Trends in Robot Business and Robotic Research

Transcription

Trends in Robot Business and
Robotic Research in ME Dept. and
CAD/CAM/Robotics Center at METU
Asst. Prof. Dr. E. İlhan KONUKSEVEN
Department of Mechanical Engineering
Middle East Technical University
Turkey
Mechanical Eng. Dept. Turkey
BILTIR CAD/CAM/Robatics
Application and Research Center
November, 2004 E.I. KONUKSEVEN
The simplest definition of a robot could be
A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specified
devices through variable programmed motions for the performance of a variety of tasks (Robot
Institute of America)
The simplest definition of a robot could be "a mechanism which moves and reacts to its environment"
A Robot is a construction which interacts with its environment either under remote control or
programmed control, sensing that environment and reacting to it, static or mobile.
The basic components of a robot are
1.
2.
3.
4.
5.
Structure - the mechanical structure (links, base,
etc). This requires a great deal of mass to provide
enough structural rigidity to ensure minimum
accuracy under varied payloads.
Actuators - The motors, cylinders, etc. that drive
the robot joints. This might also include mechanisms
for a transmission, locking, etc.
Control Computer (User / Robot)- This
computer interfaces with the user, and in turn
controls the robot joints.
End of Arm Tooling (EOAT) - The tooling is
provided be the user, and is designed for specific
tasks.
Teach pendant - One popular method for
programming the robot. This is a small hand held
device that can direct motion of the robot, record
points in motion sequences, and begin replay of
sequences. More advance pendants include more
functionality.
Technologies involved in Robotics
A brief list of the main areas of general expertise involved in robotics is given below :
a) Mechanics - mechanisms, structures etc.
b) Hydraulics, pneumatics
c) Electrics and electronics
d) Computer engineering, science and programming
e) Materials science and engineering - from metals to polymers and more
f ) Radio and television transmission
g) Mathematics of many and varied fields
h) Mechatronics
There are few branches of engineering, science, mathematics and even philosophy which don't touch
on robotics to a greater or lesser degree, and often an apparently unconnected science such as
biology,( which only a few years ago was seen to have little to do with robotics) can become the new
way forward in robotic research.
Biological Foundations of the Reactive Paradigm
Be able to write pseudo-code of an animal’s behaviors in terms of innate releasing mechanisms,
identifying the releasers for the behavior.
Given a description of an animal's sensing abilities, its task, and environment, identify an affordance
for each behavior.
Robots may function in many different environments :
a) Inside buildings - with problems like stairs and obstacles such as furniture and people.
b) On the flat ground around buildings - with soft ground and weather to contend with.
c) In the wild or "off road areas"- where anything can be expected.
d) On and under water - where pressure and corrosion resistance is required among other things.
e) In the air - where other aircraft, birds and hostile winds will be encountered.
f) In the confused conditions of a disaster - where rescue or decommissioning of a reactor is
required.
g) In Space - where distances, time delays, radiation and micro meteors are the order of the day.
h) On other planets - as seen on Mars.
i) Inside the body - performing an operation or as a replacement.
Types of Robots
Industrial Robots
Service Robots
Service Robots for Personel and Private Use
Robots for domestic tasks
Vacuuming cleaners
Lawn mowing
Pool cleaning
Window cleaning
Entertainment and leisure robots
Toy robots
Entertainment
Hobby systems
Education and training
Handicap assistance
Robotized wheelchairs
Personal rehabilitation
Personal transportation
Home security & surveillance
Service Robots for Professional Use
Field robotics
Agriculture, Milking robots, Forestry, Mining systems,
Space robots
Professional cleaning
Floor cleaning, Window and wall cleaning (including wall
climbing robots), Tank, tube and pipe cleaning, Pool
cleaning
Inspection systems
Sewer robots, Tank, tubes and pipes
Construction and demolition
Demolition systems: nuclear demolition & dismantling,
other demolition systems,
Construction support robots: maintenance or
construction
Logistic systems
Courier systems, Mail delivery , Factory logistics
Medical robotics
Diagnostic systems, Robot assisted surgery,
Rehabilitation systems
Defence, rescue & security applications
Demining robots, Fire and bomb fighting robots
Surveillance/security robots, Unmanned aerial vehicles:
surveillance systems, armed systems
Underwater systems
Mobile platforms in general use
Laboratory robots
General material handling, Clean room robots
Public relation robots
Hotel & restaurant robots, Guide robots
Robots in marketing, library robots
Humanoid robots
Underwater Systems
Unmanned Underwater Search
With 4800 units, underwater systems
accounted for %23 of the total number of
service robots for professional use
installed up to the end of 2003
Underwater Robot Used By Archeologists To
Explore the USS ARIZONA
VideoRay remotely-operated vehicles (ROVs).
Pearl Harbor, Hawaii, November 9, 2004 – Beginning November 1, 2004,
archeologists from the Submerged Resources Center of the U.S. National
Park Service are conducting a three-week investigation of the wreck of USS
ARIZONA, the American battleship sunk in the Japanese attack on Pearl
Harbor, Hawaii, in 1941. Using nondestructive techniques, the team will
conduct tests to determine the structural integrity of the ship, record in detail
its current state for comparison with earlier surveys, and collect
environmental data in the interior of the ship using VideoRay remotelyoperated vehicles (ROVs). Because the ship is considered a war grave,
divers will not enter the interior spaces of the vessel.
Defense, Rescue and Security Applications
Foster-Miller, Inc.
