225 research outputs found
Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans
The combination of physical sensors and computational models to provide additional information about system states, inputs and/or parameters, in what is known as virtual sensing, is becoming increasingly popular in many sectors, such as the automotive, aeronautics, aerospatial, railway, machinery, robotics and human biomechanics sectors. While, in many cases, control-oriented models, which are generally simple, are the best choice, multibody models, which can be much more detailed, may be better suited to some applications, such as during the design stage of a new product
Index to 1986 NASA Tech Briefs, volume 11, numbers 1-4
Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1986 Tech Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences
Contemporary Robotics
This book book is a collection of 18 chapters written by internationally recognized experts and well-known professionals of the field. Chapters contribute to diverse facets of contemporary robotics and autonomous systems. The volume is organized in four thematic parts according to the main subjects, regarding the recent advances in the contemporary robotics. The first thematic topics of the book are devoted to the theoretical issues. This includes development of algorithms for automatic trajectory generation using redudancy resolution scheme, intelligent algorithms for robotic grasping, modelling approach for reactive mode handling of flexible manufacturing and design of an advanced controller for robot manipulators. The second part of the book deals with different aspects of robot calibration and sensing. This includes a geometric and treshold calibration of a multiple robotic line-vision system, robot-based inline 2D/3D quality monitoring using picture-giving and laser triangulation, and a study on prospective polymer composite materials for flexible tactile sensors. The third part addresses issues of mobile robots and multi-agent systems, including SLAM of mobile robots based on fusion of odometry and visual data, configuration of a localization system by a team of mobile robots, development of generic real-time motion controller for differential mobile robots, control of fuel cells of mobile robots, modelling of omni-directional wheeled-based robots, building of hunter- hybrid tracking environment, as well as design of a cooperative control in distributed population-based multi-agent approach. The fourth part presents recent approaches and results in humanoid and bioinspirative robotics. It deals with design of adaptive control of anthropomorphic biped gait, building of dynamic-based simulation for humanoid robot walking, building controller for perceptual motor control dynamics of humans and biomimetic approach to control mechatronic structure using smart materials
MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics
El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso:
Análisis y síntesis de mecanismos
; Diseño de algoritmos para sistemas mecatrónicos
; Procedimientos de simulación y resultados
; Prototipos y rendimiento
; Robots y micromáquinas
; Validaciones experimentales
; Teoría de simulación mecatrónica
; Sistemas mecatrónicos
; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad
Positioning system for 3D scans inside objects
En este trabajo presentamos un sistema de posicionamiento de visión activa para el escaneo 3D del interior de piezas. El diseño del sistema propuesto consta de dos módulos: un sistema de dimensionamiento 2D de visión activa, y un sistema que posiciona el módulo de visión activa. El sistema de posicionamiento es capaz de determinar la profundidad del sistema de dimensionamiento 2D de visión activa en el interior del objeto a escanear usando varios sensores. Las principales contribuciones de este trabajo son la caracterización del sistema de dimensionamiento 2D, y el desarrollo de algoritmos de posicionamiento de la luz activa con énfasis en el modelado y fusión de sensores. El sistema puede utilizarse como un sistema de dimensionamiento en aplicaciones industriales como la industria metal mecánica, la aeronáutica, la medicina, en el control de calidad y en áreas de visión por computadora.In this work we present an active positioning system for 3D scan of interior parts. The design of the proposed system consists of two modules: an active 2D dimensional system and positional system based on active vision. The active 2D dimensional system is able to determine the depth of the 2D dimensional system inside the object to be scanned using
several sensors. The main contributions of this work are the characterization of the 2D dimensional system and the development of active light positioning algorithms with emphasis on the modeling and fusion of the sensors. The system can be used as a dimensional system in industrial applications such as the metal mechanical industry, aeronautics industry, medicine, quality control and computer vision.Peer Reviewe
Autonomisten metsäkoneiden koneaistijärjestelmät
A prerequisite for increasing the autonomy of forest machinery is to provide robots with digital situational awareness, including a representation of the surrounding environment and the robot's own state in it. Therefore, this article-based dissertation proposes perception systems for autonomous or semi-autonomous forest machinery as a summary of seven publications. The work consists of several perception methods using machine vision, lidar, inertial sensors, and positioning sensors. The sensors are used together by means of probabilistic sensor fusion. Semi-autonomy is interpreted as a useful intermediary step, situated between current mechanized solutions and full autonomy, to assist the operator.
