DOCSLIB.ORG

Requirements for Building an Ontology for Autonomous Robots

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Requirements for Building an Ontology for Autonomous Robots CAN UNCLASSIFIED Requirements for building an ontology for autonomous robots Behzad Bayat, Julita Bermejo-Alonso, Joel Carbonera, Tullio Facchinetti, Sandro Fiorini, Paulo Goncalves,Vitor A.M. Jorge, Maki Habib, Alaa Khamis, Kamilo Melo, Bao Nguyen, Joanna Isabelle Olszewska, Liam Paull, Edson Prestes, Veera Ragavan, Sajad Saeedi, Ricardo Sanz, Mae Seto, Bruce Spencer, Amirkhosro Vosughi and Howard Li Industrial Robot Journal Volume 43 Issue 5 of Industrial Robot: An International Journal Date of Publication from Ext Publisher: April 2016 Defence Research and Development Canada External Literature (P) DRDC-RDDC-2019-P059 March 2019 CAN UNCLASSIFIED CAN UNCLASSIFIED IMPORTANT INFORMATIVE STATEMENTS This document was reviewed for Controlled Goods by Defence Research and Development Canada using the Schedule to the Defence Production Act. Disclaimer: This document is not published by the Editorial Office of Defence Research and Development Canada, an agency of the Department of National Defence of Canada but is to be catalogued in the Canadian Defence Information System (CANDIS), the national repository for Defence S&T documents. Her Majesty the Queen in Right of Canada (Department of National Defence) makes no representations or warranties, expressed or implied, of any kind whatsoever, and assumes no liability for the accuracy, reliability, completeness, currency or usefulness of any information, product, process or material included in this document. Nothing in this document should be interpreted as an endorsement for the specific use of any tool, technique or process examined in it. Any reliance on, or use of, any information, product, process or material included in this document is at the sole risk of the person so using it or relying on it. Canada does not assume any liability in respect of any damages or losses arising out of or in connection with the use of, or reliance on, any information, product, process or material included in this document. Template in use: EO Publishing App for CR-EL Eng 2019-01-03-v1 © Her Majesty the Queen in Right of Canada (Department of National Defence), 2016 © Sa Majesté la Reine en droit du Canada (Ministère de la Défense nationale), 2016 CAN UNCLASSIFIED Requirements for building an ontology for autonomous robots Behzad Bayat, Julita Bermejo-Alonso, Joel Carbonera, Tullio Facchinetti, Sandro Fiorini, Paulo Goncalves, Vitor A.M. Jorge, Maki Habib, Alaa Khamis, Kamilo Melo, Bao Nguyen, Joanna Isabelle Olszewska, Liam Paull, Edson Prestes, Veera Ragavan, Sajad Saeedi, Ricardo Sanz, Mae Seto, Bruce Spencer, Amirkhosro Vosughi and Howard Li (Author affiliations can be found at the end of the article) Abstract Purpose – IEEE Ontologies for Robotics and Automation Working Group were divided into subgroups that were in charge of studying industrial robotics, service robotics and autonomous robotics. This paper aims to present the work in-progress developed by the autonomous robotics (AuR) subgroup. This group aims to extend the core ontology for robotics and automation to represent more specific concepts and axioms that are commonly used in autonomous robots. Design/methodology/approach – For autonomous robots, various concepts for aerial robots, underwater robots and ground robots are described. Components of an autonomous system are defined, such as robotic platforms, actuators, sensors, control, state estimation, path planning, perception and decision-making. Findings – AuR has identified the core concepts and domains needed to create an ontology for autonomous robots. Practical implications – AuR targets to create a standard ontology to represent the knowledge and reasoning needed to create autonomous systems that comprise robots that can operate in the air, ground and underwater environments. The concepts in the developed ontology will endow a robot with autonomy, that is, endow robots with the ability to perform desired tasks in unstructured environments without continuous explicit human guidance. Originality/value – Creating a standard for knowledge representation and reasoning in autonomous robotics will have a significant impact on all R&A domains, such as on the knowledge