TALON™ robots have been in continuous, active military service since 2000 when they
were successfully used in Bosnia to move and dispose of live grenades. They were
used extensively at Ground Zero in search and recovery efforts after the September 11
attack on the World Trade Center and were the first robots taken into Afghanistan by
Special Forces during action against the Taliban and Osama bin Laden in 2002. They
went into Iraq with US forces in March 2003. TALON™ robots have now completed
more than 20,000 EOD (explosive ordnance disposal) missions.
Serch & Rescue
Inuktun microTracks
Robots at WTC
Disaster mitigation requires
rapid and efficient search and
rescue of survivors
iRobot PackBot
Movies from World Trade Center
Robot: Urbot Owner: SPAWAR Date: Sept 15,
2001 Task: Building Recon. Location:
Surrounding Structures
Robot: Inuktun Microtracs & VGTV Owner:
DARPA TMR Date: Sept 18, 2001 Task:
Deployment into support conduit Location:
Tower Two Note: Robot view
Robot: Solem Owner: Foster Miller Date:
Sept 16, 2001 Task: Void inspection
Location: Tower 2
Robot: Inuktun Microtracs Owner: DARPA
TMR Date: Sept 12, 2001 Task: Sewer
inspection Location: Adjacent street
Foster-Miller Talon at World Trade Center
disaster
Robot: Packbot Owner: iRobot Date: Sept
15, 2001 Task: Building Recon. Location:
Movies from World Trade Center
Person: John Blitch Robot used: N/A Date:
Sept 13, 2001 Task: Boiler room deployment
Location: N/A
Person: Arnie Mangolds, Jason Haglund Robot
used: Inuktun Microtracs Date: Sept 13, 2001
Task: Boiler room deployment Location: N/A
Robot: Urbot & Packbot Owner: SPAWAR &
iRobot Date: Sept 15, 2001 Task: Building
Recon. Location: Surrounding Structures
Robot: N/A Owner: N/A Date: Sept 18, 2001
Task: Survey searched area Location: Tower
Two Note: External view
Robot: Talon Owner: Foster Miller Date: Sept
15, 2001 Task: Building Recon. Location:
iRobot Pacbot at World Trade Center Disaster
Household robots,
Intelligent Robot Vacuum Cleaner, lawn-mowing robots
Sales of lawn-mowing robots have
started to take off very strongly, with
sales in excess of 40,000 units, and
should continue to boom.
The market potential is very large.
A fully automatic cleaning robot.
Samsung Inc.
iRobot
Robots for the
Real World
Vacuum cleaning robots were introduced on the market
at end of 2001. The market expanded rapidly in 20022003 and now counts at least 570,000 units.
Vision Mapping Technology – Drawing a 3-D map of the environment
identifying its relative location. Recognizing which area needs to be cleaned
Cleaning from corner to corner
Negotiating low-height obstacles
Auto recharging function
lawn-mowing robot
Service robot
Braintech, Inc
"Intellibot's IS 750(TM) floor scrubber
cleans up to 10,000 square feet per
hour, runs up to four hours on a single
battery
FIELD ROBOTICS
Agricalture, Mining, Space Robots
The NASA Space Telerobotics Program addresses the
three specific mission and application areas:
- on-orbit assembly and servicing,
- science payload tending, and
- planetary surface robotics.
Exploration Robotics
The Lunar Rover Initative at
Carnegie Mellon University
is an ongoing project to
create robots that can
explore unknown territory
and do science experiments
at interesting locations.
The NASA Space
Telerobotics Program
The Exploration Robotics portion
of the program develops robotics
for surveying systems for the
exploration of the Moon and
Mars.
On-orbit Assembly and Servicing
The On-orbit Assembly and Servicing segment of the
program is focussed on the development of space robotics
for eventual application to on-orbit satellite servicing by both
free-flying and platform attached servicing robots.
Handicap Assistance
Huminoid robot
Why create a huminoid robot?
The dream sounds simple. Design a robot that can
duplicate the complexities of human motion and
genuinely help people.
An easy task? Not quite. ASIMO took more than 18 years
of persistent study, research, trial and error before Honda
engineers achieved their dream of creating the world’s
most advanced humanoid robot.
1986
Understanding
how to
walk on two legs
1987–1993
1993–1997
Success in walking Adding a head and body
on two legs
to the legs
2000
Achieving human-like
movement
ASIMO has two arms and two hands – to perform tasks
such as reaching for and grasping objects, switching
lights on and off, carrying or moving things, or opening
and closing doors.
two-legged humanoid robot designed to be useful and
helpful to humans. With its powerful computer system,
sensors and motors, 26 Degrees of Freedom and
advanced walking technology, ASIMO is equipped to
operate in real world environments.
Entertainment Robots
Service robots for personal and private use: about 610,000
units for domestic use and almost 700,000 units for
entertainment and leisure sold up to end 2003.
(United Nations Economic Commission for Europe, 20 October 2004)
K-bot has 24
actuators built by
David Hanson
www.sony.com
Animatronics
Fumio Hara of the Science University of
Tokyo has built a robotic head of a
Japanese woman which is controlled by
24 hydraulic cylinders which can change
its facial expression to one of six
common human expressions.
LABORATORY ROBOTS
Dade Behring
Sysmex® CA-560 is a small, fully
automated system which features
immunologic, coagulation and
chromogenic measurements in true
random access.
Medical Robotics
Robotic Brain Surgery
More than 2,000 brain surgeries have been
performed worldwide using a specially designed
robotic apparatus. The robotic surgical tools give
the doctor finer control over delicate movements
and more accurate pinpointing of the diseased
area. This allows the surgery to be performed
without fitting patients with a painful, cumbersome
immobilizing frame that is needed for traditional
brain surgery.
