Current Issue : July - September Volume : 2012 Issue Number : 3 Articles : 5 Articles
A concept that allows the cognitive automation of robotic assembly processes is introduced. An assembly cell comprised of two\r\nrobots was designed to verify the concept. For the purpose of validation a customer-defined part group consisting of Hubelino\r\nbricks is assembled. One of the key aspects for this process is the verification of the assembly group. Hence a software component\r\nwas designed that utilizes the Microsoft Kinect to perceive both depth and color data in the assembly area. This information is\r\nused to determine the current state of the assembly group and is compared to a CAD model for validation purposes. In order to\r\nefficiently resolve erroneous situations, the results are interactively accessible to a human expert. The implications for an industrial\r\napplication are demonstrated by transferring the developed concepts to an assembly scenario for switch-cabinet systems....
This paper introduces an environmental representation for autonomous mobile robots that continuously adapts over time. The\r\npresented approach is inspired by human memory information processing and stores the current as well as past knowledge of\r\nthe environment. In this paper, the memory model is applied to time-variant information about obstacles and driveable routes\r\nin the workspace of the autonomous robot and used for solving the navigation cycle of the robot. This includes localization and\r\npath planning as well as vehicle control. The presented approach is evaluated in a real-world experiment within changing indoor\r\nenvironment. The results show that the environmental representation is stable, improves its quality over time, and adapts to\r\nchanges....
Central nervous system diseases cause the gait disorder. Early rehabilitation of a patient with central nervous system disease is\r\nshown to be benefit. However, early gait training is difficult because of muscular weakness and those elderly patients who lose\r\nof leg muscular power. In the patient�s walking training, therapists assist the movement of patient�s lower limbs and control\r\nthe movement of patient�s lower limbs. However the assistance for the movement of the lower limbs is a serious hard labor\r\nfor therapists. Therefore, research into and development of various gait rehabilitation devices is currently underway to identify\r\nmethods to alleviate the physical burden on therapists. In this paper, we introduced the about gait rehabilitation devices in central\r\nnervous system disease....
We are developing a manipulator system in order to support disabled people with less muscle strength such as muscular dystrophy\r\npatients. Such a manipulator should have an easy user interface for the users to control it. But the supporting manipulator for\r\ndisabled people cannot make large industry, so we should offer inexpensive manufacturing way. These type products are called\r\nââ?¬Å?orphan products.ââ?¬Â We report on the construction of the user interface system using RT-Middleware which is an open software\r\nplatformfor robot systems. Therefore other user interface components or robot components which are adapted to other symptoms\r\ncan be replaced with the user interface without any change of the contents. A single switch and scanning menu panel are introduced\r\nas the input device for the manual control of the robot arm. The scanning menu panel is designed to perform various actions\r\nof the robot arm with the single switch. A manipulator simulation system was constructed to evaluate the input performance.\r\nTwo muscular dystrophy patients tried our user interface to control the robot simulator and made comments. According to\r\nthe comments by them, we made several improvements on the user interface. This improvements examples prepare inexpensive\r\nmanufacturing way for orphan products....
Implementing a robot controller that can effectively manage limited resources in a deterministic, real-time manner is challenging.\r\nBehavior-based architectures that decompose autonomy into levels of intelligence are popular due to their robustness but do not\r\nprovide real-time features that enforce timing constraints or support determinism. We propose an architecture and approach for\r\nusing the real-time features of the Real-Time Specification for Java (RTSJ) in a behavior-based mobile robot controller to show that\r\ntiming constraints affect performance. This is accomplished by extending a real-time aware architecture that explicitly enumerates\r\ntiming requirements for each behavior. It is not enough to reduce latency. The usefulness of this approach is demonstrated via\r\nan implementation on Solaris 10 and the Sun Java Real-Time System (Java RTS). Experimental results are obtained using a\r\nK-team Koala robot performing path following with four composite behaviors. Experiments were conducted using several task\r\nperiod sets in three cases: real-time threads with the real-time garbage collector, real-time threads with the non- real-time garbage\r\ncollector, and non-real-time threads with the non-real-time garbage collector. Results show that even if latency and determinism\r\nare improved, the timing of each individual behavior significantly affects task performance....
Loading....