Download or read book Non contact Real Time Position Sensor Development for Robotic Applications written by Nicolas Krouglicof and published by . This book was released on 1989 with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Real Time Digital Control Applications written by A. Alonso-Concheiro and published by Elsevier. This book was released on 2014-05-23 with total page 657 pages. Available in PDF, EPUB and Kindle. Book excerpt: Real Time Digital Control Applications is a compilation of papers presented at the Symposium on Real-Time Digital Control Applications, sponsored by the International Federation of Automatic Control (IFAC) and the International Federation for Information Processing (IFIP), held in Guadalajara, Mexico. The event is organized to provide developing countries with the opportunity to gain insights -- from the sharing of ideas and experiences of experts from around the world to the rapid growth and development of applications of real-time digital control systems, which is considered as the basis of industrial revolution. The book presents and discusses the various scientific, industrial, and technical applications of real-time digital control systems. Applications in power generation, water, metal processing, cement, food, and manufacturing industries are shown. The text also covers applications in robotics, biomedicine, monitoring and failure detection, fuel optimization and heat control, adaptive process control, modeling, and computer software. Industrial engineers, scientists, economists, computer scientists, robotics experts, planners, and technicians will find this book invaluable.

Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Download or read book Pretouch Sensing for Robotic Grasping written by Liang-Ting Jiang and published by . This book was released on 2014 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic grasping of unknown objects is recognized to be a challenging problem; this is due to the uncertainty of object shape, caused by the imperfect perception capability of the robot. Vision and depth sensors are commonly used to sense objects before grasping. These sensors suffer from shortcomings such as occlusion, inaccurate sensor readings, and failures due to reflection and transparency. Grasping solely relying on an incomplete object shape can fail regardless of the grasp planning. On the other hand, tactile exploration is widely used to acquire local geometric information of the object and does not subject to occlusion. However, since touch sensing relies on physical contact between the manipulator and the object, it tends to unintentionally displace objects, particularly light objects. This dissertation considers "pretouch", a sensing modality that is intermediate in range between long-range depth and tactile sensing. This is potentially beneficial for robotic grasping as it provides reliable geometric information in the last centimeter before contact. In this dissertation, a novel pretouch technique, "seashell effect pretouch", is first presented. It is effective for a set of materials that other pretouch techniques fail to sense. This pretouch modality is inspired by the phenomenon of "hearing the sea" when a seashell is held to the ear; in particular, the observation that the "sound of the sea" changes as the distance from the seashell to the ear varies. It is because environmental noise is amplified the most (attenuated the least) at the cavity's resonant frequency, which changes as the cavity approaches an object. In order to turn the familiar seashell effect into a pretouch sensor, I study the underlying acoustic principle, i.e., the acoustic radiation impedence changes caused by the object being close to the opening of the cavity. The sensor design, including the acoustic properties, hardware/software design, and signal processing, are discussed in detail. The resulting implementation is fully integrated into the finger of a Willow Garage PR2 robot. The sensor detects resonance frequency shifts in the spectrum of ambient sound, which occur when the finger approaches an object. The performance of the proposed sensor is characterized and evaluated, in terms of the sensing range, accuracy, and its material selectivity. This results in the ability to reliably detect the presence of the object within 5 mm. In addition, a new infrared optical pretouch sensor can be developed, with minimal modification on the proposed sensor system design. The first explored application is detecting extremely compliant objects during grasp execution. In a pre-grasp execution experiment, the ability to detect compliant objects of the seashell effect pretouch sensor is compared with that of a pressure sensor. The results suggest advantages of seashell pretouch over tactile sensing. The second application is pretouch-assisted grasp planning. When the pretouch sensor senses the object during a series of probing motions, it provides points collected by recording the position of end effector on the robot; these additional points augment the point cloud from the depth sensor. This method compensates for object shape, that is otherwise incomplete due to depth sensor failure or occlusion. Furthermore, a unified probabilistic framework is proposed to (1) identify shape uncertainty for the target object; (2) automatically explore the uncertain areas to reduce the uncertainty, resulting in a grasp with higher confidence. In the beginning, the robot is provided with only the incomplete object shape data acquired from a Kinect depth sensor---it does not have a model of the object. Next, combining the Kinect point cloud with prior probability distributions for occlusion and transparency, it makes inferences about unobserved portions of the object. Operating on the inferred shape of the object, an iterative grasp replanning algorithm decides whether further exploration is required, and where to explore in the scene. The information gathered by the exploration action is added directly to the environment representation in real-time and hence considered in the next grasp planning iteration. Experimental results showed that, the robot is able to grasp partially transparent objects with a high success rate of 96%. Finally, I propose to augment streaming point cloud data with the seashell effect pretouch information. This is inspired by the use case of haptic rendering in a telerobotic grasping scenario. The non-contact seashell-effect pretouch sensor fixed to the robot end effector is used to sense physical geometries within the vicinity of the sensor. Thus, the point cloud representation of an unknown environment, which may be sparse or poorly visible, is enhanced through telerobotic exploration/sensing in real-time. Furthurmore, real-time haptic rendering algorithms are applied on the augmented point clouds to create haptic virtual fixtures, and also provide haptic force feedback to the operator. This method provides the teleoperator with critical geometrical information about the grasp target, while preventing the robot end effector from collision. The augmented virtual environment after the pretouch exploration represents more complete object shapes, which helps the operator align the gripper on the slave robot with the target object for grasping.

