Visual Servoing in Robotics

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas

NASA SBIR abstracts of 1992, phase 1 projects

The objectives of 346 projects placed under contract by the Small Business Innovation Research (SBIR) program of the National Aeronautics and Space Administration (NASA) are described. These projects were selected competitively from among proposals submitted to NASA in response to the 1992 SBIR Program Solicitation. The basic document consists of edited, non-proprietary abstracts of the winning proposals submitted by small businesses. The abstracts are presented under the 15 technical topics within which Phase 1 proposals were solicited. Each project was assigned a sequential identifying number from 001 to 346, in order of its appearance in the body of the report. Appendixes to provide additional information about the SBIR program and permit cross-reference of the 1992 Phase 1 projects by company name, location by state, principal investigator, NASA Field Center responsible for management of each project, and NASA contract number are included

Technology 2002: the Third National Technology Transfer Conference and Exposition, Volume 1

The proceedings from the conference are presented. The topics covered include the following: computer technology, advanced manufacturing, materials science, biotechnology, and electronics

Technology 2001: The Second National Technology Transfer Conference and Exposition, volume 2

Proceedings of the workshop are presented. The mission of the conference was to transfer advanced technologies developed by the Federal government, its contractors, and other high-tech organizations to U.S. industries for their use in developing new or improved products and processes. Volume two presents papers on the following topics: materials science, robotics, test and measurement, advanced manufacturing, artificial intelligence, biotechnology, electronics, and software engineering

Proceedings of the 2nd Conference on Production Systems and Logistics (CPSL 2021)

Proceedings of the CPSL 202

Diagnostic and prognostic analysis tools for monitoring degradation in aged structures

This research addresses the problem of prolonging the life of aged structures of historical value that have already outlived their original designed lives many times. While a lot of research has been carried out in the field of structural monitoring, diagnostics and prognostics for high tech industries, this is not the case for historical aged structures. Currently most maintenance projects for aged structures have focused on the instrumentation and diagnostic techniques required to detect any damage with a certain degree of success. This research project involved the development of diagnostic and prognostic tools to be used for monitoring and predicting the ‘health’ of aged structures. The diagnostic and prognostic tools have been developed for the monitoring of Cutty Sark iron structures as a first application. The concept of canary and parrot sensor devices are developed where canary devices are small, accelerated devices, which will fail according to similar failure mechanisms occurring in an aged structures and parrot devices are designed to fail at the same rate as the structure, thus mimicking the structure. The model-driven prognostic tool uses a Physics-of-Failure (PoF) model to predict remaining life of a structure. It uses a corrosion model based on the decrease in corrosion rate over time to predict remaining life of an aged iron structures. The data-driven diagnostic tool developed uses Mahalanobis Distance analysis to detect anomalies in the behaviour of a structure. Bayesian Network models are then used as a fusion method, integrating remaining life predictions from the model-driven prognostic tool with information of possible anomalies from data-driven diagnostic tool to provide a probability distribution of predicted remaining life. The diagnostics and prognostic tools are validated and tested through demonstration example and experimental tests. This research primarily looks at applying diagnostic and prognostic technologies used in high-tech industries to aged iron structures. In order to achieve this, the model-driven and data-driven techniques commonly used had to be adapted taking into consideration the particular constraints of monitoring and maintaining aged structures. The fusion technique developed is a novel approach for prognostics for aged structures and provides the flexibility often needed for diagnostic and prognostic tools