transmission among agents, including autonomous robots and humans. This tends to facilitate the communication among them and also provide reasoning capabilities involving the knowledge of all elements using the ontology. This will result in improved autonomy of autonomous systems. The autonomy will have considerable impact on how robots interact with humans. As a result, the use of robots will further benefit our society. Many tedious tasks that currently can only be performed by humans will be performed by robots, which will further improve the quality of life. To the best of the authors’knowledge, AuR is the first group that adopts a systematic approach to develop ontologies consisting of specific concepts and axioms that are commonly used in autonomous robots. Keywords Ontology, Autonomous robots Paper type Research paper 1. Introduction IEEE ORA WG started as a study group in early 2011 and became an official working group in November 2011. It In the beginning of 2015, the IEEE-RAS Ontologies for comprised several members from a cross-section of industry, Robotics and Automation Working Group (IEEE ORA WG) academia and government that represent over 20 countries. published the IEEE 1872-2015 standard, the first-ever Since the beginning, IEEE ORA WG was divided into standard elaborated by the IEEE Robotics and Automation different subgroups which were each in charge of studying a Society. This standard defines a set of ontologies related to specific R&A subdomain, such as industrial robotics, service robotics and automation (R&A), chief among those being the core ontology for robotics and automation (CORA), which specifies the main and most general concepts and axioms that permeate the R&A domain. Because of the importance of this This work was partly supported by CAPES and CNPq, Natural Sciences and Engineering Research Council of Canada (NSERC), New Brunswick achievement, in December 2015, IEEE ORA WG was the Innovation Foundation (NBIF) and by FCT, through IDMEC, under recipient of the Emerging Technology Award, a prize given LAETA, project UID/EMS/50022/2013. annually by the IEEE Standards Association[1]. The authors gratefully acknowledge the financial support of their organizations. The reviewers’ comments are greatly appreciated. Our The current issue and full text archive of this journal is available on thanks must also go to Francesco Amigoni, Emilio Miguelanez, Craig Schlenoff, Raj Madhavan and other members of the IEEE RAS ontologies Emerald Insight at: www.emeraldinsight.com/0143-991X.htm for robotics and automation working group: Gaetan Severac, Guilherme Raffo, Julian Angle, Aleksandar Stefanovski, Phillip J Durst and Wendell Gray’s for their contributions to the initial work presented at IEEE IROS. Industrial Robot: An International Journal Received 1 February 2016 43/5 (2016) 469–480 Revised 21 March 2016 © Emerald Group Publishing Limited [ISSN 0143-991X] 10 April 2016 [DOI 10.1108/IR-02-2016-0059] Accepted 22 April 2016 469 Autonomous robots Industrial Robot: An International Journal Behzad Bayat et al. Volume 43 · Number 5 · 2016 · 469–480 robotics and autonomous robotics (AuR) (Paull et al., 2012). vocabulary used in problem-solving and communications for Even having all these subgroups, all efforts were concentrated such heterogeneous autonomous systems. in the CORA development. Currently, after reaching this big Previous approaches used to represent knowledge for R&A step, these subgroups are focusing their activities in their using ontologies include works related to navigation (Bateman respective subdomains. and Farrar, 2005), workspaces (Krieg-Brückner et al., 2005), Nowadays, AuR is elaborating a petition that will be knowledge representation and action generation (MacMahon submitted to the IEEE RAS Standing Committee for et al., 2006; Coradeschi and Saffiotti, 2001), route instruction Standards Activities to officialize its activities. This initial (Lauria et al., 2002) and data representation (Soldatova et al., petition is a solicitation to officialize AuR as a study group 2006). Regarding specifically multi-agent systems (MASs), and, according to the group progress, another petition will be ontologies are already being used in such projects as Robot submitted to the same committee to officialize AuR as an Earth European project (Waibel et al., 2011), Proteus