Download or read book Bi modal Hemispherical Sensors for Three Axis Force and Contact Angle Measurement written by Lindsay M. Epstein and published by . This book was released on 2020 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humans and animals demonstrate a unique ability to interact with the physical environment around them with coordination and control, including moving quickly across rugged terrain or deftly handling small objects. Much of this success is related to our ability to accurately perceive the world around us through a sense of touch. In order to better perform dynamic, physical interactions, such as locomotion or manipulation, robots need to be able to accurately measure contact locations and forces. However, many existing sensors do not satisfy the stringent requirements or do not supply sufficient information for robotic locomotion and manipulation. This thesis builds on work by a previous PhD student, Meng Yee (Michael) Chuah, of the MIT Biomimetic Robotics Laboratory to develop stress field based force sensors for use in robotic applications. The concept of stress field based force sensing consists of pressure sensors embedded within a rubber hemisphere. The pressure sensors sample the stress distribution within the rubber, and use these signals to reconstruct the applied force. This type of sensor is inherently robust, low cost, and insensitive to inertial noise. This work focuses on the development of bi-modal hemishperical sensing technology for two novel sensor designs -- one footpad sensor intended for use in a high force range corresponding to legged locomotion, and one fingertip sensor intended for use in a lower force, higher sensitivity range, corresponding to robotic manipulation applications. Both sensors have the ability to simultaneously measure applied force in three axes (Fx, Fy, Fz) and the contact location of quasi-point contact, as described by two angles ([theta], [phi]) in real time (1kHz and 200Hz, respectively). The sensors each contain eight embedded pressure sensors, and can accurately reconstruct the five desired outputs from the eight input signals using either a Gaussian process regression (GPR) estimator, or an artificial neural net (ANN). The performance of both sensors using each estimator is quantified through testing on multiple data types. The properties of the sensor, including sensitivity, repeatability, and drift over time are also characterized. The performance of the footpad sensor is further validated through two applications on a robotic arm. In the first, normal force and contact angle information from the footpad sensor is used to accurately sense and track a moving surface. In the second, normal and shear force information from the sensor is used to detect and prevent slip. Overall, these sensors demonstrate the ability to quickly and accurately measure forces in three axes and contact surface normal, while being robust and low cost. These sensors have the potential to greatly improve the capability of robots to perform dynamic, physical interactions with the world around them.

Download or read book The Federal Conference on Intelligent Processing Equipment written by Federal Conference on Intelligent Processing Equipment and published by . This book was released on 1992 with total page 232 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Robotic Tactile Sensing written by Ravinder S. Dahiya and published by Springer Science & Business Media. This book was released on 2012-07-29 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1995 with total page 488 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lists citations with abstracts for aerospace related reports obtained from world wide sources and announces documents that have recently been entered into the NASA Scientific and Technical Information Database.

Download or read book Advanced Sensors for Real Time Monitoring Applications written by Olga Korostynska and published by MDPI. This book was released on 2021-03-09 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: It is impossible to imagine the modern world without sensors, or without real-time information about almost everything—from local temperature to material composition and health parameters. We sense, measure, and process data and act accordingly all the time. In fact, real-time monitoring and information is key to a successful business, an assistant in life-saving decisions that healthcare professionals make, and a tool in research that could revolutionize the future. To ensure that sensors address the rapidly developing needs of various areas of our lives and activities, scientists, researchers, manufacturers, and end-users have established an efficient dialogue so that the newest technological achievements in all aspects of real-time sensing can be implemented for the benefit of the wider community. This book documents some of the results of such a dialogue and reports on advances in sensors and sensor systems for existing and emerging real-time monitoring applications.

Download or read book Smart Sensors Measurement and Instrumentation written by Shreesha Chokkadi and published by Springer Nature. This book was released on 2023-03-11 with total page 522 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book comprises the proceedings of the select peer-reviewed papers presented during the 18th Control Instrumentation System Conference (CISCON 2021). This book highlights the latest trends in instrumentation, sensors and systems, industrial automation and control, image and signal processing, robotics, renewable energy, power systems, and power drives. The research works covered in the book are of high quality and contributed by experts in academia and industry to provide meaningful direction for prolific growth. The book also features a few chapters contributed by the leading policymakers, technologists, farmers, and doctors who help outline the roadmap from the need for technology to policy-making to effect and implement technological advancements for the nation-building process. The book will serve as a valuable reference resource for academics and researchers across the globe.

