A dynamic recursive structure for intelligent inspection

technical reportWe suggest a new approach for inspection and reverse engineering applications. In particular we investigate the use of discrete event dynamic systems DEDS to guide and control the active exploration and sensing of mechanical parts for industrial inspection and reverse engineering?? We introduce dynamic recursive nite state machines DRFSM as a new DEDS tool for utilizing the recursive nature of the mechanical parts under consideration?? The proposed framework uses DRFSM DEDS for constructing an observer for exploration and inspection purposes?? ?

URK: Utah robot kit - a three-link robot prototype

Journal ArticleIn this paper we will present the stages of designing and building a three-link robot manipulator prototype that was built as part of a research project for establishing a prototyping environment for robot manipulators. Building this robot enabled us determine the required subsystems and interfaces to build the prototyping environment, and provided hands-on experience for the real problems and difficulties that we would like to address and solve using this environment. Also, this robot will be used as an educational tool in robotics and control classes

Discrete event control for inspection and reverse engineering

Journal ArticleWe address the problem of intelligent sensing in this work. In particular, we use discrete event dynamic systems (DEDS) to guide the sensing of mechanical parts for industrial inspection and reverse engineering

Prototyping environment for robot manipulators

Journal ArticlePrototyping is an important activity in engineering. Prototype development is a good test for checking the viability of a proposed system. Prototypes can also help in determining system parameters, ranges, or in designing better systems. We are proposing a prototyping environment for electro-mechanical systems, and we chosen a 3-link robot manipulator as an example. In Designing a robot manipulator, the interaction between several modules (S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This environment will enable optimal and flexible design using reconfigurable links, joints, actuators, and sensors. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control for the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and computer (digital) control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this report a framework for flexible prototyping environment for robot manipulators is proposed along with the required sub-systems and interfaces between the different components of this environment

Robotic prototyping environment (Progress report)

Journal ArticlePrototyping is an important activity in engineering. Prototype development is a good test for checking the viability of a proposed system. Prototypes can also help in determining system parameters, ranges, or in designing better systems. The interaction between several modules (e.g., S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes radically different types of information, combined in a coordinated way. Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. We propose a flexible prototyping environment for robot manipulators with the required sub-systems and interfaces between the different components of this environment

Robot manipulator prototyping (Complete Design Review)

Journal ArticlePrototyping is an important activity in engineering. Prototype development is a good test for checking the viability of a proposed system. Prototypes can also help in determining system parameters, ranges, or in designing better systems. The interaction between several modules (e.g., S/W, VLSI, CAD, CAM, Robotics, and Control) illustrates an interdisciplinary prototyping environment that includes radically different types of information, combined in a coordinated way. Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. We propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment

Prototyping environment for robot manipulators

Journal ArticleDeveloping an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper, We propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment

Prototyping a robotic manipulator and controller

Journal ArticleBuilding a robot and its environment (control, software, hardware, simulation, etc) is a complex task that requires the efforts of an experienced engineering team. Once a robot model has been chosen and a design has been agreed upon, it becomes difficult to make design changes without affecting the manufactured parts, actuators and sensors. Therefore, developing an environment that enables flexible design and reconfigurable links, joints, actuators, and sensors would be an essential step for efficient prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and controllers and for the algorithmic control and specifications of the kinematics, inverse kinematics, dynamics, trajectory planning, analog control and computer (digital) control of the manipulator. Specifying object-based communications and catalog mechanisms between the software (control, simulation, and monitoring) modules, PPL hardware controllers, physical parts' CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. We discuss and present a framework and intermediate results in the process of prototyping an experimental reconfigurable 3-link robot in this report.

A dynamic recursive structure for intelligent exploration

technical reportWe suggest a new approach for inspection and reverse engineering applications. In particular, we investigate the use of discrete event dynamic systems (DEDS) to guide and control the active exploration and sensing of mechanical parts for industrial inspection and reverse engineering. We introduce dynamic recursive finite state machines (DRFSM) as a new DEDS tool for utilizing the recursive nature of the mechanical parts under consideration. The proposed framework uses DRFSM DFJ)S. for constructing an observer for exploration and inspection purposes