project official working group, following the same steps of its parent (Lortal et al., 2011), SWAMO NASA project (Witt et al., group, IEEE ORA WG. These steps are necessary and 2008), A3ME (Herzog et al., 2008), and so on. required to conduct the development of any standard These studies are very interesting and have represented a sponsored by IEEE RAS. This paper presents the work starting point for our work, but these ontologies are at a in-progress developed by one of these subgroups called AuR. lower level of knowledge representation. They focus more This group aims to extend the CORA to represent more on the description of the capacities of mobile agents than on specific concepts and axioms that are commonly used in AuR. the high-level service representation for autonomous agents Therefore, AuR is performing a wide study in different R&A as we aim to do. In our work, we are focusing on specifying domains (e.g. flying robots, mobile robots, field robots and the knowledge from each of the subjects or specific fields marine systems) to identify the
Load more

Recommended publications
  • Impact of the Maker Movement
    Impact of the maker movement Developed by Deloitte Center for the Edge and Maker Media from the Maker Impact Summit Dec. 2013 I AM A MAKER with my own two hands I forge the future from my imagining my work, my sweat with these tools i can build worlds here i put wire and foam transistor and plastic rubber metal and wood together to make something new what does it do where will this take us new places new worlds all from my workshop Malcolm S. Hoover, 2014 TABLE OF CONTENTS A Future of Potential 4 Overview 7 Letters from Conveners 10 How to Read This Document 14 How might the Maker Movement have an impact on… 15 • Manufacturing 16 • Education 19 • Government and Public Policy 22 • Citizen Science 25 • Retail 28 What Happens Next? 30 Participants 32 Other Images from the Summit 38 A FUTURE OF POTENTIAL We are on the cusp of an opportunity to more fully We are in a correction of sorts. Driven by the goal of scale tap into our creative potential, driven by significant efficiencies and low costs, the supply chain has been technological innovation that is democratizing the means stretched to the far extremes, like a bungee cord, and now of production and enabling connections between resources it’s starting to come back as the underlying economics and markets. Realizing this opportunity will require change. Where will we end up? We’ve learned in the last re-thinking and redesigning all of our major institutions, 15 years that experimentation is the key to innovation.
    [Show full text]
  • Industrial Robot
    1 Introduction 25 1.2 Industrial robots - definition and classification 1.2.1 Definition (ISO 8373:2012) and delimitation The annual surveys carried out by IFR focus on the collection of yearly statistics on the production, imports, exports and domestic installations/shipments of industrial robots (at least three or more axes) as described in the ISO definition given below. Figures 1.1 shows examples of robot types which are covered by this definition and hence included in the surveys. A robot which has its own control system and is not controlled by the machine should be included in the statistics, although it may be dedicated for a special machine. Other dedicated industrial robots should not be included in the statistics. If countries declare that they included dedicated industrial robots, or are suspected of doing so, this will be clearly indicated in the statistical tables. It will imply that data for those countries is not directly comparable with those of countries that strictly adhere to the definition of multipurpose industrial robots. Wafer handlers have their own control system and should be included in the statistics of industrial robots. Wafers handlers can be articulated, cartesian, cylindrical or SCARA robots. Irrespective from the type of robots they are reported in the application “cleanroom for semiconductors”. Flat panel handlers also should be included. Mainly they are articulated robots. Irrespective from the type of robots they are reported in the application “cleanroom for FPD”. Examples of dedicated industrial robots that should not be included in the international survey are: Equipment dedicated for loading/unloading of machine tools (see figure 1.3).
