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Author : Praveen Bhatia
Publisher :
ISBN 13 :
Total Pages : 15 pages
Book Rating : 4.:/5 (536 download)
Download or read book A Learning Algorithm for Robotic Assembly written by Praveen Bhatia and published by . This book was released on 1989 with total page 15 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Jacob Rubinovitz
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (137 download)
Download or read book Genetic Algorithm for the Robotic Assembly Plan Problem written by Jacob Rubinovitz and published by . This book was released on 1994 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: FIFTH WORLD CONFERENCE ON ROBOTICS RESEARCH, SEPT. 27029, 1994, CAMBRIDGE, MASSACHUSETTS.
Author : Aude Billard
Publisher : MIT Press
ISBN 13 : 0262367017
Total Pages : 425 pages
Book Rating : 4.2/5 (623 download)
Download or read book Learning for Adaptive and Reactive Robot Control written by Aude Billard and published by MIT Press. This book was released on 2022-02-08 with total page 425 pages. Available in PDF, EPUB and Kindle. Book excerpt: Methods by which robots can learn control laws that enable real-time reactivity using dynamical systems; with applications and exercises. This book presents a wealth of machine learning techniques to make the control of robots more flexible and safe when interacting with humans. It introduces a set of control laws that enable reactivity using dynamical systems, a widely used method for solving motion-planning problems in robotics. These control approaches can replan in milliseconds to adapt to new environmental constraints and offer safe and compliant control of forces in contact. The techniques offer theoretical advantages, including convergence to a goal, non-penetration of obstacles, and passivity. The coverage of learning begins with low-level control parameters and progresses to higher-level competencies composed of combinations of skills. Learning for Adaptive and Reactive Robot Control is designed for graduate-level courses in robotics, with chapters that proceed from fundamentals to more advanced content. Techniques covered include learning from demonstration, optimization, and reinforcement learning, and using dynamical systems in learning control laws, trajectory planning, and methods for compliant and force control . Features for teaching in each chapter: applications, which range from arm manipulators to whole-body control of humanoid robots; pencil-and-paper and programming exercises; lecture videos, slides, and MATLAB code examples available on the author’s website . an eTextbook platform website offering protected material[EPS2] for instructors including solutions.
Author : Dmitry Volovich
Publisher :
ISBN 13 :
Total Pages : 16 pages
Book Rating : 4.:/5 (73 download)
Download or read book Genetic Algorithm for the Robotic Assembly Plan Problem written by Dmitry Volovich and published by . This book was released on 1994 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Kyle Jordan Brown
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (125 download)
Download or read book Algorithms for Multi-agent Robotic Assembly Planning written by Kyle Jordan Brown and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents algorithms for multi-agent robotic assembly planning in automated manufacturing contexts. Our work touches on many pieces of the "factory autonomy stack." The first contribution of the thesis is the introduction of a discrete factory problem formulation that includes time-extended multi robot task allocation, inter-task precedence constraints, and collision-avoidance constraints. We propose an efficient method to solve such problems. The two keys to our algorithm's efficiency are its decoupling of task assignment and route planning, and its ability to take advantage of situations where some robots can be delayed in their own schedule without causing any negative impact on the factory's overall performance. The next major contribution of the thesis is a family of replanning algorithms geared toward an online version of our discrete factory problem. In the online setting, the factory command center periodically receives new manufacturing workloads that must be quickly incorporated into the overall schedule. We show through an extensive set of experiments that our replanning methods are applicable across a wide range of problems. Moreover, our proposed methods can be applied in such a way that the factory will never have to freeze while waiting to receive an updated plan. Our final contribution is a proof-of-concept system for large scale multi-robot assembly planning with assemblies and raw materials of arbitrary shapes and sizes. Our system starts with raw materials and a bare-bones set of instructions about how those materials fit together. The planner then synthesizes a construction plan, which defines how each payload will be carried (by one or more robots), where each assembly and subassembly will be built, and which specific robots will be assigned to each solo and collaborative transport task. Finally, a reactive collision-avoidance control policy enables the robots to execute the construction plan in a distributed manner. We demonstrate in simulation that our system can synthesize--in minutes--construction plans for assemblies with hundred of components. Though we do not address all of the relevant ``real-world'' considerations that surround multi robot manufacturing, our work is a small step toward large scale automated construction with mobile robots.
Author : Sylvain Calinon
Publisher : EPFL Press
ISBN 13 : 9781439808672
Total Pages : 248 pages
Book Rating : 4.8/5 (86 download)
Download or read book Robot Programming by Demonstration written by Sylvain Calinon and published by EPFL Press. This book was released on 2009-08-24 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in RbD have identified a number of key issues for ensuring a generic approach to the transfer of skills across various agents and contexts. This book focuses on the two generic questions of what to imitate and how to imitate and proposes active teaching methods.