The Healing Touch
Today robotic tools allow surgeons to "feel"
the patient’s tissue. Researchers at the
Biorobotics Laboratory at Harvard are
designing sensors to send threedimensional information to tiny pins on the
surgeon’s fingertips. The doctor can then
feel changes in texture or the strength of
her grip. This may be used to detect lung
tumors or to insert needles into delicate
tissue.
Teleoperation
World's First Telesurgery
On September 7, 2001 a doctor in New
York removed the diseased gallbladder of
a 68-year-old patient in Strasbourg,
France. The surgeon used a computer with
a high-speed network connection to move
robotic tools in the French operating room.
Someday doctors may be able to use this
technology to operate on patients in
dangerous or inaccessible locations.
A microsurgical telerobot system
Master and Slave Integrated Telerobotic System for Telesurgery
LABORATORY ROBOTS - REMOTE LABORATORY ACCESS
Internet
Service
Provider
Internet
Server for Remote
Laboratory Access
ISP
Campus
Network
Video and
voice over IP
Hirschman
Cable Modem Line
ISDN Line
Leased Line
Telephone Line
Student’s PC,
on campus
Central
Controller
Student’s PC,
off campus
Fieldbus
CLIENT
WEB Browser
Mono/
Stereo
PC
Remote Digital I/O
Remote AD/DA
Remote Serial
Remote Ind. Cotrol
Live Video
& Voice
FieldPoint I/O Ter.
(RTU, DCU)
PLC
Decision Comp.
National Inst. Co.
System Cnt.
Actuator
Local Cont.
Set-up maintenance
System
Controller
10baseT
Ethernet
microcontrollers
microprocessors
Local Controllers Data Acqusition Signal Conditioning
Actuators
Sensors, Transducers, Detectors
Test and Measurement Equipment
Experimental Set-ups
Force, grasp and touch sensors
gripper
Mouse
Keyboard
Speaker
Micro-phone
Webcam (Virtual Presence)
Scanner
Trackball
Joystick
Stereo Viewing
Head Mounted Displays
Data Gloves
Force Feedback / Haptic Systems
Thermal Devices
Olfactory Devices
(Artificial olfactory)
Active, hands-on experience
Stereo Vision & Immersive Systems
Immersive Projection Systems
Stereo3D is the use of computer technology to
recreate the way we naturally see depth
stereoscopically.
Stereo Vision
The system allows multiple
users to immerse themselves
fully in the same virtual
environment at the same time
http://www.techexpo.com/WWW/kappa/stereo.html
http://www.fakespacesystems.com
Stereoscopic projection and 3-D computer graphics
create the illusion of complete sense of presence in a
virtual environment.
Applications:
http://www.stereographics.com
Remote control of vehicles,
Accurate operation of remote manipulator arms,
Remote inspections
Stereo microscopy: inspections, medical etc.
Demonstrations and presentations,
Accurate training.
http://www.tan.de/
3D Touch Technology (Haptic Devices)
Haptic Displays are manipulators used to provide force or tactile feedback to humans interacting with vitual or remote
environments. In literature, they are also called force displays, master manipulators, or hand controllers.
The Haptic Solution for 3D Virtual World RealTime Applications.
Freedom 6S is a six degree of freedom hand
controller, which permits an operator to interact
either with a real telemanipulator or with objects
in a virtual world. The operator feels forces in
translation and rotation that give him or her an
uncanny sense of "being there". MPB
Technologies Inc.
A high-fidelity Haptic Interface
Testbed has been developed over
the last five years at the University
of Colorado at Boulder.
With FreeForm touch technology, it is possible
to interact directly with a model.
SensAble Technologies, Inc.
The PHANTOM Premium 1.5 is
suited
for
applications
requiring a larger range of
hand motion.
The PHANTOM 1.5/6DOF is a desktop tool that
allows for the exploration of application areas
requiring force feedback in six degrees of
freedom (6DOF).
Force Feedback
3D Touch Technology (Data Gloves)
CyberForce® is a force feedback armature
that not only conveys realistic grounded
forces to the hand and arm but also
provides six-degree-of-freedom positional
tracking
that
accurately
measures
translation and rotation of the hand in
three dimensions. CyberForce allows you
to intuitively explore and interact with
simulated graphical objects via the most
natural interface possible – the human
hand.
Grasping Force Feedback
It lets “reach into a computer” and grasp computergenerated or tele-manipulated objects. The device exerts
grasp forces that are roughly perpendicular to the fingertips
throughout the range of motion, and forces can be specified
individually. There are five actuators, one for each finger,
which can be individually programmed to prevent the user’s
fingers from penetrating or crushing a virtual solid object.
Tactile Feedback
The array of stimulators can generate simple sensations such
as pulses or sustained vibration, and they can be used in
combination to produce complex tactile feedback patterns.
The CyberTouch tactile feedback option is essential to anyone
serious about using their hands to interact with objects in a
virtual world.
Kensington Technology Group
Force Feedback technology feel
the excitement added to your
desktop.
Immersion Corporation www.immersion.com
Haptic Devices and FreeForm Concept
haptic devices makes it possible for users to touch and manipulate virtual objects
The FreeForm® Concept™ solution is a unique touch-enabled system that gives designers a
quick, easy way to develop realistic 3D conceptual designs.
Converting CT scan data of patient’s ear
into an STL file
Toys and Promotional
Collectibles, Giftware and
Ceramics
Jewelry
Medical
importing the STL file into FreeForm
modelling system to digitally “sculpt”
an ear prosthesis precisely to fit the
patient’s head.