    [Show full text]
  • Robots and Healthcare Past, Present, and Future
    ROBOTS AND HEALTHCARE PAST, PRESENT, AND FUTURE COMPILED BY HOWIE BAUM What do you think of when you hear the word “robot”? 2 Why Robotics? Areas that robots are used: Industrial robots Military, government and space robots Service robots for home, healthcare, laboratory Why are robots used? Dangerous tasks or in hazardous environments Repetitive tasks High precision tasks or those requiring high quality Labor savings Control technologies: Autonomous (self-controlled), tele-operated (remote control) 3 The term “robot" was first used in 1920 in a play called "R.U.R." Or "Rossum's universal robots" by the Czech writer Karel Capek. The acclaimed Czech playwright (1890-1938) made the first use of the word from the Czech word “Robota” for forced labor or serf. Capek was reportedly several times a candidate for the Nobel prize for his works and very influential and prolific as a writer and playwright. ROBOTIC APPLICATIONS EXPLORATION- – Space Missions – Robots in the Antarctic – Exploring Volcanoes – Underwater Exploration MEDICAL SCIENCE – Surgical assistant Health Care ASSEMBLY- factories Parts Handling - Assembly - Painting - Surveillance - Security (bomb disposal, etc) - Home help (home sweeping (Roomba), grass cutting, or nursing) 7 Isaac Asimov, famous write of Science Fiction books, proposed his three "Laws of Robotics", and he later added a 'zeroth law'. Law Zero: A robot may not injure humanity, or, through inaction, allow humanity to come to harm. Law One: A robot may not injure a human being, or, through inaction, allow a human being to come to harm, unless this would violate a higher order law. Law Two: A robot must obey orders given it by human beings, except where such orders would conflict with a higher order law.
    [Show full text]
  • Teaching an Old Robot New Tricks
    Paper ID #24080 2018 ASEE Zone IV Conference: Boulder, Colorado Mar 25 Teaching an old Robot New Tricks Dr. Nebojsa I Jaksic P.E., Colorado State University, Pueblo NEBOJSA I. JAKSIC earned the Dipl. Ing. degree in electrical engineering from Belgrade University (1984), the M.S. in electrical engineering (1988), the M.S. in industrial engineering (1992), and the Ph.D. in industrial engineering from the Ohio State University (2000). He is currently a Professor at Colorado State University-Pueblo teaching robotics and automation courses. Dr. Jaksic has over 70 publications and holds two patents. Dr. Jaksic’s interests include robotics, automation, and nanotechnology engineering education and research. He is a licensed PE in the State of Colorado, a member of ASEE, a senior member of IEEE, and a senior member of SME. Dr. Trung H Duong, Colorado State University, Pueblo Dr. Trung Duong is currently a Research Professor at Engineering Department, Colorado State University- Pueblo. From 2014 to 2017, Dr. Duong worked as a Post-doctoral Research and then a Research Faculty at Center for Advanced Infrastructure and Transportation (CAIT), Rutgers the State University of New Jersey. He involved in research activities of the Long-Term Bridge Performance (LTBP) program funded by the Federal Highway Administration (FHWA) in U.S. Department of Transportation and the Bridge Resource Program (BRP) funded by the New Jersey Department of Transportation. Dr. Duong earned his M.S and Ph.D. degrees in Mechanical and Aerospace Engineering at the Oklahoma State University in 2009 and 2013, respectively. His research interests are mechatronics, robotics, NDE technologies, image processing and computer vision, and artificial intelligence.
    [Show full text]
  • An Engineer's Guide to Industrial Robot Designs
    e-book An Engineer’s Guide to Industrial Robot Designs A compendium of technical documentation on robotic system designs ti.com/robotics Q2 | 2020 Table of Contents/Overview 1. Introduction 3. Robot arm and driving system (manipulator) 1.1 An introduction to an industrial robot system. 3 3.1.1 How to protect battery power management systems from thermal damage. 45 2. Robot system controller 3.1.2 Protecting your battery isn’t as hard as 2.1 Control panel you think.....................................46 2.1.1 Using Sitara™ processors for Industry 3.1.3 Position feedback-related reference designs 4.0 servo drives.......................9 for robotic systems............................47 2.2 Servo drives for robotic systems 4. Sensing and vision technologies 2.2.1 The impact of an isolated gate driver. 13 4.1 TI mmWave radar sensors in robotics 2.2.2 Understanding peak source and applications..................................48 sink current parameters . 17 4.2 Intelligence at the edge powers autonomous 2.2.3 Low-side gate drivers with UVLO versus factories .....................................53 BJT totem poles ......................19 4.3 Use ultrasonic sensing for graceful robots. 55 2.2.4 An external gate-resistor design guide for 4.4 How sensor data is powering AI in robotics. 57 gate drivers.......................... 20 4.5 Bringing machine learning to embedded 2.2.5 High-side motor current monitoring for systems .....................................61 overcurrent protection. 22 4.6 Robots get wheels to address new 2.2.6 Five benefits of enhanced PWM rejection for challenges and functions. 65 in-line motor control. 24 4.7 Vision and sensing-technology reference 2.2.7 How to protect control systems from thermal designs for robotic systems.
