Search results for " robot"
showing 10 items of 408 documents
A cooperative mobile robot and manipulator system (Co-MRMS) for transport and lay-up of fibre plies in modern composite material manufacture
2021
AbstractComposite materials are widely used in industry due to their light weight and specific performance. Currently, composite manufacturing mainly relies on manual labour and individual skills, especially in transport and lay-up processes, which are time consuming and prone to errors. As part of a preliminary investigation into the feasibility of deploying autonomous robotics for composite manufacturing, this paper presents a case study that investigates a cooperative mobile robot and manipulator system (Co-MRMS) for material transport and composite lay-up, which mainly comprises a mobile robot, a fixed-base manipulator and a machine vision sub-system. In the proposed system, marker-base…
Comprehensive simulation of cooperative robotic system for advanced composite manufacturing : a case study
2021
Composite materials are widely used because of their light weight and high strength properties. They are typically made up of multi-directional layers of high strength fibres, connected by a resin. The manufacturing of composite parts is complex, time-consuming and prone to errors. This work investigates the use of robotics in the field of composite material manufacturing, which has not been well investigated to date (particularly in simulation). Effective autonomous material transportation, accurate localization and limited material deformation during robotic grasping are required for optimum placement and lay-up. In this paper, a simulation of a proposed cooperative robotic system, which …
Educational Robotics for Reducing Early School Leaving from the Perspective of Sustainable Education
2019
Early School Leaving (ESL) is a problem for many countries and some have pledged to reduce the number of children leaving school early to below 10% by 2020. Between October 2015 and September 2017, Italy, Greece and Latvia implemented an Erasmus+ project that used robotics to reduce the risk of ESL. The effectiveness of the teaching and learning materials developed during the project and the pedagogical strategies used were examined in groups at high-risk of ESL and in the work of the teachers participating in the project. In this paper, the use of robotics to reduce the risks of early school leaving is analysed from the perspective of sustainable education. Mixed methods were used to evalu…
Architecture to Serve Disabled and Elderly
2013
We propose an architecture (discussed in the context of a dressing and cleaning application for impaired and elderly persons) that combines a cognitive framework that generates motor commands with the MOSAIC architecture which selects the right motor command according to the proper context. The ambition is to have robots able to understand humans intentions (dressing or cleaning intentions), to learn new tasks only by observing humans, and to represent the world around it by using conceptual spaces. The cognitive framework implements the learning by demonstration paradigm and solves the related problem to map the observed movement into the robot motor system. Such framework is assumed to wo…
Investigating the effect of residual stress on hydrogen cracking in multi-pass robotic welding through process compatible non-destructive testing
2021
Abstract In this paper, the effect of Welding Residual Stress (WRS) on the size and morphology of hydrogen-induced cracks (HIC) is studied. Four samples were manufactured using a 6-axis welding robot and in two separate batches. The difference between the two batches was the clamping system used, which resulted in different amounts of welding deformation and WRS. The hydrogen cracks were intentionally manufactured in the samples using a localised water-quenching method, where water was sprayed over a specific weld pass in a predetermined position. The Phased-Array Ultrasonic Testing (PAUT) system was implemented during the welding process (high-temperature in-process method), to detect the …
Minimizing the cycle time in serial manufacturing systems with multiple dual-gripper robots
2006
Robots are being used more and more extensively as material-handling systems for automated manufacturing systems. This is especially true for dual-gripper robots whose in-process buffer (the robot's second gripper) constitutes a further element of flexibility. When the number of stations to be served is high and the set of activities the robot must execute is great, the system throughput may depend on robot capability rather than on process times. In such conditions, the use of several robots leads to an increase in system productivity. Obviously, the design and the management of such a handling system becomes more complex: the minimum number of robots required, the work stations to be serv…
LABCENTER. A remote laboratory system platform
2011
Abstract A web system server especially suited for remote laboratories has been developed. Typical e-learning systems do not offer the possibility to perform a remote laboratory where real experiments can be done online, accessing real hardware located at the University facilities. Allowing students to connect to hardware systems remotely provides them with additional knowledge about real devices; very often, real laboratory devices are time or space restricted. The proposed LABCENTER platform is a general frame designed for remote laboratories connection. The platform is designed to allow an authorized student to connect to hardware systems. As direct hardware systems allow only a single u…
Learning to Approach a Moving Ball with a Simulated Two-Wheeled Robot
2006
We show how a two-wheeled robot can learn to approach a moving ball using Reinforcement Learning. The robot is controlled by setting the velocities of its two wheels. It has to reach the ball under certain conditions to be able to kick it towards a given target. In order to kick, the ball has to be in front of the robot. The robot also has to reach the ball at a certain angle in relation to the target, because the ball is always kicked in the direction from the center of the robot to the ball. The robot learns which velocity differences should be applied to the wheels: one of the wheels is set to the maximum velocity, the other one according to this difference. We apply a REINFORCE algorith…
Fuzzy EKF Control for Wheeled Nonholonomic Vehicles
2006
In this paper a new Fuzzy extended Kalman robust control system for position and orientation tracking of nonholonomic vehicles with two wheels actuated by two independent DC motors is presented. The problem of robustness and localization are solved simultaneously. About the robustness, some perturbations coming from the outside environment and depending on the contact between the wheels and the ground, involve violations of the nonholonomic constraints. The fuzzy controller of this work is able to obtain a dynamic term of robustness with respect to the perturbations above. However, by using encoders only, the measures of actual position and orientation of the vehicle are with Gaussian noise…