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Manufacturing

Robotics

Search Publications

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Displaying 101 - 125 of 348

Using Sensor Feedback to Accurately Estimate Part Pose in Gripper

September 28, 2017
Author(s)
Nithyananda Bhat Kumbla, Jeremy Marvel, Satyandra K. Gupta
High volume manufacturing use custom made fixtures during assembly operations. Small volume manufacturing cannot use fixtures in order to keep setup time and production cost low. The performance of the task in fixture-less assemblies depends on the

Modeling Performance Measurement of Mobile Manipulators

August 3, 2017
Author(s)
Roger V. Bostelman, Sebti Foufou, Tsai H. Hong
Mobile manipulators are being marketed around the world as single manufacturer systems (i.e., robot arm and vehicle manufactured by the same organization) and as independent robot arms, from a different manufacturer and integrated with automatic guided

Towards a Robot Task Ontology Standard

June 8, 2017
Author(s)
Stephen B. Balakirsky, Craig I. Schlenoff, Sandro R. Fiorini, Signe Redfield, Marcos Barreto, Hirenkumar Nakawala, Joel L. Carbonera, Larisa Soldatova, Julita Bermejo-Alonso, Fatima Maikore, Paulo J. Goncalves, Elena D. Momi, S. Veera Ragavan, Tamas Haidegger
Ontologies serve robotics in many ways, particularly in describing and driving autonomous functions. These functions are built around robot tasks. The goal of a recently established international study group is to develop a knowledge representation that

ACCURACY DEGRADATION ANALYSIS FOR INDUSTRIAL ROBOT SYSTEMS

June 7, 2017
Author(s)
Guixiu Qiao, Brian A. Weiss
As robot systems become increasingly prevalent in manufacturing environments, the need for improved accuracy continues to grow. Recent accuracy improvements have greatly enhanced automotive and aerospace manufacturing capabilities, including high-precision

Industrial Wireless Systems Workshop Proceedings

May 11, 2017
Author(s)
Richard Candell
Background: Wireless technology has great appeals to many manufacturers, in this case industrial automation systems, which include process control, discrete manufacturing, safety systems, and building automation. Applying wireless sensing and control

Dynamic Metrology and ASTM E57.02 Dynamic Measurement Standard

May 2, 2017
Author(s)
Roger V. Bostelman, Tsai H. Hong, Steven A. Legowik, Mili Shah
Optical tracking systems are used in a wide range of fields. The market for optical tracking systems has dramatically increased over the past several years to $1.2B revenue in 2014. This paper describes the new ASTM E3064 Standard test method procedures

Mobile Manipulator Stability Measurements

April 18, 2017
Author(s)
Roger V. Bostelman, Tsai H. Hong
Mobile manipulators are being marketed for material handling and other tasks. Manufacturers suggest the stability of the vehicle best when the onboard loading tapers the centroid to the center of the wheelbase as the payload height increases. Experiments

A Suite of Ontologies for Robotics and Automation

March 24, 2017
Author(s)
Sandro R. Fiorini, Julita Bermejo-Alonso, Paulo Goncalves, Edison Pignaton de Freitas, Alberto Olivares Alarcos, Joanna Isabelle Olszewska, Edson Prestes, Craig I. Schlenoff, Veera S. Ragavan, Signe Redfield, Bruce Spencer, Howard Li
One of the basic requirements for any type of robot communication (whether with other robots or humans) is the need for a common vocabulary along with clear and concise definitions. With the growing complexity of tasks that robots are expected to perform

What More Agile Robots Could Mean for Consumers

March 24, 2017
Author(s)
Craig I. Schlenoff
The ways that developers of robots have talked about their craft have been highly specialized to a given domain-and sometimes have varied even within the domain. This has made it difficult to share advances across the landscape of robot R&D and, in turn

Precision vs Accuracy Dilemma in Point-Based Rigid-Body Registration

March 23, 2017
Author(s)
Marek Franaszek, Geraldine S. Cheok
The purpose of a registration is to find the transformation between two coordinate frames: working frame (from which 3D data are transformed) and destination frame (to which the data are transformed). In point-based, rigid-body registration, the

Guideline for Automatic Guided Vehicle Calibration

March 2, 2017
Author(s)
Steven Legowik, Roger V. Bostelman, Tsai H. Hong, Elena R. Messina
This report documents the steps followed to calibrate an all-wheel steer Automatic Guided Vehicle (AGV) for optimal performance. Proper calibration of the steering and drive parameters of an AGV are critical for accurate dead-reckoning navigation, and

NIST Handbook 105-4: Specifications and Tolerances for Reference Standards and Field Standard Weights and Measures, Specifications and Tolerances for Liquefied Petroleum Gas and Anhydrous Ammonia Liquid Volumetric Provers (2016 Ed.)

December 13, 2016
Author(s)
Georgia L. Harris, Val R. Miller
These specifications and tolerances are recommended as minimum requirements for standards used by state and local weights and measures officials and others in the regulatory verification of meters used in quantity determination of pressurized liquid

Lets Talk, Robots

November 21, 2016
Author(s)
Craig I. Schlenoff
This is a short article for Scientific Computing Magazine, at the request of the editor, that describes the IEEE 1872 IEEE Standard Ontologies for Robotics and Automation standard.

Sensor Calibration and Registration for Mobile Manipulators

November 16, 2016
Author(s)
Steven Legowik, Roger V. Bostelman, Tsai H. Hong
This paper describes the methods used to register a mobile manipulator to a workstation to perform assembly tasks. The nonlinear, least square model of the system is formulated and Ceres Solver[1] is used to compute the position of the robot arm relative

Review of Research for Docking Automatic Guided Vehicles and Mobile Robots

October 13, 2016
Author(s)
Roger V. Bostelman, Tsai H. Hong
This survey provides a literature review of docking research, an area that has relatively few research articles as compared to generic automatic guided vehicle (AGV) or mobile robot research. Docking refers to the arrival and act of a vehicle stopping at a

Comparison of Registration Methods for Mobile Manipulators

September 15, 2016
Author(s)
Roger V. Bostelman, Roger Eastman, Tsai H. Hong, Omar Aboul-Enein, Steven A. Legowik, Sebti Foufou
Mobile manipulators can be effective, efficient and flexible for automation on the factory floor but will need safety and performance standards for wide adoption. This paper looks at a specific area of performance standards [1] for docking and workpiece
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