| 1. |
- Akan, Batu, 1981-
(författare)
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Human Robot Interaction Solutions for Intuitive Industrial Robot Programming
- 2012
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thus assistance from a robot programming expert is often needed. We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis we propose a high-level natural language framework for interacting with industrial robots through an instructional programming environment for the user. The ultimate goal of this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.In this thesis we mainly address two issues. The first issue is to make interaction with a robot easier and more natural through a multimodal framework. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than programming issues of the robot. This approach shifts the focus of industrial robot programming from the coordinate based programming paradigm, which currently dominates the field, to an object based programming scheme.The second issue addressed is a general framework for implementing multimodal interfaces. There have been numerous efforts to implement multimodal interfaces for computers and robots, but there is no general standard framework for developing them. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline and includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.
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| 2. |
- Berglund, Erik, et al.
(författare)
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Mapping between different kinematic structures without absolute positioning during operation
- 2012
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Ingår i: Electronics Letters. - : Institution of Engineering and Technology (IET). - 0013-5194 .- 1350-911X. ; 48:18, s. 1110-1112
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Tidskriftsartikel (refereegranskat)abstract
- When creating datasets for modelling of human skills based on training examples from human motion, one can encounter the problem that the kinematics of the robot does not match the human kinematics. Presented is a simple method of bypassing the explicit modelling of the human kinematics based on a variant of the self-organising map (SOM) algorithm. While the literature contains instances of SOM-type algorithms used for dimension reduction, this reported work deals with the inverse problem: dimension increase, as we are going from 4 to 5 degrees of freedom.
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| 3. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Extraction of grasp-related features by human dual-hand object exploration
- 2009
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Ingår i: 2009 International Conference on Advanced Robotics. - Piscataway, NJ : IEEE conference proceedings. - 9781424448555 ; , s. 1-6
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Konferensbidrag (refereegranskat)abstract
- We consider the problem of objects exploration for grasping purposes, specifically in cases where vision based methods are not applicable. A novel dual-hand object exploration method is proposed that takes benefits from a human demonstration to enrich knowledge about an object. The user handles an object freely using both hands, without restricting the object pose. A set of grasp-related features obtained during exploration is demonstrated and utilized to generate grasp oriented bounding boxes that are basis for pre-grasp hypothesis. We believe that such exploration done in a natural and user friendly way creates important link between an operator intention and a robot action.
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| 4. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Generation of independent contact regions on objects reconstructed from noisy real-world range data
- 2012
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Ingår i: 2012 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781467314053 - 9781467314039 ; , s. 1338-1344
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Konferensbidrag (refereegranskat)abstract
- The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.
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| 5. |
- Charusta, Krzysztof, 1983-, et al.
(författare)
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Independent contact regions based on a patch contact model
- 2012
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Ingår i: 2012 IEEE International Conference on Robotics and Automation (ICRA). - : IEEE conference proceedings. - 9781467314053 - 9781467314039 ; , s. 4162-4169
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Konferensbidrag (refereegranskat)abstract
- The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.
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| 6. |
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| 7. |
- Iliev, Boyko, et al.
(författare)
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A fuzzy technique for food- and water quality assessment with an electronic tongue
- 2006
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Ingår i: Fuzzy sets and systems (Print). - : Elsevier BV. - 0165-0114 .- 1872-6801. ; 157:9, s. 1155-1168
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Tidskriftsartikel (refereegranskat)abstract
- The problem of food- and water quality assessment is important for many practical applications, such as food industry and environmental monitoring. In this article we present a method for fast online quality assessment based on electronic tongue measurements. The idea is implemented in two steps. First we apply a fuzzy clustering technique to obtain prototypes corresponding to good and bad quality from a set of training data. During the second, online step we evaluate the membership of the current measurement to each cluster and make a decision about its quality. The result is presented to the user in a simple and understandable way, similar to the concept of traffic light signals. Namely, good quality is indicated with by a green light, bad quality with a red one, and a yellow light is a warning signal. The approach is demonstrated in two case studies: quality assessment of drinking water and baby food.
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| 8. |
- Iliev, Boyko, et al.
(författare)
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Improved sliding mode robot control : a fuzzy approach
- 2002
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Ingår i: Proceedings of the third international workshop on robot motion and control, 2002. RoMoCo '02. - 8371434294 ; , s. 393-398
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Konferensbidrag (refereegranskat)abstract
- An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.
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| 9. |
- Iliev, Boyko, et al.
(författare)
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Interpretation of human demonstrations using mirror neuron system principles
- 2007
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Ingår i: IEEE 6th international conference on development and learning, ICDL 2007. - New York : IEEE. - 9781424411160 ; , s. 128-133
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Konferensbidrag (refereegranskat)abstract
- In this article we suggest a framework for programming by demonstration of robotic grasping based on principles of the Mirror Neuron System (MNS) model. The approach uses a hand-state representation inspired by neurophysiological models of human grasping. We show that such a representation not only simplifies the grasp recognition but also preserves the essential part of the reaching motion associated with the grasp. We show that if the hand state trajectory of a demonstration can be reconstructed, the robot is able to replicate the grasp. This can be done using motion primitives, derived by fuzzy time-clustering from the demonstrated reach-and grasp motions. To illustrate the approach we show how human demonstrations of cylindrical grasps can be modeled, interpreted and replicated by a robot in this framework.
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| 10. |
- Iliev, Boyko, et al.
(författare)
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Minimum-time sliding mode control for second-order systems
- 2004
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Ingår i: Proceedings of the 2004 American control conference, 2004. - 0780383354 ; , s. 626-631
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Konferensbidrag (refereegranskat)abstract
- Our approach for near time-optimal control is based on Takagi-Sugeno fuzzy model of the maximum slope SMC sliding surface as an adaptive technique for tuning the current slope of the sliding surface to the maximum feasible slope depending on the current state of system. The stability conditions of this method are proved and respective measures about the feasible maximum slope are presented. Experimental results demonstrate the system behaviour.
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