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Monday August 6, 2007 Monday August 6, 2007 㩷 㩷 Afternoon Sessions 㩷 MP1-1 Modular Robotics (Invited Session) MP1-2 Automation in Micro and Nano Handling I (Invited Session) MP1-3 Intelligent Systems and Methodologies for Robotic and Control Application (Invited Session) MP1-4 Biomimetic Systems I MP1-5 Motion Control MP1-6 Interaction and Intelligence (Invited Session) MP1-7 AUV Control MP1-8 Signal Processing Methods I MP1-9 Modeling Methods I MP1-10 SLAM MP1-11 Sensor Network I MP2-1 Outdoor Robotic Systems MP2-2 Automation in Micro and Nano Handling II (Invited Session) MP2-3 Soft Computing for Mechatronic Systems MP2-4 Biomimetic Systems II MP2-5 Advanced Control and Signal Synthesis in Mechatronics (Invited Session) MP2-6 Interactive Computing (Invited Session) MP2-7 Manufacturing Optimization MP2-8 Signal Processing Methods II MP2-9 Modeling Methods II MP2-10 Localization MP2-11 Sensor Network II MP3-P Poster Session I 㩷 㩷 㩷 1 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 㩷 2 IEEE ICMA 2007 Conference Digest MP1-1: Modular Robotics (Invited Session) Session Chairs: Guan gjun Liu, Ryerson Univ. Wenhong Zhu, Canada Space Agency Room 1: Bei jing, 13:30-15:18, Monda y, 6 August 2007 㪤㪧㪈㪄㪈㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪈㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Control of Modular Robot with Parameter Estimation Modular Robot Manipulators with Preloadable Using Genetic Algorithms Modules M. Adamson, S. Abdul and G. Liu Wen-Hong Zhu, Tom Lamarche, and Patrick Barnard Department of Aerospace Engineering, Ryerson University Spacecraft Engineering, Space Technologies, Canadian Space Agency Toronto, Canada Saint-Hubert, QC, Canada • A novel way to identify friction model and torque sensor parameters of a modular robot • Modular robot manipulator. joint is proposed and experimentally studied. • A model based friction compensation • Preloadable module to method and a real coded GA are integrated in the proposed method, and then applied to counter-balance gravity. a modular robot joint with a harmonic drive • Virtual decomposition and built-in torque sensor. • The friction parameters, as well as the control with SpaceWire torque sensor gain and offset, are identified communication system. and used in the control system, and the Single joint modular robot system position tracking error reduction is demonstrated with experimental results. A preloadable module 㪤㪧㪈㪄㪈㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪈㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 Development of Control System Architecture for A Robot with Adjustable D-H Parameters Modular and Re-configurable Robot Farhad Aghili and Kourosh Parsa Manipulators Space Technologies, Canadian Space Agency D. Wang and A. A. Goldenberg G. Liu St-Hubert, Quebec, Canada University of Toronto Ryerson University • Architecture forms the backbone of Left Limit 24VDC Sensor • Reconfiguration using cylindrical Motor DC Brushless Brushless DC Motor DC Brushless Harmonic drive Harmonic robotic control systems and has to Sensor Torque Harmonic drive Harmonic Torque Sensor Torque Encoder Brake Encoder passive joints be carefully studied before the Brake Homing Sensor • As dexterous as a hyper-redundant system is built. • In this paper, after insight and ABC Right Limit Sensor robot with less actuators and sensors exclusive discussions on control Driver 80VDC Driver • Suitable for harsh environments: system architecture requirements of modular and re-configurable robot Analog signal cost-effective, compact, and Torque sensor manipulators are presented, a 24VDC AmplifierTorque sensor Amplifier versatile hybrid architecture is proposed and Analog signal described in details. Module Controller A/D • Otherwise locked, the passive joints Module Controller • The proposed architecture has been 5VDC become controllable when the robot implemented on a modular and CAN Bus forms a closed loop reconfigurable robot, and the testing results show the validity of the proposed architecture. Module hardware structure 㪤㪧㪈㪄㪈㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪈㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 ATRON Robots: Distributed Kynematic Inversion Technique Versatility from Self-Reconfigurable Modules for Self-Reconfigurable Modular Robots David Brandt, David Johan Christensen and Henrik Hautop Lund G. Casalino, A. Turetta, and A. Sorbara Maersk Mc-Kinney Moller Institute, University of Southern Denmark DIST, University of Genova, Italy Odense, Denmark • Self-reconfigurable modular robots are versatile • Kinematic inversion computed in a distributed way enables modular (many robots, one system) robots to execute manipulation • Examples with ATRON robots: tasks – Locomotion: Car, Snake and • Kynematic inversion is performed Cluster walker via a distributed Dynamic – Manipulation: Robot arm and Programming-based algorithm Conveyer surface • No centralized global knowledge about the overall arm geometry and – Adaptation of shape by self- Example ATRON Modular Robot reconfiguration kinematics is required 3 IEEE ICMA 2007 Conference Digest MP1-2: Automation in Micro and Nano Handling I (Invited Session) Session Chairs: Ser gej Fatikow, Univ. of Oldenburg Quan Zhou, Northestern Polytechnical Univ. Room 2: Shan ghai, 13:30-15:18, Monda y, 6 August 2007 㪤㪧㪈㪄㪉㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪉㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Enhanced Sensitivity of Mass Detection Using Depth-Detection Methods for CNT Manipulation the First Torsional Mode of Microcantilevers and Characterization in an SEM Hui Xie, Julien Vitard, Sinan Haliyo, Stéphane Régnier S. Fatikow*, V. Eichhorn*, T. Wich*, T. Sievers*, O. Hänßler* and K. Nordstrøm Andersen** Robotics Laboratory, Pierre and Marie Curie University *Division Microrobotics and Control Engineering **Department of Micro and Nanotechnology Paris, France University of Oldenburg, Germany Technical University of Denmark 10µm • Current research work on the • The first torsional mode is used to development of a nanorobot station provide an improved mass-sensing for manipulation and charac- resolution. terization of CNTs is presented. • Models based on the Rayleigh-Ritz • Two different methods for the m method, considering the attaching lx1 1 m m z-position estimation of gripper and ly1 2 3 positions of the multi-mass adhered l x3 l x2 carbon nanotube are proposed. l m to the microcantilevers is developed. ly2, ly3 y4 4 lx4 • The experiments show that mass Torsional axis • A depth from focus method using sensitivity of the torsional mode is real-time processing of noisy SEM an order higher than the images and a touchdown sensor conventionally used the first flexural Mass detection using resonant concept based on a bimorph piezo Nanohandling robot station mode. microcantilever bending actuator are described. 㪤㪧㪈㪄㪉㩿㪊㪀㩷㩷㪈㪋㪑㪇㪍㪄㪈㪋㪑㪉㪋 㪤㪧㪈㪄㪉㩿㪋㪀㩷㩷㪈㪋㪑㪉㪋㪄㪈㪋㪑㪋㪉 A Study on Efficiency Analysis of Micro APPLICATIONS OF PIEZO-ACTUATED MICRO-ROBOTS IN MICRO-BIOLOGY AND MATERIAL SCIENCE Manufacturing Systems J.-M. Breguet, W. Driesen, F. Kaegi, T. Cimprich Nozomu Mishima, Shinsuke Kondo and Keijiro Masui Advanced Manufacturing Research Institute, AIST Laboratoire de Systèmes Robotiques, Ecole Polytechnique Fédérale de Lausanne, Switzerland 1-2 Namiki, Tsukuba, Ibaraki, Japan • This paper presents several examples of • The authors have proposed an F Ef manipulators and micro-robots based on integrated and simple index for C E piezo-actuators. manufacturing system efficiency. Proposed index • An example of a micro 1 lathe, 1 mill and 1 operator • It demonstrates that innovative solutions 1 lathe, 1 mill and 2 operators manufacturing system (microfactory) 2 lathes, 2 mills and 2 operators can make it possible to realize simple and 2 lathes, 2 mills and 3 operators 5 cm was analyzed. 㪇㪅㪇㪋 compact manipulators working in the 㪇㪅㪇㪊㪌 Micro-indenter for SEM • It was able to determine system 㪇㪅㪇㪊 nanometer range. configuration, based on the analysis. 㪇㪅㪇㪉㪌 㪇㪅㪇㪉 Efficiency • The performances of the manipulators are • A comparison tells microfactory-like 㪇㪅㪇㪈㪌 㪇㪅㪇㪈 illustrated with numerous examples in system can be suitable for small 㪇㪉㪋㪍㪏㪈㪇㪈㪉 Number of hands material sciences and micro-biology. 3 amount production. 1 cm mobile Efficiency of the microfactory 1 cm micro-robot 㪤㪧㪈㪄㪉㩿㪌㪀㩷㩷㪈㪋㪑㪋㪉㪄㪈㪌㪑㪇㪇 㪤㪧㪈㪄㪉㩿㪍㪀㩷㩷㪈㪌㪑㪇㪇㪄㪈㪌㪑㪈㪏 Strategies in Automatic Microhandling Study on Micro Electrical Discharge Deposition Quan Zhou School of Mechatronics Control Engineering lab in Air Northwestern Polytechnical University Helsinki University of Technology . ZhenLong Wang, JingZhi Cui and BaiDong Jin Xi’An China Espoo Finland Department of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, China • Automation is the key step for • By micro electrical discharge success of micromanipulation and deposition method, we fabricate microhandling technologies micro spiral structure. We • Review the approaches often used in simulate the movement of the robotics and automation field, deposition articles in discharge their merits and limitations, channel, which determines the • Investigate new concepts: replacing deposition structure. key processes of automatic microhandling using physical process Micro spiral structure • Make automatic microhandling a Advanced Hybrid Microhandling more accessible technology 4 IEEE ICMA 2007 Conference Digest MP1-3: Intelligent Systems and Methodologies for Robotic and Control Application (Invited Session) Session Chairs: Don gbing Gu, Univ. of Essex Gancho Vachkov, Kagawa Univ. Room 3: Han gzhou, 13:30-15:18, Monda y, 6 August 2007 㪤㪧㪈㪄㪊㩿㪈㪀㩷㩷㪈㪊㪑㪊㪇㪄㪈㪊㪑㪋㪏 㪤㪧㪈㪄㪊㩿㪉㪀㩷㩷㪈㪊㪑㪋㪏㪄㪈㪋㪑㪇㪍 Real Time Traffic Light Recognition System For Color Vision Deficiencies Short Time Control of Uncertain Singular on ICMA 2007 Systems with Norm-bounded Disturbance
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