    [Show full text]
  • Thinking About the Future of Work to Make Better Decisions About Learning Today
    Learning Today ILLUSTRATION BY C.J. BURTON, © 2016 12-25 Feat 1-Gorbis.indd 12 4/19/16 11:26 AM Thinkingabout the Futureto Make Better of Decisions Work Learning about Today By Marina Gorbis f you’ve participated in r ecent discussions about the future of higher education, inevi- tably you have heard people argue about the purpose of educa tion. “It should b e about preparing students to be good, educated, and engaged citizens,” some ar gue. “We shouldn’t bend education to suit today’s needs of acquiring sp ecific work skills. T hese may quickly change, leaving graduates with little to fall Iback on as demand for their particular skills wanes. Instead, we should equip p eople with basic critical thinking skills and a desire to learn. A curious mind is a much greater asset than specific content knowledge.” er.educause.edu MAY/JUNE 2016 EDUCAUSEreview 13 12-25 Feat 1-Gorbis.indd 13 4/19/16 11:26 AM Thinking about the Future of Work to Make Better Decisions about Learning Today Others respond: “That is all ni ce and transformative shifts. R ather, a clus ter of erful new smart machines—yields a much good, but in an era of rising tuitions and interrelated technologies, often acting in more nuanced view. high student debt, it is mor e important concert with demographic and cul tural Over the coming decade, smart than ever for gr aduates to be able to earn changes, is r esponsible for dr amatic machines will indeed b egin to enter vir- good incomes, not onl y to repay their changes and disruptions.
    [Show full text]
  • Industrial Automation Providers: a Look at the Top 10 WHITEPAPER
    WHITEPAPER Industrial Automation Providers: A Look at the Top 10 TABLE OF CONTENTS BULLISH ON FACTORY AUTOMATION GLOBAL SUPPLY AND DEMAND TOP 10 INDUSTRIAL AUTOMATION PROVIDERS COBOTS JOIN THE COMPETITION THE BEST OF THE REST roboticsbusinessreview.com 2 INDUSTRIAL AUTOMATION PROVIDERS: A LOOK AT THE TOP 10 Robots in manufacturing might seem like old news, but the industry is growing quickly, and many companies are vying to be the top suppliers. By Eugene Demaitre, Senior Editor, Robotics Business Review From the first numerically controlled machines in the late 1930s, through UNIMATE at a General Motors plant in 1961, to the robot arms with built-in motors and more programmable controls of the 1980s, robots have long had a place in factories. In the past several years, technological improvements and innovative use cases have boosted interest in robotics, even among small and midsize enterprises. Today’s industrial robots are more accurate, diverse, and versatile than ever. Articulated, cartesian, and parallel robots serve different needs, and software support is becoming just as important as distinctions in hardware. Machine learning also promises to help robotics in manufacturing. Automotive and aerospace manufacturers are still the biggest consumers of robotics. They have been joined by electronics, machining, pharmaceuticals and cosmetics makers, and food processors. In this RBR Insider report, we look at 10 top providers of robots to manufacturers. As with any list, it’s somewhat subjective, since there are so many competitors to choose from. However, Robotics Business Review’s research and selections for the 2018 RBR50 list, our many conversations with developers and end users at events such as RoboBusiness, site visits, and reader feedback have led us to this year’s roundup.