Download or read book Intelligent Problem Solving Methodologies and Approaches written by Rasiah Logananthara and published by Springer. This book was released on 2003-07-31 with total page 785 pages. Available in PDF, EPUB and Kindle. Book excerpt: The focus of the papers presented in these proceedings is on employing various methodologies and approaches for solving real-life problems. Although the mechanisms that the human brain employs to solve problems are not yet completely known, we do have good insight into the functional processing performed by the human mind. On the basis of the understanding of these natural processes, scientists in the field of applied intelligence have developed multiple types of artificial processes, and have employed them successfully in solving real-life problems. The types of approaches used to solve problems are dependant on both the nature of the problem and the expected outcome. While knowledge-based systems are useful for solving problems in well-understood domains with relatively stable environments, the approach may fail when the domain knowledge is either not very well understood or changing rapidly. The techniques of data discovery through data mining will help to alleviate some problems faced by knowledge-based approaches to solving problems in such domains. Research and development in the area of artificial intelligence are influenced by opportunity, needs, and the availability of resources. The rapid advancement of Internet technology and the trend of increasing bandwidths provide an opportunity and a need for intelligent information processing, thus creating an excellent opportunity for agent-based computations and learning. Over 40% of the papers appearing in the conference proceedings focus on the area of machine learning and intelligent agents - clear evidence of growing interest in this area.

Download or read book Traditional and Non Traditional Robotic Sensors written by Thomas C. Henderson and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the written record of the NATO Advanced Research Workshop on Traditional and Non-Traditional Robotic Sensors held in the Hotel Villa del Mare, Maratea, Italy, August 28 - September 1, 1989. This workshop was organized under the auspicies of the NATO Special Program on Sensory Systems for Robotic Control. Professor Frans Groen from the University of Amsterdam and Dr. Gert Hirzinger from the German Aerospace Research Establishment (DLR) served as members of the organizing committee for this workshop. Research in the area of robotic sensors is necessary in order to support a wide range of applications, including: industrial automation, space robotics, image analysis, microelectronics, and intelligent sensors. This workshop focused on the role of traditional and non-traditional sensors in robotics. In particular, the following three topics were explored: - Sensor development and technology, - Multisensor integration techniques, - Application area requirements which motivate sensor development directions. This workshop'brought together experts from NATO countries to discuss recent developments in these three areas. Many new directions (or new directions on old problems) were proposed. Existing sensors should be pushed into new application domains such as medical robotics and space robotics.

Download or read book Handbook of Industrial Robotics written by Shimon Y. Nof and published by John Wiley & Sons. This book was released on 1999-03-02 with total page 1388 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrieroboter gehoren heute zum Alltag. In den letzten zehn Jahren verlagerte sich der Schwerpunkt der Neuentwicklungen weg von den Robotern selbst, hin zu alternativen Formen der kunstlichen Intelligenz, mit denen die Gerate ausgestattet werden. Dem Rechnung tragend, beschaftigt sich die zweite Auflage dieses Handbuchs vor allem mit Anwendungen und Strategien zur Problemlosung in der Industrie. Angesprochen werden Themen wie Graphiksimulatoren, objektorientierte Software, Kommunikationssysteme und Mikro- und Nanoroboter. (04/99)

Download or read book An Optical Proximity Sensor for Measuring Surface Position and Orientation for Robot Manipulation written by Takeo Kanade and published by . This book was released on 1983 with total page 11 pages. Available in PDF, EPUB and Kindle. Book excerpt: The authors developed a noncontact proximity sensor which can measure the distance and orientation of a surface in a range of four to five centimeters. The sensor is based on the scheme of active illumination and triangulation. It uses multiple infrared LEDs(light emitting diodes) as the light sources and a PIN-diode area sensor chip for detecting the spot positions. Six LEDs with optics for collimating the beam are mounted at the sensor head. The directions of the beams are aligned to form a cone of light converging at a distance of 4.5 cm from the sensor head. As each LED is sequentially pulsed, the sensor chip detects the position, in its field of view, of the spot projected by the LED light beam on the object surface. The 3-D location of the spot on the surface can be computed by triangulation. By doing this for six LEDs a set of six 3-D points is obtained. Then by fitting a plane to those points, the distance and orientation of a small portion of the object surface are calculated. Since there is no moving part and the spot position sensor chip is a analog sensor which outputs the position of the spot directly without scanning its field of view, fast operation of the proximity sensor can be realized. Currently the sensor can give approximately 1000 measurements of distance and orientation per second with precision of 0.07 mm for distance and 1.5 deg for surface orientation. This non-contact proximity sensor will be useful for such applications as tracing an object surface by a robot arm with specified distance and orientation relative to the surface. (Author).