Author : Arun Kumar Jaura
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (13 download)
Download or read book Robotic Assembly of Splined Shaft-hole Using Hybrid Compliance Control and Machine Learning Based Logic Branching Algorithm written by Arun Kumar Jaura and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : B.O. Nnaji
Publisher : Springer Science & Business Media
ISBN 13 : 9401115907
Total Pages : 319 pages
Book Rating : 4.4/5 (11 download)
Download or read book Theory of Automatic Robot Assembly and Programming written by B.O. Nnaji and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 319 pages. Available in PDF, EPUB and Kindle. Book excerpt: Machines will gradually become programmed using computers which have the knowledge of how the objects in the world relate to one another. This book capitalizes on the fact that products which are manufactured can be designed on the computer and that information about the product such as its physical shape provide powerful information to reason about how to develop the process plan for their manufacture. This book explores the whole aspect of using the principles of how parts behave naturally to automatically generate programs that govern how to produce them. The last decade saw tremendous work on how machines can be programmed to perform a variety of tasks automatically. Robotics has witnessed the most work on programming techniques. But it was not until the emergence of the advanced CAD system as a proper source of information representation about objects which are to be manipulated by the robot that it became viable for automated processors to generate robot programs without human interface. It became possible for objects to be described and for principles about how they interact in the world to be developed. The functions which the features designed into the objects serve for the objects can be adequately represented and used in reasoning about the manufacturing of the parts using the robot. This book describes the necessary principles which must be developed for a robot to generate its own programs with the knowledge of the world in the CAD system.
Author : JACOB. RUBINOVITZ
Publisher :
ISBN 13 :
Total Pages : 18 pages
Book Rating : 4.:/5 (961 download)
Download or read book GENETIC ALGORITHM FOR THE ROBOTIC ASSEMBLY PLAN PROBLEM. written by JACOB. RUBINOVITZ and published by . This book was released on 2000 with total page 18 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Thorsten Schüppstuhl
Publisher : Springer Nature
ISBN 13 : 3662617552
Total Pages : 344 pages
Book Rating : 4.6/5 (626 download)
Download or read book Annals of Scientific Society for Assembly, Handling and Industrial Robotics written by Thorsten Schüppstuhl and published by Springer Nature. This book was released on 2020-08-21 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI).
Author : Leijun Li
Publisher : Springer Nature
ISBN 13 : 9811513074
Total Pages : 643 pages
Book Rating : 4.8/5 (115 download)
Download or read book Advances in Materials and Manufacturing Engineering written by Leijun Li and published by Springer Nature. This book was released on 2020-01-09 with total page 643 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers outstanding papers presented at the International Conference on Advances in Materials and Manufacturing Engineering (ICAMME 2019), held at KIIT Deemed to be University, Bhubaneswar, India, from 15 to 17 March 2019. It covers theoretical and empirical developments in various areas of mechanical engineering, including manufacturing, production, machine design, fluid/thermal engineering, and materials.
Author : Jeremy Alan Marvel
Publisher :
ISBN 13 :
Total Pages : 195 pages
Book Rating : 4.:/5 (63 download)
Download or read book Autonomous Learning for Robotic Assembly Applications written by Jeremy Alan Marvel and published by . This book was released on 2010 with total page 195 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic manipulators have been used to perform a myriad of repetitive industrial tasks with varying degrees of success and precision over the past several decades. Their use in mechanical assembly tasks, however, has been relatively minor due to both their limitations in classical position-control paradigms and the difficulty in algorithmically describing the process of assembly. Though the technology for sensing and compliantly adapting to physical contact has improved, robotic assembly solutions are still largely relegated to simple responsibilities such as peg-in-hole and rigidly fixtured configurations. This dissertation represents the progressive development and assessment of self-guided learning for model-assisted robotic assembly applications. Utilizing industrial manipulators outfitted with six-degree of freedom (DoF) force/torque sensors for compliant motion control, a method for self-optimization of assembly search parameters is developed that allows the robot to determine when its performance has improved using simple metrics of success. Based on prior experiences, the robot then generates internal representations--or models--of the assembly process in order to attempt to predict when certain parameter sequences are likely to result in superior assembly performances. This method is further augmented to algorithmically determine the quality and anticipated effectiveness of the models based on their profiles in the parameter-performance mapping space. Analysis of simulations with arbitrarily-large N-dimensional parameter spaces suggest that even relatively simple models are capable of abstracting useful information of assemblies, even in the presence of noise. These results were then corroborated by running physical trials with and without assistive models on a variety of automobile part assemblies.