In this work, the perception of the robot's self is achieved through estimation of its orientation and position in the world, the posture of its crane, and the pose of the attached tool. The view around the forest machine is produced with a rotating lidar, which provides approximately equal-density 3D measurements in all directions. Furthermore, a machine vision camera is used for detecting young trees among other vegetation, and sensor fusion of an actuated lidar and machine vision camera is utilized for detection and classification of tree species. In addition, in an operator-controlled semi-autonomous system, the operator requires a functional view of the data around the robot. To achieve this, the thesis proposes the use of an augmented reality interface, which requires measuring the pose of the operator's head-mounted display in the forest machine cabin. Here, this work adopts a sensor fusion solution for a head-mounted camera and inertial sensors.
In order to increase the level of automation and productivity of forest machines, the work focuses on scientifically novel solutions that are also adaptable for industrial use in forest machinery. Therefore, all the proposed perception methods seek to address a real existing problem within current forest machinery. All the proposed solutions are implemented in a prototype forest machine and field tested in a forest. The proposed methods include posture measurement of a forestry crane, positioning of a freely hanging forestry crane attachment, attitude estimation of an all-terrain vehicle, positioning a head mounted camera in a forest machine cabin, detection of young trees for point cleaning, classification of tree species, and measurement of surrounding tree stems and the ground surface underneath.Metsäkoneiden autonomia-asteen kasvattaminen edellyttää, että robotilla on digitaalinen tilannetieto sekä ympäristöstä että robotin omasta toiminnasta. Tämän saavuttamiseksi työssä on kehitetty autonomisen tai puoliautonomisen metsäkoneen koneaistijärjestelmiä, jotka hyödyntävät konenäkö-, laserkeilaus- ja inertia-antureita sekä paikannusantureita. Työ liittää yhteen seitsemässä artikkelissa toteutetut havainnointimenetelmät, joissa useiden anturien mittauksia yhdistetään sensorifuusiomenetelmillä. Työssä puoliautonomialla tarkoitetaan hyödyllisiä kuljettajaa avustavia välivaiheita nykyisten mekanisoitujen ratkaisujen ja täyden autonomian välillä.
Työssä esitettävissä autonomisen metsäkoneen koneaistijärjestelmissä koneen omaa toimintaa havainnoidaan estimoimalla koneen asentoa ja sijaintia, nosturin asentoa sekä siihen liitetyn työkalun asentoa suhteessa ympäristöön. Yleisnäkymä metsäkoneen ympärille toteutetaan pyörivällä laserkeilaimella, joka tuottaa lähes vakiotiheyksisiä 3D-mittauksia jokasuuntaisesti koneen ympäristöstä. Nuoret puut tunnistetaan muun kasvillisuuden joukosta käyttäen konenäkökameraa. Lisäksi puiden tunnistamisessa ja puulajien luokittelussa käytetään konenäkökameraa ja laserkeilainta yhdessä sensorifuusioratkaisun avulla. Lisäksi kuljettajan ohjaamassa puoliautonomisessa järjestelmässä kuljettaja tarvitsee toimivan tavan ymmärtää koneen tuottaman mallin ympäristöstä. Työssä tämä ehdotetaan toteutettavaksi lisätyn todellisuuden käyttöliittymän avulla, joka edellyttää metsäkoneen ohjaamossa istuvan kuljettajan lisätyn todellisuuden lasien paikan ja asennon mittaamista. Työssä se toteutetaan kypärään asennetun kameran ja inertia-anturien sensorifuusiona.