Download or read book Intelligent Robotics and Applications written by Huayong Yang and published by Springer Nature. This book was released on 2023-10-15 with total page 611 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 9-volume set LNAI 14267-14275 constitutes the proceedings of the 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, which took place in Hangzhou, China, during July 5–7, 2023. The 413 papers included in these proceedings were carefully reviewed and selected from 630 submissions. They were organized in topical sections as follows: Part I: Human-Centric Technologies for Seamless Human-Robot Collaboration; Multimodal Collaborative Perception and Fusion; Intelligent Robot Perception in Unknown Environments; Vision-Based Human Robot Interaction and Application. Part II: Vision-Based Human Robot Interaction and Application; Reliable AI on Machine Human Reactions; Wearable Sensors and Robots; Wearable Robots for Assistance, Augmentation and Rehabilitation of Human Movements; Perception and Manipulation of Dexterous Hand for Humanoid Robot. Part III: Perception and Manipulation of Dexterous Hand for Humanoid Robot; Medical Imaging for Biomedical Robotics; Advanced Underwater Robot Technologies; Innovative Design and Performance Evaluation of Robot Mechanisms; Evaluation of Wearable Robots for Assistance and Rehabilitation; 3D Printing Soft Robots. Part IV: 3D Printing Soft Robots; Dielectric Elastomer Actuators for Soft Robotics; Human-like Locomotion and Manipulation; Pattern Recognition and Machine Learning for Smart Robots. Part V: Pattern Recognition and Machine Learning for Smart Robots; Robotic Tactile Sensation, Perception, and Applications; Advanced Sensing and Control Technology for Human-Robot Interaction; Knowledge-Based Robot Decision-Making and Manipulation; Design and Control of Legged Robots. Part VI: Design and Control of Legged Robots; Robots in Tunnelling and Underground Space; Robotic Machining of Complex Components; Clinically Oriented Design in Robotic Surgery and Rehabilitation; Visual and Visual-Tactile Perception for Robotics. Part VII: Visual and Visual-Tactile Perception for Robotics; Perception, Interaction, and Control of Wearable Robots; Marine Robotics and Applications; Multi-Robot Systems for Real World Applications; Physical and Neurological Human-Robot Interaction. Part VIII: Physical and Neurological Human-Robot Interaction; Advanced Motion Control Technologies for Mobile Robots; Intelligent Inspection Robotics; Robotics in Sustainable Manufacturing for Carbon Neutrality; Innovative Design and Performance Evaluation of Robot Mechanisms. Part IX: Innovative Design and Performance Evaluation of Robot Mechanisms; Cutting-Edge Research in Robotics.

Download or read book Deep Learning for Multimedia Processing Applications written by Uzair Aslam Bhatti and published by CRC Press. This book was released on 2024-02-21 with total page 481 pages. Available in PDF, EPUB and Kindle. Book excerpt: Deep Learning for Multimedia Processing Applications is a comprehensive guide that explores the revolutionary impact of deep learning techniques in the field of multimedia processing. Written for a wide range of readers, from students to professionals, this book offers a concise and accessible overview of the application of deep learning in various multimedia domains, including image processing, video analysis, audio recognition, and natural language processing. Divided into two volumes, Volume Two delves into advanced topics such as convolutional neural networks (CNNs), recurrent neural networks (RNNs), and generative adversarial networks (GANs), explaining their unique capabilities in multimedia tasks. Readers will discover how deep learning techniques enable accurate and efficient image recognition, object detection, semantic segmentation, and image synthesis. The book also covers video analysis techniques, including action recognition, video captioning, and video generation, highlighting the role of deep learning in extracting meaningful information from videos. Furthermore, the book explores audio processing tasks such as speech recognition, music classification, and sound event detection using deep learning models. It demonstrates how deep learning algorithms can effectively process audio data, opening up new possibilities in multimedia applications. Lastly, the book explores the integration of deep learning with natural language processing techniques, enabling systems to understand, generate, and interpret textual information in multimedia contexts. Throughout the book, practical examples, code snippets, and real-world case studies are provided to help readers gain hands-on experience in implementing deep learning solutions for multimedia processing. Deep Learning for Multimedia Processing Applications is an essential resource for anyone interested in harnessing the power of deep learning to unlock the vast potential of multimedia data.

Download or read book Active Vision and Perception in Human Robot Collaboration written by Dimitri Ognibene and published by Frontiers Media SA. This book was released on 2022-03-07 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: