On-line scheduling of robotic cells with post-processing residency constraints

Author(s):  
Hyun Joong Yoon ◽  
Doo Yong Lee
Author(s):  
C. Akcadag ◽  
A. Shirkhodaie ◽  
A. H. Soni

Abstract Intelligent robotic systems require a tremendous flexibility and intelligence to execute complex tasks. To facilitate task planning of intelligent robots and integrate sensory information for on-line task monitoring, there is a need to establish a communication linkage between robot controller and human operator through a computer. This paper presents the design of a generic cell controller for intelligent planning and execution of robotic cell operations and for real-time task monitoring. This paper details the architecture of hardware and software developed for the control of a commercial robot interfaced with a computer through a parallel I/O communication bus. Results indicate that by means of a relatively inexpensive setup, flexibility with regard to coordinated activities of robotic cells can be greatly increased.


1995 ◽  
Vol 10 (1) ◽  
pp. 241-253 ◽  
Author(s):  
Y. Mansour ◽  
E. Vaahedi ◽  
A.Y. Chang ◽  
B.R. Corns ◽  
B.W. Garrett ◽  
...  

Author(s):  
Marcelo Fernando Selli ◽  
Paulo Seleghim

The fundamental objective of this work is the construction of a specialist system capable of diagnosing different configurations of horizontal two-phase flow regimes. It is important to emphasize that the development of this know-how is capital to the efficient operation of facilities for manipulation and transportation of multiphase fluids, and represents today one of the most important challenges in petrochemical and thermonuclear industries. The working principle of the proposed system is based on the signals acquired by a rapid response pressure gradient sensor, and on its post processing through Gabor Transform and on a previously trained artificial neural network. The implementation is accomplished in way that the diagnosis operation is performed on-line, from acquisition of the signal to its post-processing. Experimental results were obtained on the experimental circuit at NETeF — Nu´cleo de Engenharia Te´rmica e Fluidos of USP — Universidade de Sa˜o Paulo, at Sa˜o Carlos, using a horizontal test section, with 12m length and 30mm internal diameter. Experiments were done with the following air-water flow regimes: stratified smooth, stratified wavy, intermittent, annular and bubbly. Results show that the percentage of correct flow regime diagnosis in steady state conditions is practically of 100%.


Author(s):  
William Krakow

In the past few years on-line digital television frame store devices coupled to computers have been employed to attempt to measure the microscope parameters of defocus and astigmatism. The ultimate goal of such tasks is to fully adjust the operating parameters of the microscope and obtain an optimum image for viewing in terms of its information content. The initial approach to this problem, for high resolution TEM imaging, was to obtain the power spectrum from the Fourier transform of an image, find the contrast transfer function oscillation maxima, and subsequently correct the image. This technique requires a fast computer, a direct memory access device and even an array processor to accomplish these tasks on limited size arrays in a few seconds per image. It is not clear that the power spectrum could be used for more than defocus correction since the correction of astigmatism is a formidable problem of pattern recognition.


Author(s):  
A.M.H. Schepman ◽  
J.A.P. van der Voort ◽  
J.E. Mellema

A Scanning Transmission Electron Microscope (STEM) was coupled to a small computer. The system (see Fig. 1) has been built using a Philips EM400, equipped with a scanning attachment and a DEC PDP11/34 computer with 34K memory. The gun (Fig. 2) consists of a continuously renewed tip of radius 0.2 to 0.4 μm of a tungsten wire heated just below its melting point by a focussed laser beam (1). On-line operation procedures were developped aiming at the reduction of the amount of radiation of the specimen area of interest, while selecting the various imaging parameters and upon registration of the information content. Whereas the theoretical limiting spot size is 0.75 nm (2), routine resolution checks showed minimum distances in the order 1.2 to 1.5 nm between corresponding intensity maxima in successive scans. This value is sufficient for structural studies of regular biological material to test the performance of STEM over high resolution CTEM.


Author(s):  
Neil Rowlands ◽  
Jeff Price ◽  
Michael Kersker ◽  
Seichi Suzuki ◽  
Steve Young ◽  
...  

Three-dimensional (3D) microstructure visualization on the electron microscope requires that the sample be tilted to different positions to collect a series of projections. This tilting should be performed rapidly for on-line stereo viewing and precisely for off-line tomographic reconstruction. Usually a projection series is collected using mechanical stage tilt alone. The stereo pairs must be viewed off-line and the 60 to 120 tomographic projections must be aligned with fiduciary markers or digital correlation methods. The delay in viewing stereo pairs and the alignment problems in tomographic reconstruction could be eliminated or improved by tilting the beam if such tilt could be accomplished without image translation.A microscope capable of beam tilt with simultaneous image shift to eliminate tilt-induced translation has been investigated for 3D imaging of thick (1 μm) biologic specimens. By tilting the beam above and through the specimen and bringing it back below the specimen, a brightfield image with a projection angle corresponding to the beam tilt angle can be recorded (Fig. 1a).


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