Matching the position of the ear to the
amount of deformation on the patient’s
head.
Generating a physical model from the
digital model using a 3D printer and
creating a mold and filling it with a
colored silicone to match the patient’s
skin tone
Prostheses are produced for a variety of human disorders and intra-oral defects facial extremities such
as the ears, nose, skull and eyes.
The existing method for treating patients with these defects involves taking impressions, casting a
model and sculpting in wax. The patient must visit the hospital several times for the doctor to modify
the wax casting and create a precise fit, which is time consuming for both patient and hospital.
FreeForm Modeling system to reduce prosthetic development time and production costs while
increasing patient satisfaction.
University Hospital of Maastrich
Industrial Robots
Automotive Industry
Press Automation
Includes a range of handling and control equipment
Body-in-White
Flexible and efficient production from component to complete car body
Paint Automation
To meet the main market requirements for lower costs, higher finish quality
and reduced emissions
Powertrain Assembly
assembly of engines, cylinder heads, gearboxes, axles and steering systems
Application Areas
Arc Welding
Robotic arc welding functionality and equipment
supports a large number of welding methods and
processes.
Assembly
Complete assembly systems for powertrain components
such as engines, transmissions and axles assemblies
including test systems.
ABB & FANUC Production Line
Application Areas
Material handling and Machine tending
Optimizing the press brake tending process
Press Brake solution bends metal sheets accurately
and to a high quality.
Foundry applications
Die casting is the predominant application with sand-casting,
permanent mold and cleaning applications also showing strong growth.
Robots can be adapted to foundry environments.
Application Areas
Packing
To improve the competitiveness, productivity and flexibility.
Changing market requirements for products and packages
demands flexible production solutions. Whatever industry
you are in, robot based automation is the most efficient way
to achieve the production flexibility and reliability that you
need.
Gluing and Sealing
High process control, lower material consumption
robot systems can be used for a variety of gluing and
sealing operations
Application Areas
Palletizing
Palletizing solutions
deliver the flexibility of
manual palletizing, high
reliability and the
capacity of traditional
pallet loaders without
their associated
limitations.
Picking
Guided by the vision system the objects
are picked by the robot at random from
one conveyor and sorted in blisters on a
parallel conveyor.
Spot Welding
This type of application is quite frequent
but the main end users has been seen as:
Automotive industry
Automotive parts suppliers
White goods industry
Application Areas
Painting and coating
High finish quality, reduced emissions and
lower production costs
the most advanced paint application
solutions with environmental focus to reduce
costs, and improve finish quality.
Waterjet-Laser cutting
Water Jet Cutting using robots
for three-dimensional cuts is
more flexible and efficient
compared to using punch
tools or milling and thermal
cutting techniques.
robots can manipulate the
nozzle in any required
direction whilst ensuring the
right cutting angle.
World Invesment in Industrial and Service
Robots and the Forecast for 2004-2007
Survey produced by the
United Nations Economic Commission for Europe (UNECE)
in cooperation with the International Federation of Robotics (IFR)
Press Release ECE/STAT/04/P01
Geneva, 20 October 2004
- Total accumulated industrial robot sales to
some 1,410,000 units since the end of the
1960’s.
Total worldwide stock of operational industrial
robots at the end of 2003
between a minimum of 800,000 units and a
possible maximum of 1,090,000 units.
Many of the early robots have been taken out of
service. The average length of service life is 12
years and it might be as long as 15 years
- The world market for industrial robots is
projected to increase from 81,800 units in 2003
to 106,000 in 2007
- In Japan sales are projected to increase from
31,600 units to some 41,000 units. However, the
operational staock is almost same. It seemed as
if everything that could be robotized was robotized.
Growth in robot investment in Japan will be
spurred by an increasing demand for
replacement investment.
- The robot market in the European Union is
expected to grow from 27,100 units in 2003 to
over 34,000 units in 2007, representing an annual
average growth of 6.1%.
- In North America, the market is estimated to
grow by an average annual rate of 5.8%, which
implies that the market will reach about 16,000
units in 2007.
- In terms of units, it is estimated that the
worldwide stock of operational industrial robots
will increase from about 800,000 units at the end
of 2003 to 1,000,000 at the end of 2007,
representing an average annual growth of 5.7%
ECE/STAT/04/P01 page 5
Result – robot sales continue to surge
-In the last decade the performance of robots has increased enormously while at the same time their prices
have been falling (pay-back period as short as 1-2 years).
- Increasing labour costs
A UNECE/IFR survey, which covered the period 1990-2000, showed
the following results:
¨ List price of one robot unit ........................................................... -43%
¨ Number of units delivered............................................................. +782%
¨ Number of product variants that can be supplied to customers +400%
¨ Total handling capacity (including gripper module) .................. +26%
¨ Repetition accuracy ...................................................................... +61%
¨ Speed of the 6 axes ...................................................................... +39%
¨ Maximum reach............................................................................. +36%
¨ Mean time between failures ......................................................... +137%
¨ RAM in Mbytes .................................................................. over 400 times
¨ Bit-size of the processor .............................................................. +117%
¨ Maximum number of axes that can be controlled ...................... +45%
ECE/STAT/04/P01 page 9
Measurements of robot density based on the total number of persons employed
The robot density in the European Union is about 50% higher than that of the United States.
Robot densities - 1 robot per 10 workers in the motor vehicle industry
- Service robots for professional use:
21,000 units installed up to the end of 2003
Underwater systems
Cleaning robots
Laboratory robots
Demolition and construction robots
Medical robots
Mobile robot platforms for general use
Defense, rescue and security applications
Field robotics
23%
16%
15%
14%
12%
9%
5%
4%.
