On Sensor-Controlled Robotized One-off Manufacturing

A semi-automatic task oriented system structure has been developed and tested on an arc welding application. In normal industrial robot programming, the path is created and the process is based upon the decided path. Here a process-oriented method is proposed instead. It is natural to focus on the process, since the path is in reality a result of process needs. Another benefit of choosing process focus, is that it automatically leads us into task oriented thoughts, which in turn can be split in sub-tasks, one for each part of the process with similar process-characteristics. By carefully choosing and encapsulating the information needed to execute a sub-task, this component can be re-used whenever the actual subtask occurs. By using virtual sensors and generic interfaces to robots and sensors, applications built upon the system design do not change between simulation and actual shop floor runs. The system allows a mix of real- and simulated components during simulation and run-time

Rover and Telerobotics Technology Program

The Jet Propulsion Laboratory's (JPL's) Rover and Telerobotics Technology Program, sponsored by the National Aeronautics and Space Administration (NASA), responds to opportunities presented by NASA space missions and systems, and seeds commerical applications of the emerging robotics technology. The scope of the JPL Rover and Telerobotics Technology Program comprises three major segments of activity: NASA robotic systems for planetary exploration, robotic technology and terrestrial spin-offs, and technology for non-NASA sponsors. Significant technical achievements have been reached in each of these areas, including complete telerobotic system prototypes that have built and tested in realistic scenarios relevant to prospective users. In addition, the program has conducted complementary basic research and created innovative technology and terrestrial applications, as well as enabled a variety of commercial spin-offs

NASA space station automation: AI-based technology review

Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures

Investigation of cell mapping and off-line programming within a flexible assembly system

This investigation achieves two objectives. The first objective renders every robot on the production floor alike via a single robot configuration file. The second objective eliminates the tedious routine of teaching and reteaching robotic locations on-line by an operator or engineer. The functionality of these software solutions is demonstrated using the AdeptOne Scara robot, but the impact of this system is far beyond Adept. The code listings included within this thesis are specific to the AdeptOne controller, but the concepts developed and demonstrated herein may be extended to any sophisticated robot controller and programming language

Visual Servoing

The goal of this book is to introduce the visional application by excellent researchers in the world currently and offer the knowledge that can also be applied to another field widely. This book collects the main studies about machine vision currently in the world, and has a powerful persuasion in the applications employed in the machine vision. The contents, which demonstrate that the machine vision theory, are realized in different field. For the beginner, it is easy to understand the development in the vision servoing. For engineer, professor and researcher, they can study and learn the chapters, and then employ another application method

Advancing automation and robotics technology for the Space Station and for the US economy, volume 2

In response to Public Law 98-371, dated July 18, 1984, the NASA Advanced Technology Advisory Committee has studied automation and robotics for use in the Space Station. The Technical Report, Volume 2, provides background information on automation and robotics technologies and their potential and documents: the relevant aspects of Space Station design; representative examples of automation and robotics; applications; the state of the technology and advances needed; and considerations for technology transfer to U.S. industry and for space commercialization

Human-robot interaction for telemanipulation by small unmanned aerial systems

This dissertation investigated the human-robot interaction (HRI) for the Mission Specialist role in a telemanipulating unmanned aerial system (UAS). The emergence of commercial unmanned aerial vehicle (UAV) platforms transformed the civil and environmental engineering industries through applications such as surveying, remote infrastructure inspection, and construction monitoring, which normally use UAVs for visual inspection only. Recent developments, however, suggest that performing physical interactions in dynamic environments will be important tasks for future UAS, particularly in applications such as environmental sampling and infrastructure testing. In all domains, the availability of a Mission Specialist to monitor the interaction and intervene when necessary is essential for successful deployments. Additionally, manual operation is the default mode for safety reasons; therefore, understanding Mission Specialist HRI is important for all small telemanipulating UAS in civil engineering, regardless of system autonomy and application. A 5 subject exploratory study and a 36 subject experimental study were conducted to evaluate variations of a dedicated, mobile Mission Specialist interface for aerial telemanipulation from a small UAV. The Shared Roles Model was used to model the UAS human-robot team, and the Mission Specialist and Pilot roles were informed by the current state of practice for manipulating UAVs. Three interface camera view designs were tested using a within-subjects design, which included an egocentric view (perspective from the manipulator), exocentric view (perspective from the UAV), and mixed egocentric-exocentric view. The experimental trials required Mission Specialist participants to complete a series of tasks with physical, visual, and verbal requirements. Results from these studies found that subjects who preferred the exocentric condition performed tasks 50% faster when using their preferred interface; however, interface preferences did not affect performance for participants who preferred the mixed condition. This result led to a second finding that participants who preferred the exocentric condition were distracted by the egocentric view during the mixed condition, likely caused by cognitive tunneling, and the data suggest tradeoffs between performance improvements and attentional costs when adding information in the form of multiple views to the Mission Specialist interface. Additionally, based on this empirical evaluation of multiple camera views, the exocentric view was recommended for use in a dedicated Mission Specialist telemanipulation interface. Contributions of this thesis include: i) conducting the first focused HRI study of aerial telemanipulation, ii) development of an evaluative model for telemanipulation performance, iii) creation of new recommendations for aerial telemanipulation interfacing, and iv) contribution of code, hardware designs, and system architectures to the open-source UAV community. The evaluative model provides a detailed framework, a complement to the abstraction of the Shared Roles Model, that can be used to measure the effects of changes in the system, environment, operators, and interfacing factors on performance. The practical contributions of this work will expedite the use of manipulating UAV technologies by scientists, researchers, and stakeholders, particularly those in civil engineering, who will directly benefit from improved manipulating UAV performance