    [Show full text]
  • Fast Finger Design Automation for Industrial Robots Mohammadali Honarpardaz, Johan Andersson (Ölvander) and Mehdi Tarkian
    Fast finger design automation for industrial robots Mohammadali Honarpardaz, Johan Andersson (Ölvander) and Mehdi Tarkian The self-archived postprint version of this journal article is available at Linköping University Institutional Repository (DiVA): http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-153950 N.B.: When citing this work, cite the original publication. Honarpardaz, M., Andersson (Ölvander), J., Tarkian, M., (2019), Fast finger design automation for industrial robots, Robotics and Autonomous Systems, 113, 120-131. https://doi.org/10.1016/j.robot.2018.12.011 Original publication available at: https://doi.org/10.1016/j.robot.2018.12.011 Copyright: Elsevier http://www.elsevier.com/ Agile Finger Design Automation for Industrial Robots M. Honarpardaz a, b, J. Ölvander b, M. Tarkian b a ABB, Corporate Research Center, Forskargränd 7, Västerås 721 78, Sweden b Linköping University, Division of Machine Design, Linköping 581 83, Sweden Corresponding author: Mohammadali Honarpardaz, ABB, Corporate Research Center, Forskargränd 7, Västerås 721 78, Sweden. Email: [email protected] Abstract Finger design automation is highly demanded from robot industries to fulfill the requirements of the agile market. Nevertheless, literature lacks a promising approach which automates the design process of reliable fingers for industrial robots. Hence, this work proposes the generic optimized finger design (GOFD) method which automates the design process and minimizes the time it takes to design finger grippers. The method is applied to optimize fingers for several objects and it outperforms existing methods. Finally, the optimized fingers are manufactured and the results are experimentally verified. Keywords Optimization, fingers design, design automation, grasp synthesis, industrial grippers, robotics 1.
    [Show full text]
  • Robot Control Overview: an Industrial Perspective
    Modeling, Identification and Control, Vol. 30, No. 3, 2009, pp. 167{180, ISSN 1890{1328 Robot Control Overview: An Industrial Perspective Torgny Brog˚ardh ABB Corporate Research, SE 721 78, V¨aster˚as,Sweden. E-mail: [email protected] Abstract One key competence for robot manufacturers is robot control, defined as all the technologies needed to control the electromechanical system of an industrial robot. By means of modeling, identification, opti- mization, and model-based control it is possible to reduce robot cost, increase robot performance, and solve requirements from new automation concepts and new application processes. Model-based control, including kinematics error compensation, optimal servo reference- and feed-forward generation, and servo design, tuning, and scheduling, has meant a breakthrough for the use of robots in industry. Relying on this breakthrough, new automation concepts such as high performance multi robot collaboration and hu- man robot collaboration can be introduced. Robot manufacturers can build robots with more compliant components and mechanical structures without loosing performance and robots can be used also in appli- cations with very high performance requirements, e.g., in assembly, machining, and laser cutting. In the future it is expected that the importance of sensor control will increase, both with respect to sensors in the robot structure to increase the control performance of the robot itself and sensors outside the robot related to the applications and the automation systems. In this connection sensor fusion and learning functional- ities will be needed together with the robot control for easy and intuitive installation, programming, and maintenance of industrial robots.
    [Show full text]
  • Emerging Technologies, Challenges, and Key Research Directions
    RESEARCH BRIEF 15 • NOVEMBER 2020 The State of Industrial Robotics: Emerging Technologies, Challenges, and Key Research Directions *Lindsay Sanneman, PhD candidate, Department of Aeronautics and Astronautics at MIT and a member of the Interactive Robotics Group *Christopher Fourie, PhD candidate, Department of Aeronautics and Astronautics at MIT and a member of the Interactive Robotics Group Julie Shah, Associate Professor, Department of Aeronautics and Astronautics at MIT, Head of the Interactive Robotics Group of the Computer Science and Artificial Intelligence Laboratory Member, MIT Task Force on the Work of the Future The State of Industrial Robotics: Emerging Technologies, Challenges, and Key Research Directions Authors: *Lindsay Sanneman, PhD candidate in the Department of Aeronautics and Astronautics at MIT and a member of the Interactive Robotics Group [email protected] *Christopher Fourie, PhD candidate in the Department of Aeronautics and Astronautics at MIT and a member of the Interactive Robotics Group [email protected] Julie Shah, Associate Professor in the Department of Aeronautics and Astronautics at MIT and head of the Interactive Robotics Group of the Computer Science and Artificial Intelligence Laboratory [email protected] Executive Summary In the past decade, European countries and companies—Germany and German companies, in particular—have been working to gain a competitive advantage in manufacturing by integrating the latest robots and related technologies into their manufacturing processes. For example, collaborative robots (cobots) that can work more directly with workers—rather than being separated by cages for safety reasons—offer a possible means to improve productivity without significantly lowering employment. However, the success and extent of efforts to update European factories have been relatively halting and uneven for a variety of reasons.
