Davide Scaramuzza Robotics and Perception Group University of Zurich http://rpg.ifi.uzh.ch All videos in
More informationROBO-PARTNER: Safe human-robot collaboration for assembly: case studies and challenges
ROBO-PARTNER: Safe human-robot collaboration for assembly: case studies and challenges Dr. George Michalos University of Patras ROBOT FORUM ASSEMBLY 16 March 2016 Parma, Italy Introduction Human sensitivity
More informationWednesday, October 29, :00-04:00pm EB: 3546D. TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof.
Wednesday, October 29, 2014 02:00-04:00pm EB: 3546D TELEOPERATION OF MOBILE MANIPULATORS By Yunyi Jia Advisor: Prof. Ning Xi ABSTRACT Mobile manipulators provide larger working spaces and more flexibility
More informationGlobal Industrial Robot Market: Industry Analysis & Outlook ( )
Global Industrial Robot Market: Industry Analysis & Outlook ----------------------------------------- (2016-2020) Executive Summary The industrial robots have revolutionized the manufacturing sector. The
More informationCSE 435: Software Engineering
CSE 435: Software Engineering Dr. James Daly 3501 Engineering Building Office: 3501 EB, by appointment dalyjame at msu dot edu TAs: Vincent Ragusa and Mohammad Roohitavaf Helproom Tuesday: 2-4 pm, Wednesday
More informationRobotic Polishing of Streamline Co-Extrusion Die: A Case Study
Proceedings of the 2017 International Conference on Industrial Engineering and Operations Management (IEOM) Bristol, UK, July 24-25, 2017 Robotic Polishing of Streamline Co-Extrusion Die: A Case Study
More informationH2020 RIA COMANOID H2020-RIA
Ref. Ares(2016)2533586-01/06/2016 H2020 RIA COMANOID H2020-RIA-645097 Deliverable D4.1: Demonstrator specification report M6 D4.1 H2020-RIA-645097 COMANOID M6 Project acronym: Project full title: COMANOID
More informationEffects of Integrated Intent Recognition and Communication on Human-Robot Collaboration
Effects of Integrated Intent Recognition and Communication on Human-Robot Collaboration Mai Lee Chang 1, Reymundo A. Gutierrez 2, Priyanka Khante 1, Elaine Schaertl Short 1, Andrea Lockerd Thomaz 1 Abstract
More informationTransactions on Information and Communications Technologies vol 6, 1994 WIT Press, ISSN
Application of artificial neural networks to the robot path planning problem P. Martin & A.P. del Pobil Department of Computer Science, Jaume I University, Campus de Penyeta Roja, 207 Castellon, Spain
More informationpreface Motivation Figure 1. Reality-virtuality continuum (Milgram & Kishino, 1994) Mixed.Reality Augmented. Virtuality Real...
v preface Motivation Augmented reality (AR) research aims to develop technologies that allow the real-time fusion of computer-generated digital content with the real world. Unlike virtual reality (VR)
More information