The value of the stock of professional service robots is
estimated at $2.4 billion.
- Projections for the period 2004-2007: 54,000 new
service robots for professional use to be installed
Application areas with strong growth are
Robots in public relation
Laboratory robots
Underwater systems
Defense rescue and security applications
Professional cleaning robots
Mobile robot platforms for multiple use.
Medical robots
Lawn-mowing robots have started to take
off very strongly, with sales in excess of
40,000 units, and should continue to boom.
The market potential is very large.
Vacuum cleaning robots were introduced
on the market at end of 2001. The market
expanded rapidly in 2002-2003 and now
counts at least 570,000 units.
Of the 610,000 robots for domestic
household robots that were in use at end
2003 almost 400,000 were installed in
2003.
Projections for the period 2004-2007: about 6.6 million units of service robots for personal use to be sold
It is projected that sales of all types of domestic robots (vacuum cleaning, lawn-mowing, window cleaning and other types) in
the period 2004-2007 can reach some 4,1 million units with an estimated value at $2.7 billion.
The market for entertainment and leisure robots, which includes toy robots, is forecasted at about 2.5 million units, most of
which, of course, are very low cost. The sales value is estimated at over $4 billion.
Robotics in Turkey
Installed industrial robots
Auto manufacturers:
Auto-sub:
Foundry:
White goods:
General industry:
Oyak Renault, Tofas-Fiat, Ford Otosan, Otokar, Otoyol, BMC, Mercedes, Toyota,
Hundai, ...
Coskunöz, AKA, Faurecia, Martur, Bplas, BPO, Tefas, Ege Endüstri, Bayraktarlar,
Formfleks, Valeo, Beyçelik, Brisa, Arpek, Matay, Tube-Tec, YPS, ...
Döktas, Cevher, Mateksan, ...
Arçelik, Teba, Profilo, ...
SASA, Artema, Mikropor, Detaysan, Ege Vitrifiye, Farel, Şişecam, Vitra, Repkon,
Nurus, İstikbal, ...
ABB Rotech (%100 Swedish origin engineering company)
GE Fanuc Automation (General Electric and Fanuc)
Kale Altınay Robotics & Automation (OTC DAIHEN Corporation, KUKA, STAUBLI)
(Member of KALE Group Companies)
ODTÜ-BİLTİR MERKEZİ
BİLGİSAYAR DESTEKLİ TASARIM, İMALAT ve ROBOTİK ARAŞTIRMA
ve UYGULAMA MERKEZİ
METU-CAD/CAM/ROBOTICS CENTER
Manufacturing and Development of a Six Degree of Industrial
Robot for Artificial Intelligence Applications.
AFP-06-02DPT.98K122880.
Prof. Dr. Bilgin KAFTANOĞLU, Prof. Dr. Tuna BALKAN,
Dr. İlhan KONUKSEVEN, Oykun EREN
Mechanical Engineering Department
CAD/CAM Robotics Center
1. Eksen
İvme
(rad/s2)
15.708
Hız
(rad/s)
2.0904
2. Eksen
15.708
1.57
3. Eksen
15.708
2.094
4. Eksen
15.708
4.188
5. Eksen
15.708
4.188
6. Eksen
15.708
4.188
Design of an Autonomous Robot Snake to be Used for Detection
of Living Beings in Rescue Tasks within Rubbles of an
Earthquake
Doç. Dr. İsmet ERKMEN, Prof. Dr. Tuna BALKAN, Doç. Dr. Aydan ERKMEN
Prof. Dr. Kemal İDER, Prof. Dr. Kemal ÖZGÖREN, Dr. İlhan KONUKSEVEN
Electrical and Electronics Engineering
CAD/CAM Robotics Center Personel
Earthquake disaster mitigation requires rapid and efficient search and rescue of survivors. Serpentine
mechanisms may reach locations, which are inaccessible to conventional robots and people, without disturbing
the surrounding areas. Research covers the serpentine mechanism design, sensor integration and sensor based
motion planning.
Caltech Snake Robot
Hirose Active Chord
NEC Search and Rescue
“Development of Man Machine Interface
Software for an Industrial Robot”
Assist. Prof. Dr. E. İlhan KONUKSEVEN & Anas ABIDI
Department of Mechanical Engineering
Turkey
Objectives of the Study
To control an industrial robot (ABB IRB-2000) on-line through a portable computer.
To write off-line programs and debug them on a graphical simulation of the robot and then execute them on
the real robot.
Develop a Graphical User Interface (GUI) which is responsible for providing the user with a way to interact with
the graphical simulator of the robot and its environment.
To import user specified solid models into the graphical simulator’s simulated environment.
Detect collision between objects in the simulation.
Simulation Framework
Importing Models
In an effort to make the models visualized in the simulation system as realistic as
possible and to facilitate flexibility and future extension of the visual simulation system, it
was decided to implement a way to import polygon models created in any third party CAD
software (e.g. CADKEY, AutoCAD, 3D Studio MAX etc…) into the simulation framework.
(3D Exploration)
Implementation of a generic parser for parsing Wavefront Obj File Format (or in short
.obj) served fine.
Simulation Framework
In this study the visual ABB IRB-2000 robot body is made of
seven files, each file describes a link of the robot. These files
are:
•
•
•
•
•
•
•
Base.obj
Link1.obj
Link2.obj
Link3.obj
Link4.obj
Link5.obj
Link6.obj
The Robot and its environment in OpenGL
Collision Detection
Bounding volume hierarchies (BVHs) collision detection
technique was used in this study
A BVHs tree provides a multi-scale representation of the object.