Jotta metsäkoneiden automatisaatiotasoa ja tuottavuutta voidaan lisätä, työssä keskitytään uusiin tieteellisiin ratkaisuihin, jotka soveltuvat teolliseen käyttöön metsäkoneissa. Kaikki esitetyt koneaistijärjestelmät pyrkivät vastaamaan todelliseen olemassa olevaan tarpeeseen nykyisten metsäkoneiden käytössä. Siksi kaikki menetelmät on implementoitu prototyyppimetsäkoneisiin ja tulokset on testattu metsäympäristössä. Työssä esitetyt menetelmät mahdollistavat metsäkoneen nosturin, vapaasti riippuvan työkalun ja ajoneuvon asennon estimoinnin, lisätyn todellisuuden lasien asennon mittaamisen metsäkoneen ohjaamossa, nuorten puiden havaitsemisen reikäperkauksessa, ympäröivien puiden puulajien tunnistuksen, sekä puun runkojen ja maanpinnan mittauksen
Robotics 2010
Without a doubt, robotics has made an incredible progress over the last decades. The vision of developing, designing and creating technical systems that help humans to achieve hard and complex tasks, has intelligently led to an incredible variety of solutions. There are barely technical fields that could exhibit more interdisciplinary interconnections like robotics. This fact is generated by highly complex challenges imposed by robotic systems, especially the requirement on intelligent and autonomous operation. This book tries to give an insight into the evolutionary process that takes place in robotics. It provides articles covering a wide range of this exciting area. The progress of technical challenges and concepts may illuminate the relationship between developments that seem to be completely different at first sight. The robotics remains an exciting scientific and engineering field. The community looks optimistically ahead and also looks forward for the future challenges and new development
A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation
The application of laser technologies in surgical interventions has been accepted in the clinical
domain due to their atraumatic properties. In addition to manual application of fibre-guided
lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours
has been prevailed in ENT surgery. However, TLM requires many years of surgical training
for tumour resection in order to preserve the function of adjacent organs and thus preserve the
patient’s quality of life. The positioning of the microscopic laser applicator outside the patient
can also impede a direct line-of-sight to the target area due to anatomical variability and limit
the working space. Further clinical challenges include positioning the laser focus on the tissue
surface, imaging, planning and performing laser ablation, and motion of the target area during
surgery. This dissertation aims to address the limitations of TLM through robotic approaches and
intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no
highly integrated platform for endoscopic delivery of focused laser radiation is available to date.
Likewise, there are no known devices that incorporate scene information from endoscopic imaging
into ablation planning and execution. For focusing of the laser beam close to the target tissue, this
work first presents miniaturised focusing optics that can be integrated into endoscopic systems.
Experimental trials characterise the optical properties and the ablation performance. A robotic
platform is realised for manipulation of the focusing optics. This is based on a variable-length
continuum manipulator. The latter enables movements of the endoscopic end effector in five
degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the
robot are integrated into a modular framework that is evaluated experimentally. The manipulation
of focused laser radiation also requires precise adjustment of the focal position on the tissue. For
this purpose, visual, haptic and visual-haptic assistance functions are presented. These support
the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic
assistance are demonstrated in a user study. The system performance and usability of the overall
robotic system are assessed in an additional user study. Analogous to a clinical scenario, the
subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the
spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser
ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact
laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergeführten
Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von
Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion
jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu
sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet
durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische
Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die
Bildgebung, die Planung und Ausführung der Laserablation sowie intraoperative Bewegungen
des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch
robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal
invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen für die endoskopische
Applikation fokussierter Laserstrahlung verfügbar. Ebenfalls sind keine Systeme bekannt, die
Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausführung
einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst
eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur
Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem
längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer
mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fünf Freiheitsgraden.
Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework
eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine
präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation
zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der
visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit
des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu
einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die
mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation
werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen
einen positiven Effekt der Automationskonzepte für die kontaktfreie Laserchirurgie
Twelfth Annual Conference on Manual Control
Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems
Characterisation and State Estimation of Magnetic Soft Continuum Robots
Minimally invasive surgery has become more popular as it leads to less bleeding, scarring, pain, and shorter recovery time. However, this has come with counter-intuitive devices and steep surgeon learning curves. Magnetically actuated Soft Continuum Robots (SCR) have the potential to replace these devices, providing high dexterity together with the ability to conform to complex environments and safe human interactions without the cognitive burden for the clinician. Despite considerable progress in the past decade in their development, several challenges still plague SCR hindering their full realisation. This thesis aims at improving magnetically actuated SCR by addressing some of these challenges, such as material characterisation and modelling, and sensing feedback and localisation.
Material characterisation for SCR is essential for understanding their behaviour and designing effective modelling and simulation strategies. In this work, the material properties of commonly employed materials in magnetically actuated SCR, such as elastic modulus, hyper-elastic model parameters, and magnetic moment were determined. Additionally, the effect these parameters have on modelling and simulating these devices was investigated.
Due to the nature of magnetic actuation, localisation is of utmost importance to ensure accurate control and delivery of functionality. As such, two localisation strategies for magnetically actuated SCR were developed, one capable of estimating the full 6 degrees of freedom (DOFs) pose without any prior pose information, and another capable of accurately tracking the full 6-DOFs in real-time with positional errors lower than 4~mm. These will contribute to the development of autonomous navigation and closed-loop control of magnetically actuated SCR
- …