Human Centered Control in Robotics and Consumer Product Design

1993 ◽  
Vol 115 (2B) ◽  
pp. 271-280 ◽  
Author(s):  
Harichiko Asada ◽  
Clifford C. Federspiel ◽  
Sheng Liu
Keyword(s):  
Adaptive Control ◽  
Case Studies ◽  
Control Point ◽  
Point Of View ◽  
Air Conditioner ◽  
Air Conditioners ◽  
Human Needs ◽  
Systems And Control ◽  
Machine Communication ◽  
And Control

Human factors in the control and programming of robots and electric appliances are addressed in this paper. Systems and control techniques for the enhancement of human-machine communication as well as learning and adaptation to human needs are described with exemplary case studies. First, fundamental issues and methodologies, as well as historical perspective of relevant fields, are summarized, and two case studies are then discussed. One is user-adaptable control of air conditioners, a new type of adaptive control that allows an air conditioner to learn the thermal preference of the user. The other is a user-friendly programming method for advanced robot control. A task-level adaptive control system is developed by acquiring control skills by direct communication with human experts. The importance of human-machine communication and its impact on product development are addressed from the systems and control point of view.

scholarly journals A hybrid continuum robot based on pneumatic muscles with embedded elastic rods

2019 ◽  
Vol 234 (1) ◽  
pp. 318-328 ◽  
Author(s):  
Cijing Sun ◽  
Lisha Chen ◽  
Jinguo Liu ◽  
Jian S Dai ◽  
Rongjie Kang
Keyword(s):  
Large Scale ◽  
Control Point ◽  
Three Dimensional ◽  
Static Model ◽  
Point Of View ◽  
Elastic Rods ◽  
Energy Principle ◽  
Locking Mechanism ◽  
Pneumatic Muscles ◽  
Continuum Robot

Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.

scholarly journals RASberry - Robotic and Autonomous Systems for Berry Production

2018 ◽  
Vol 140 (06) ◽  
pp. S14-S18
Author(s):  
Pål Johan From ◽  
Lars Grimstad ◽  
Marc Hanheide ◽  
Simon Pearson ◽  
Grzegorz Cielniak
Keyword(s):  
Control Point ◽  
Autonomous Systems ◽  
Fruit Production ◽  
Point Of View ◽  
Production Costs ◽  
Term Operation ◽  
Manual Labour ◽  
Soft Fruit ◽  
Human Robot Collaboration

The soft fruit industry is facing unprecedented challenges due to its reliance of manual labour. We are presenting a newly launched robotics initiative which will help to address the issues faced by the industry and enable automation of the main processes involved in soft fruit production. The RASberry project (Robotics and Autonomous Systems for Berry Production) aims to develop autonomous fleets of robots for horticultural industry. To achieve this goal, the project will bridge several current technological gaps including the development of a mobile platform suitable for the strawberry fields, software components for fleet management, in-field navigation and mapping, long-term operation, and safe human-robot collaboration. In this paper, we provide a general overview of the project, describe the main system components, highlight interesting challenges from a control point of view and then present three specific applications of the robotic fleets in soft fruit production. The applications demonstrate how robotic fleets can benefit the soft fruit industry by significantly decreasing production costs, addressing labour shortages and being the first step towards fully autonomous robotic systems for agriculture.

scholarly journals COLD CHAMBER DIE CASTING OF ALUMINIUM ALLOY: A CASE STUDY

2017 ◽  
Vol 46 (1) ◽  
pp. 22-27
Author(s):  
Rupinder Singh
Keyword(s):  
Die Casting ◽  
Control Point ◽  
Dimensional Accuracy ◽  
Casting Process ◽  
Point Of View ◽  
Al Alloy ◽  
Statistical Control ◽  
Statistical Process ◽  
Cold Chamber

In the present work cold chamber die casting solution of Al alloy has been investigated as a case study of industrial component (crankcase). The study presented in this paper is based upon Taguchi based model on dimensional accuracy in cold chamber die casting. The castings prepared at proposed parametric settings have been studied for functional validation of the parts, as per statistical control point of view. The result of study highlights significant improvement in dimensional accuracy (as regards to statistical process control isconcerned) at proposed parametric settings of cold chamber die casting process.