•
•
•
The root of the tree corresponds to an approximation of the
object by a single sphere or box.
The spheres or boxes corresponding to the middle levels
of the tree represent smaller pieces of the object, thus
providing a somewhat better approximation to the object
than the root.
The leaf nodes of the tree represent the actual geometry of
the object
A Bounding Volume Hierarchy of Spheres for an Object
Software
•“Man Machine Interface (MMI) Software”
handles the visual simulation and control of the
ABB IRB-2000 Robot, and
The Run Phase of the MMI Software
Red arrows in the figure show the robot coordinates loop, the
blue arrows show the rectangular coordinates loop
Controlling Process of the ABB IRB-2000 Robot
in the MMI Software
Mobile Robot Navigation:
Explore an Unknown Environment Using
Sensor Information
Dr. İlhan KONUKSEVEN, Middle East TEchnical University
Assoc. Prof. Howie CHOSET, Carnegie Mellon University
The sensor based motion planning problem is to find a collision-free path a robot
only using environmental information provided by sensors.
Sensor based motion planning is important for realistic deployment of robots
1.The robot may have no a priori knowledge of the world
2.The robot may have only a coarse knowledge of the world
3.The robot’s knowledge of its environment may be inaccurate
4.The robot’s world may be subject to unexpected occurances or rapidly changing
situations
The Hierarchical Generalized Voronoi Graph
(HGVG), defined in this study, is a roadmap that
can be incrementally constructed using line of
sight sensor data.
Using a freeway system, travel between two
points is accomplished by driving directly to the
freeway, traversing a sequence of freeways to an
exit near the destination, and then proceeding
directly to the destination.
Traffic Map
A roadmap has the following properties: accessibility,
connectivity , and departability.
These properties imply that the planner can construct a path between any two pints in a
connected component of the robot's free space by first finding a path on to the roadmap
(accessibility), (qstart ∈ FS, q'start ∈ R )
traversing the roadmap to the vicinity of the goal (connectivity),
and then constructing a path from the roadmap to the goal (departability).
⎛⎜ q
∈ FS, q' goal ∈ R ⎞⎟⎠
⎝ goal
Explore an Unknown
Environment
Experimental Results
Nomadic Robot
Caltech Snake Robot
Simulated Serpentine Robot
NEC Search and Rescue
Use of HGVG in Injection Molding
(non-robotic application)
Hirose Active Chord
Improving the Accuracy of a Mobile Robot for Localization and
Mapping of an Unknown Environment
Y. Doç. Dr. İlhan KONUKSEVEN
Res. Asst. Gülşah GÜMRÜKÇÜ (MSc. Student)
Middle East Technical University, Mechanical Eng. Dept.
Most of the mobile robots update their locations by integrating data from their encoders which count
the number of whell rotations. Due to slippage of robot’s wheels on the floor, the robot achives
localization error.
When the robot does not have an external positioning device, nor has preplaced landmarks in its free
space dead-reckoning problem occurs.
1.
2.
3.
Purpose of the study:
Construct a map to represent the robot’s environment
Localize the robot to overcome the dead-rekoning problem and improve the accuracy of the path
Find the shortest collision-free path between any two locations in the environment using an
optimization technique.
Nomadic Robot
(Nomad200)
Localize the robot to overcome the
dead-rekoning problem and
improve the accuracy of the path.
(GVG Generalized Voronoi Graph)
(Meet point, Boundry point, edges)
Features
Design and Control of a 3-D Laser Range Finder and
Scanning System
Prof. Dr. Tuna BALKAN (Supervisor) AFP-03-02DPT. 98K122730
Dr. İlhan KONUKSEVEN (Co-supervisor)
Umut FİDAN (MSc.)
(Data Acquisition and Processing)
Seçkin KAPLAN (MSc. Student)
This study specifies a scanning laser rangefinder which is designed to scan an indoor environment and
to construct the 3D image map of the scanned medium. Throughout the design, the rangefinder is proposed to
be immobile during the scanning process and that there exists no mobile object in the scanned medium.
With the development of artificial intelligence, the robots are expected to make decisions themselves.
The use of robots and autonomous vehicles in many different areas necessitates robotic vision and
image processing of different objects, obstacles and the environment.
An unexpected change, like a newly left crate on robot’s path of navigation, in the working space
results in a fatal error.
In order to know if there is an obstacle on the path, an autonomous vehicle must see its way and detect
the surroundings.
Schematic drawing of the
(Optical Ranging System) ORS-1
ranging system near-infrared
rangefinder developed by ESP
Technologies
Scanning and nodding mirror arrangement in the ERIM
laser rangefinder for the Adaptive Suspension Vehicle
Environmental Research Institute of Michigan (ERIM)
The Adaptive Suspension Vehicle (ASV) developed at the
Ohio State University (Patterson, et al., 1984) and the
Autonomous Land Vehicle (ALV) developed by Martin
Marietta Denver Aerospace
Ben Franklin I Scanner
Carnegie Mellon University
The rangefinder, scanning mirror, and
pan-tilt unit
(University of North Carolina)
AccuRange Line Scanner with AccuRange
4000 Range Sensor
Belt pushing
mechanism
(The belt is always
kept in tension)
Scanning mechanism
Scanner head
3D Model of the laser rangefinder
(The laser rangefinder itself needs to have 3 DOF.