Author : Edward Jones
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (66 download)
Download or read book Machine Learning in Behavoiur Based Robotic Assembly written by Edward Jones and published by . This book was released on 1992 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Peter F. McGoldrick
Publisher : Springer Science & Business Media
ISBN 13 : 1461585244
Total Pages : 422 pages
Book Rating : 4.4/5 (615 download)
Download or read book Advances in Manufacturing Technology II written by Peter F. McGoldrick and published by Springer Science & Business Media. This book was released on 2013-11-21 with total page 422 pages. Available in PDF, EPUB and Kindle. Book excerpt: EN Corlett Joint-Chairman - COPED, University of Nottingham, Nottingham, UK The contributions offered to this Third National Conference demonstrate that research in production is very much alive. The considerable numbers of papers on robotics, automation and flexible manufacturing systems, together with those in production control and quality matters, demonstrate that there is much work going on in our colleges, polytechnics and universities related to modern methods of manufacture. The future of manufacture undoubtedly hinges on better control. Control over the supply and movement of materials is now keenly sought. Control over manufacturing equipment is also a goal, not just to maintain quality but to give flexibility in sequence and quantity. None of these objectives for improved performance is entirely a technical matter, although there is an increasing technical ability to influence all of them. To achieve their potential, they depend on competent people at all levels. Discussion with alert managers soon reveals that this is one of their major concerns. Either the people they have require more training, or they cannot hire the people with the abilities they need. This applies at all levels, and the availability of people with competence in manufacture is particularly low.
Author : Alberto Maria Segre
Publisher :
ISBN 13 :
Total Pages : 470 pages
Book Rating : 4.:/5 (179 download)
Download or read book Explanation-based Learning of Generalized Robot Assembly Plans written by Alberto Maria Segre and published by . This book was released on 1987 with total page 470 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report describes an experiment involving the application of a recently developed machine learning technique, explanation-based learning, to the robot retraining problem. Explanation-based learning permits a system to acquire generalized problem-solving knowledge on the basis of a single observed problem-solving example. The resulting computer program, called ARMS for Acquiring Robotic Manufacturing Schemata, serves as a medium for discussing issues related to this particular type of learning. This work clarifies and extends the corpus of knowledge so that explanation-based learning can be successfully applied to real world problems. From a machine learning perspective, ARMS is one of the more ambitious working explanation-based learning implementations to date. Unlike many other vehicles for machine learning research, the ARMS system operates in a nontrivial domain conveying the flavor of a real robot assembly application. (Keywords: Artificial intelligence; Scenarios).
Author : Huan Liu
Publisher : Springer Science & Business Media
ISBN 13 : 1461557259
Total Pages : 418 pages
Book Rating : 4.4/5 (615 download)
Download or read book Feature Extraction, Construction and Selection written by Huan Liu and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 418 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is broad interest in feature extraction, construction, and selection among practitioners from statistics, pattern recognition, and data mining to machine learning. Data preprocessing is an essential step in the knowledge discovery process for real-world applications. This book compiles contributions from many leading and active researchers in this growing field and paints a picture of the state-of-art techniques that can boost the capabilities of many existing data mining tools. The objective of this collection is to increase the awareness of the data mining community about the research of feature extraction, construction and selection, which are currently conducted mainly in isolation. This book is part of our endeavor to produce a contemporary overview of modern solutions, to create synergy among these seemingly different branches, and to pave the way for developing meta-systems and novel approaches. Even with today's advanced computer technologies, discovering knowledge from data can still be fiendishly hard due to the characteristics of the computer generated data. Feature extraction, construction and selection are a set of techniques that transform and simplify data so as to make data mining tasks easier. Feature construction and selection can be viewed as two sides of the representation problem.
Author : Sebastian Thrun
Publisher : MIT Press
ISBN 13 : 0262201623
Total Pages : 668 pages
Book Rating : 4.2/5 (622 download)
Download or read book Probabilistic Robotics written by Sebastian Thrun and published by MIT Press. This book was released on 2005-08-19 with total page 668 pages. Available in PDF, EPUB and Kindle. Book excerpt: An introduction to the techniques and algorithms of the newest field in robotics. Probabilistic robotics is a new and growing area in robotics, concerned with perception and control in the face of uncertainty. Building on the field of mathematical statistics, probabilistic robotics endows robots with a new level of robustness in real-world situations. This book introduces the reader to a wealth of techniques and algorithms in the field. All algorithms are based on a single overarching mathematical foundation. Each chapter provides example implementations in pseudo code, detailed mathematical derivations, discussions from a practitioner's perspective, and extensive lists of exercises and class projects. The book's Web site, www.probabilistic-robotics.org, has additional material. The book is relevant for anyone involved in robotic software development and scientific research. It will also be of interest to applied statisticians and engineers dealing with real-world sensor data.