scholarly journals Control point insertion for B-spline curves

1988 ◽  
Vol 38 (2) ◽  
pp. 307-313 ◽  
Author(s):  
Heinz H. Gonska ◽  
Andreas Röth
Keyword(s):  
User Interface ◽  
Control Point ◽  
Point Of View ◽  
Control Points ◽  
Natural User Interface ◽  
B Spline ◽  
Spline Curves

Inserting new knots into B-spline curves is a well-known technique in CAGD to gain extra flexibility for design purposes. However, from a user's point of view, the insertion of knots is somewhat unsatisfactory since the newly generated control points sometimes show up in unexpected locations. The aim of this note is to show that these problems can be circumvented by inserting the control vertices directly, thus also providing a more natural user interface.

scholarly journals Modeling and Recognizing Driver Behavior Based on Driving Data: A Survey

2014 ◽  
Vol 2014 ◽  
pp. 1-20 ◽  
Author(s):  
Wenshuo Wang ◽  
Junqiang Xi ◽  
Huiyan Chen
Keyword(s):  
Driver Behavior ◽  
Control Point ◽  
Point Of View ◽  
Driver Model ◽  
Transport Systems ◽  
Steering Wheel ◽  
Driver Assistance ◽  
Driver Assistance Systems ◽  
Wide Range ◽  
Vehicle Systems

In recent years, modeling and recognizing driver behavior have become crucial to understanding intelligence transport systems, human-vehicle systems, and intelligent vehicle systems. A wide range of both mathematical identification methods and modeling methods of driver behavior are presented from the control point of view in this paper based on the driving data, such as the brake/throttle pedal position and the steering wheel angle, among others. Subsequently, the driver’s characteristics derived from the driver model are embedded into the advanced driver assistance systems, and the evaluation and verification of vehicle systems based on the driver model are described.

scholarly journals CLIFF COLLAPSE HAZARD FROM REPEATED MULTICOPTER UAV ACQUISITIONS: RETURN ON EXPERIENCE

2016 ◽  
Vol XLI-B5 ◽  
pp. 805-811 ◽  
Author(s):  
T.J. B. Dewez ◽  
J. Leroux ◽  
S. Morelli
Keyword(s):  
Control Point ◽  
Point Clouds ◽  
Point Of View ◽  
Rock Fall ◽  
Mitigation Measures ◽  
Density Parameter ◽  
Computational Point ◽  
Black And White ◽  
Dense Point ◽  
Frequency Relationship

Cliff collapse poses a serious hazard to infrastructure and passers-by. Obtaining information such as magnitude-frequency relationship for a specific site is of great help to adapt appropriate mitigation measures. While it is possible to monitor hundreds-of-meter-long cliff sites with ground based techniques (e.g. lidar or photogrammetry), it is both time consuming and scientifically limiting to focus on short cliff sections. In the project SUAVE, we sought to investigate whether an octocopter UAV photogrammetric survey would perform sufficiently well in order to repeatedly survey cliff face geometry and derive rock fall inventories amenable to probabilistic rock fall hazard computation. An experiment was therefore run on a well-studied site of the chalk coast of Normandy, in Mesnil Val, along the English Channel (Northern France). Two campaigns were organized in January and June 2015 which surveyed about 60 ha of coastline, including the 80-m-high cliff face, the chalk platform at its foot, and the hinterland in a matter of 4 hours from start to finish. To conform with UAV regulations, the flight was flown in 3 legs for a total of about 30 minutes in the air. A total of 868 and 1106 photos were respectively shot with a Sony NEX 7 with fixed focal 16mm. Three lines of sight were combined: horizontal shots for cliff face imaging, 45°-oblique views to tie plateau/platform photos with cliff face images, and regular vertical shots. Photogrammetrically derived dense point clouds were produced with Agisoft Photoscan at ultra-high density (median density is 1 point every 1.7cm). Point cloud density proved a critical parameter to reproduce faithfully the chalk face’s geometry. Tuning down the density parameter to “high” or “medium”, though efficient from a computational point of view, generated artefacts along chalk bed edges (i.e. smoothing the sharp gradient) and ultimately creating ghost volumes when computing cloud to cloud differences. Yet, from a hazard point of view, this is where small rock fall will most likely occur. Absolute orientation of both point clouds proved unsufficient despite the 30 black and white quadrants ground control point DGPS surveyed. Additional ICP was necessary to reach centimeter-level accuracy and segment rock fall scars corresponding to the expected average daily rock fall volume (ca. 0.013 m3).

Sign in / Sign up

Export Citation Format

Share Document