2 angular degrees of freedom, i.e., the elevation and azimuth angles,
and the range detected by the laser range sensor)
Cross sectional view of the
scanner head housing
Acuity Research’s AccuRange 4000-LIR
operating range of 0 to 15m
AccuRange High Speed Interface (HSIF) 50000 samples/second
20mW 780nm laser beam emitted by an IR laser diode, is a Class IIIb
16Kb buffer
Alignment system
Comparison of the Designed System with the previous models
Designed System ASV of ERIM ALV of ERIM
Max. Range[m]
Horizontal FOV[°]
Vertical FOV[°]
Sampling Rate[kHz]
Dimensions [mm]
Mass[kg]
Power[mW]
Design of Univ. of
Line Scanner of
N.C.
ORS of ESP Tech.
Acuity Res.
15
360
90
10
80
60
20
80
30
15
360
Not available
6
360
-
15
300
-
50
32
32
50
Not available
50
150x150x300
Not available
324x89x80
1,8
20
220x260x600
30
20
355x660x559 355x737x559
38.6
38.6
450
450
475x475x290
Not available
20
Photo of the scanned environment full of complex objects
Output image for the scanned room (Azimuthal speed:
75rpm, sampling period: 100µs)
3-D Scan of a Room
FUTURE WORK
- Throughout the all work done, simple line scans are carried out to investigate the results of various scan
settings and effects of different objects in the scanned environment. To detect the all environment with possible
objects and obstacles around 3D scanning is necessary
- To have a better output image, especially if a 3D-image map is desired to be constructed, different methods and
algorithms must be embedded into the image processing software.
- Scanning of the environment from at least two different points (stereo image) must be considered.
- The equipment (the laser rangefinder, PC, monitor, etc.) can be installed on a cart.
Development of Robot Set-Up Over the Internet
Dr. İlhan KONUKSEVEN (Mech. Eng. Dept.), Assoc. Prof. Aydan ERKMEN (EE. Eng. Dept.)
Ali Osman BOYACI (Res. Asst.), Anas ABİDİ (Thesis Student)
Mechanical Eng. Dept., CAD/CAM Robotics Center, Informatics Institute
Funded by IEEE RAS Long Range Planning Committee
The objective of this research is to determine:
whetter the limited bandwidth of the internet is sufficient for more complex tasks than just crude motion
control to be used in lab set-ups
To achive this objective and to demonstrate the remote operation over the internet, six-axis ABB
IRB2000 Industrial robot is used as an experimental testbed facility.
This application domain is chosen for several reasons:
•The robot itself can be used as educational tool over the Internet for hands-on, laboratory-based course
on robotics.
•Distance experimentation on lab set-ups can be frequently achieved with the help of a robot via the
Internet. Robots can then be used in order to create active, real time, hands-on experiments.
•Remote access laboratories with robots may complement the classical in class education for the
students with disabilities.
•Interface with robots between lab set-ups and the internet access may provide flexibility and modularity
to easily change or modify the set-ups for experimentation in different courses.
Telerobot Applications
•Training
: Providing access to robots and other expensive equipment for training purposes
where purchasing can not be justified.
•Entertainment
: It is apparent from the reaction of people to Australia's Telerobot, and other internet
devices that many people consider operating them entertaining.
•Telemanufacturing
: There is a large group at University of California Berkeley with a grant of US$1.3
million developing an Internet accessible, machining service called CyberCut.
•Mining
: Teleoperation of underground mining equipment is being practised at some mines
and this technique could be used to operate the equipment from any location.
•Underwater Remotely Operated Vehicles (ROVs): ROVs are subject to time delays, limited bandwidth, and
unstructured environments providing an ideal application for supervisory control.
These constraints are in many ways similar to those experienced in internet
telerobotics.
2. Communication is achived using a socket connection between the two machines:
TCP/IP (Transmission Control Protocol / Internet Protocol) is the standard for data transmission over networks,
including the internet.
TCP establishes a connection for data transmission and IP defines the method for sending data packets.
TCP provides reliable data transmission and error correction for moving data from source to destination.
To access an application on an Internet host machine one needs to know the machine name (IP) and the port number
of the application.
An IP address identifies a machine or other device on the internet.
An IP port identifies an application running on the Internet host machine.
A socket is simply the combination of an IP address and port. It identifies an application running on a specific
computer on the Internet.
Design of a Coordinate Measuring System
Using an Industrial Robot
Asst. Prof. Dr. İlhan KONUKSEVEN
Tanyer GENÇ (MSc. Student)
The increasing demand for quality assurance is forcing many
manufacturers to look to in-line inspection to solve the problems. As in many
instances, it is the automative industry that is taking the lead with systems
able to check on every body built.
In this study a surface measuring (tracking) robot system is developed
possesing similarities with CMMs, which is important in self-teaching and
exploratory tasks in unknown environments, and to cope with inaccurate
workspace and environment modelling.
CMM:
Bridge Type CMM
Horizontal Type CMM
Articulated Type CMM
Ölçme Robotu
Ölçme Robotu Sistemi
Ölçme robotu uygulama arayü
arayüzü.
Robot denetim arayü
arayüzü
LVDT HOLDER :
Coil
Core
Body
Emergency
Switch
LVDT Coil
LVDT ( Linear Variable Differential Transformer)
Upper Calibrating
Nut
Output Voltage
Spring
Displacement
Lower Calibrating
Nut
LVDT
Core
The output range changes
from 0 to 5 volts.
Ball
Linear relationship between the LVDT’s
core displacement and voltage output.
Emergency switch will stop the system in an unexpected situation.
Nuts are used to regulate the displacement range of core.