    [Show full text]
  • 1 Will Domestic Robotics Enter Our Houses?
    Will domestic robotics enter our houses? A study of implicit and explicit associations and attitudes towards domestic robotics Shariff Lutfi S0186503 1 Theoretical framework Introduction The time that robots only existed within science fiction literature and movies is over. With the use of novel technology, robots are introduced within real-life settings such as: factories, schools, hospitals and nursing homes. These developments have been picked up by businesses, since they are getting more interest on robotics. Moreover, the IRF (International Federation of Robotics) noted that the current global market value for domestic robots is estimated on a value of US$4.3 billion and still is rising. Besides the growing attention of businesses, robotics has gained parallel more attention of scientists. According to Kumar, Bekey and Zehng (2005), robots can be classified into two different categories based on their tasks and market purposes, which they are designed for. Last mentioned researchers identified two major classes of robots: (1) industrial robots and (2) service robots. When looking deeper into these kinds of robots, it can be said that industrial robots have three essentials elements. The industrial robot manipulates its physical environment, it is computer-controlled and it operates in industrial settings (Thrun, 2004). Industrial robots are relatively mature within the market, since these robots where used and sold during the early 1960’s. Classical tasks of industrial robots are machining, assembly, packaging and transportation (Thrun, 2004). In general, it can be said, that industrial robots are not intended to interact directly with people. This is in contrast with service robots. Service robots could be divided in professional service and personal service robots.
    [Show full text]
  • Research on Hybrid Manufacturing Using Industrial Robot
    Scholars' Mine Doctoral Dissertations Student Theses and Dissertations Fall 2016 Research on hybrid manufacturing using industrial robot Zhiyuan Wang Follow this and additional works at: https://scholarsmine.mst.edu/doctoral_dissertations Part of the Mechanical Engineering Commons Department: Mechanical and Aerospace Engineering Recommended Citation Wang, Zhiyuan, "Research on hybrid manufacturing using industrial robot" (2016). Doctoral Dissertations. 2548. https://scholarsmine.mst.edu/doctoral_dissertations/2548 This thesis is brought to you by Scholars' Mine, a service of the Missouri S&T Library and Learning Resources. This work is protected by U. S. Copyright Law. Unauthorized use including reproduction for redistribution requires the permission of the copyright holder. For more information, please contact [email protected]. RESEARCH ON HYBRID MANUFACTURING USING INDUSTRIAL ROBOT by ZHIYUAN WANG A DISSERTATION Presented to the Faculty of the Graduate School of the MISSOURI UNIVERSITY OF SCIENCE AND TECHNOLOGY In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY in MECHANICAL ENGINEERING 2016 Approved Dr. Frank Liou, Advisor Dr. Ashok Midha Dr. Heng Pan Dr. Lian Duan Dr. Joseph W Newkirk 2016 Zhiyuan Wang All Rights Reserved iii PUBLICATION DISSERTATION OPTION This dissertation consists of the following five articles that have been published or submitted for publication as follows: Pages 6-65 are intended for submission to Robotics and Computer-Integrated Manufacturing. Pages 66-96 are intended for submission to International Journal of Robotics and Automation Technology. Pages 97-113 have been published in International Journal of Computer Applications in Technology. Pages 114-132 have been published in Precision Engineering. Pages 133-156 have been published in 3D Printing and Additive Manufacturing.
    [Show full text]