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The Flying Machine Arena (FMA) is an indoor research space built specifically for the study of autonomous systems and aerial robotics. In this video, we give an overview of this testbed and some of its capabilities. We show the FMA infrastructure and hardware, which includes a fleet of quadrocopters and a motion capture system for vehicle localization. The physical components of the FMA are complemented...
Machine vision has become an important visual inspection technology for many automation applications. Using machine vision for automation can reduce operating costs and increase efficiency and accuracy. This paper presents an image matching technique designed specifically for improving the library inventory (shelf-reading) process. In contrast with more complex color image matching techniques, the...
In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of...
Closed production lines have been analyzed in the literature under the assumption that the machines obey either the Bernoulli or exponential reliability models. Empirical evidence indicates, however, that manufacturing equipment on the factory floor often has the coefficients of variation of up- and downtime less than 1; therefore, the statistics of machine reliability may be neither Bernoulli nor...
The paper deals with the problem of fault detection and isolation in machining centers, which are the basis of FMSpsila. The problem is of paramount importance since an effective diagnostic system can lead to a significant increase in the autonomy of an automated system. The paper considers a special case study: an hydraulic circuit which blocks and unblocks the pallet on the rotary table in a machining...
The human eyes cannot easily focus on two separate targets at the same time. However the two eyeballs can rotate in opposite directions when the target approaches or leaves. The two eyes have their own cooperative movements called conjugate and vergence eye movements. Since the classifications of eye movement patterns in physiology are based on the phenomena of eyeball rotations, it is difficult to...
The demand for wireless technology in home automation systems has recently been increasing due to several advantages such as installation cost reduction, easy placement, easy extension, aesthetic benefits, and mobile device connectivity. Among the many wireless technologies, ZigBee is one of the most useful for home automation; a wireless home networking system can be configured using ZigBee alone...
This paper presents one implementation of an ILC (iterative learning control) algorithm in motion-focused production control systems. The implementation is an enhancement, but not a replacement of PID tuning. It is able to improve the system performance in terms of following error without re-tuning PID parameters when the operation conditions, such as mechanical device, load, and motion profile, change...
In order to deal with mobile target tracking which contain non-linear and non-Gaussian problem, this paper presents a particle filter positioning and tracking algorithm based on dynamic model. This method can apply to any state-space model which is nonlinear system, and the accuracy can approach to best of all. The simulation showed that particle filter method can be used effectively to inhibit non-line-of-sight...
This study deals with the development of a computer model to estimate the biological activity of a chemical compound by evaluating its molecular structure. There exist uncertainties in a structure-activity modeling problem regarding the numerical representation of the structure via selected molecular descriptors, optimal structure of the model, robustness of the model identification criterion, and...
This paper presents a new line-based calibration method for automatically computing the transformation relationship between industrial robots and workcell. The calibration method mainly depends on the position-sensitive detector (PSD) servo control of the robots. The developed servo controller allows precisely positioning the laser beam (line) from a single laser pointer attached at the end-effector...
We demonstrate a testbed and algorithms for collaborative human and automated (or mixed-initiative) decision making within the context of outdoor search and rescue. Hydra is a networked simulation tool that allows n human and k automated agents operating under different assumptions to share control over m unmanned aerial vehicles (UAVs) with cameras, with the goal of locating a hidden subject thetas...
We present an algorithm for computing all two disk-finger caging grasps along the boundary of a polygonal part with n edges. A grasp is said to cage a part when the fingers make it impossible for the part to move to a distant location-and, hence, escape the grasp-without penetrating a finger. Using the relation between immobilizing grasps (which prevent any motion of the part) and caging grasps we...
In this paper we report some results of a research project aimed at deriving high-performance, adaptive control algorithms for electronic expansion valves (EEVs) to be used in finned-coiled, dry-expansion evaporators for refrigeration systems. The approach we use in the design is that of virtual prototyping, with the aim of developing a software environment that can be used for controller design,...
Industrial robots are widely used to paint final products in many industries, such as automotive and furniture etc. Robot path planning based on the CAD models of parts for spray painting is critical for product quality, process cycle time and material waste etc. Currently automated robot path planning has always caused a bottleneck for the spray painting processes because typical manual teaching...
In this paper we propose an exact algorithm for the general single-machine scheduling problem where machine idle time is permitted. The algorithm is an extension of the authorspsila previous algorithm for the problem without machine idle time, which is based on the SSDP (successive sublimation dynamic programming) method. In this algorithm a lower bound is computed by applying dynamic programming...
This paper focuses on controller design for a closed-loop scanning tunneling microscope to deal with fast variations in sample surface. A linear approximation approach is used to deal with non-linearities. The desired performances are then achieved by a controller design based on pole placement with sensitivity function shaping using second order digital notch filters. The corresponding simulation...
This paper presents an application of the supervisory control theory in the development of control logics for refrigerators. A structure containing a Peltier Mini-Refrigerator controlled by an electronic circuit was developed, aiming to create and validate different control strategies that will be implemented in household and commercial refrigerators. The local modular control approach is applied...
The automotive industry is faced actually with the challenge to enable their car body assembly lines to produce a mix of several different car models on the same line. A new automation concept for highly flexible multi-body assembly lines is presented that even allows model change on the fly. This is achieved by introducing modular, standardized components consequently in all levels of the automation...
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