Geometric Features & Distance
Operations
Surface Inspection Interface
Coordinate Measuring System
Multisensor Controlled
Robotic Tracking and Automatic Pick and Place
Dr. İlhan KONUKSEVEN
Prof. Dr. Bilgin KAFTANOĞLU
The efficiency of industrial robots rapidly decreases if there are unexpected changes in
the surrounding environment. The robot programs are based on exactly defined conditions. If these
conditions change, the programs do not anymore carry out the task they were created for.
However, with sensors a manufacturing system can compensate for changes in the
environment and uncertainties in its control model. In the field of robotics, sensors allow robots to
go beyond simple pick-and-place operations, giving them the ability to manipulate parts with
uncertain characteristics and locations.
A multisensor controlled robotic tracking and automayic pick and place system is
designed for recognizing and tracking an object which is selected from multiple objects that are
unknown and randomly placed on a moving conveyor belt, using a vision, infrared proximity and
encoder sensors in the feedback loop.
System
Conveyor
Encoder
Camera
IBM AT
Compatible
Computer
(PC)
CCD Color
Video Camera
Circular
Light
Source
Linear
Light
Source
Robot
Interface
Image
Interpretation
Update
Obj. List
Encoder
Interpratation
MAC
COMP.
Belt Speed
Measurement
Interface
Feature
Extraction
Conveyor
Velocity
Obj.-list
Check
Robot
Arm
Industrial
Robot
Robot Control
System
Data
Acquisition
Board
+
Computer Link Serial Port
Fuzzy Logic +
Controller
Velocity
Correction
Desired Joint
Position and
Velocity
No
Path Planner
Tracking & Handling
Path
Planning
Robot
Arm
Joint
Sensors
Joint Space
Controller
Actual Robot
Velocity
Object Centering
Position Error
System Hardware
Robot in
Desired
Position
?
Yes
+
_
ROBOT COMP.
Joint Space
Controller
Macintosh II FX
Computer (MAC)
Ref.
PC
Object Location
Estimation
Joint
Sensors
Proximity
Sensor
Circuit
Location and Velocity of
Target in Real World
Coordinate Frame
ROBOT
Part
Proximity
Sensors
Camera
Infrared Sensors
in Hand
Control Structure
Multisensor Controlled
Robotic Tracking and Automatic Pick and Place
Visually Guided Robotic Assembly
Asst. Prof. Dr. İlhan KONUKSEVEN
Onur ŞERAN (MSc. Student)
This study deals with the design and implementation of a visually guided robotic
assembly system. Stereo imaging, three dimensional location extraction and object
recognition are the features of this system.
The goal of the system is to assemble basic geometric primitives into their respective
templates
System Structure
ABB IRB-2000
Camera
Calibration
Camera
Gripper
Robot
Imaging
Preprocessing
Module
Image
Segmentation
Object
Recognition
Depth Extraction
(Stereo vision)
Assembly
Module
Camera Holder
Working
Area
Software
Image capturing (Converting images to
digital format)
Preprocessing (to make the captured
images ready for analysis)
Image Segmentation (identify the sub images that
represent objects)
Classification (seperate geometric primitives).
In the similarity function, area, euler number, and
compactness features are used.
Matching Results.
After assignment of the objects is completed, the system sends the
assembly coordinates to the robot.
Visually Guided Robotic Assembly.
Automation System for the Initiation Process of the Magnetic
Telephone Cards at Türk Telekomünikasyon A.Ş.
Dr. İlhan KONUKSEVEN
ODESA ( Orta Doğu Elektromekanik San. ve Tic. Ltd. Şti.)
One of the payment method that Türk Telekomünikasyon A.S. (TÜRK TELEKOM) use for the
public telephones is the magnetic telephone card system. These telephone cards are manufactured
by various companies in Türkiye. The card capacity need is about 250.000 cards/day; and besides,
all the cards should be initialized in one center in order to provide full security. Therefore, Türk
Telekomünikasyon A.S. started an automation system project for the initiation process of the
magnetic telephone cards.
This automation system project is a joint project with ODESA ( Orta Dogu Elektromekanik
San. ve Tic. Ltd. Sti.) company in Türkiye. The company has a project contract with Middle East
Technical University-CAD/CAM/Robotics Center for the development of control system (Project#
99-13-00-01-03). This project is supported by TÜBITAK (The Scientific and Technical Research
Council of Turkey) with a research assistance program of TIDEB (R&D Assistance Program for the
Industrial Companies by the Turkish Government, Ankara) (Assistance Program # TIDEB-980260).
Database Server
Modem
RSC Server for
Validation
100 Base TX Fast Ethernet Hub
Control PC’s
(10 units)
Loading M icroController
- Loading Unit
Card Initiation &
Destruction M icroController
- Barcode Reading Unit
- Magneti c Data Initiation Unit
- Aut omatic Magnet ic Head
C hanging Unit
- Destruction Unit
-Sunumcu Bilgisayar
-Ethernet
-Control PC’s
-Mikro_denetleyici
Taping & Grouping
Micro-Controller
Packaging &
Handling M icroController
- Taping Unit
- Grouping Unit
- Packaging Unit
- Handling Unit
(450 MHz, 128Mbyte, Raid Controller)
-Windows NT
-Sybase SQL Server
100 Base TX Fast Ethernet
(PII300MHz, 64Mbyte)
-Windows 98
-Power++ (Sybase)
(M68HC11)
TÜBİTAK-TIDEB
(Assistance Program # TİDEB-980260)

Trends in Robot Business and Robotic Research

Transcription

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