There are several advantages to replacing CNC machinery with robotic machine tools and as such robotic machining is emerging into the manufacturing and metal cutting industry. There remain several disadvantages to using robots over CNC stations primarily due to flexibility in robotic manipulators, which severely reduces accuracy when operating under high machining forces. This flexibility is dependent on configuration and thus the configuration can be optimised through posture selection to minimise deflection. In previous work little has been done to account for operating frequency and the additional complications that can arise from frequency dependent responses of robotic machine tools. A Fanuc S-360 manipulator was used to experimentally investigate the benefits of including frequency compensation in posture selection. The robot dynamics first had to be identified and experimental modal analysis was selected due the inherent dependency on frequency characteristics. Specifically, a circle fit operation identified modal parameters and a least squares optimisation generated dynamic parameters for a spatial model. A rigid-link flexible-joint model was selected and a pseudo-joint was used to create an additional DOF to accommodate link flexibility. Posture optimisation was performed using a gradient-descent algorithm that used several starting points to identify a global minimum. The results showed that a subset of modal data that excluded the mode shape vectors could be used to create a model to predict the manipulator vibration response. It was also found that the receptance variation of the manipulator with configuration was insufficient to verify the optimisation throughout the entire selected workspace; however the model was shown to be useful in regions containing multiple peaks where the modelled dynamics were dominant over the highly volatile measured data. Simulations were performed on a redundant planar manipulator to overcome the lack of receptance variation found in the Fanuc manipulator. These simulations showed that there were two mechanisms driving the optimisation; overall amplitude reduction and frequency specific amplitude reduction. Using a stiffness posture measure for comparison, the results of the frequency specific reduction could be separated and were found to be particularly beneficial when operating close to resonant frequencies.

The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. Recently, the fast evolving advances in network and computer technologies and decreasing size and cost of sensors and robots enable us to further extend the MOMR system architecture to incorporate heterogeneous components such as humans, robots, sensors, and automated agents. The requests for controlling robot actuation are generated by all the participants. We term it as the MOMR++ system. However, to reach the best potential and performance of the system, there are many technical challenges needing to be addressed. In this dissertation, we address two major challenges in the MOMR++ system development. We first address the robot coordination and planning issue in the application of an autonomous crowd surveillance system. The system consists of multiple robotic pan-tilt-zoom (PTZ) cameras assisted with a fixed wide-angle camera. The wide-angle camera provides an overview of the scene and detects moving objects, which are required for close-up views using the PTZ cameras. When applied to the pedestrian surveillance application and compared to a previous work, the system achieves increasing number of observed objects by over 210% in heavy traffic scenarios. The key issue here is given the limited number (e.g., p (p > 0)) of PTZ cameras and many more (e.g., n (n >> p)) observation requests, how to coordinate the cameras to best satisfy all the requests. We formulate this problem as a new camera resource allocation problem. Given p cameras, n observation requests, and [epsilon] being approximation bound, we develop an approximation algorithm running in O(n/[epsilon]³ + p²/[epsilon]⁶) time, and an exact algorithm, when p = 2, running in O(n³) time. We then address the automatic object content analysis and recognition issue in the application of an autonomous rare bird species detection system. We set up the system in the forest near Brinkley, Arkansas. The camera monitors the sky, detects motions, and preserves video data for only those targeted bird species. During the one-year search, the system reduces the raw video data of 29.41TB to only 146.7MB (reduction rate 99.9995%). The key issue here is to automatically recognize the flying bird species. We verify the bird body axis dynamic information by an extended Kalman filter (EKF) and compare the bird dynamic state with the prior knowledge of the targeted bird species. We quantify the uncertainty in recognition due to the measurement uncertainty and develop a novel Probable Observation Data Set (PODS)-based EKF method. In experiments with real video data, the algorithm achieves 95% area under the receiver operating characteristic (ROC) curve. Through the exploration of the two MOMR++ systems, we conclude that the new MOMR++ system architecture enables much wider range of participants, enhances the collaboration and interaction between participants so that information can be exchanged in between, suppresses the chance of any individual bias or mistakes in the observation process, and further frees humans from the control/observation process by providing automatic control/observation. The new MOMR++ system architecture is a promising direction for future telerobtics advances.

Both position and angular errors during the insertion process, which cannot be easily predicted because of indeterminate collision situations, may cause failure of the assembly. One of the frequently applied strategies is to use a passive remote center compliance. We break the insertion problem down in to two phases: chamfer-crossing, and inserting (after chamfer-crossing)phase. In this article, the relationship between the position and angular errors during chamfer-crossing with different chamfer size and locality are thoroughly analysis. We also try to design a technological processes of minimizing the angular errors during chamfer-crossing. Besides single round peg insertion, two dimensional dual peg-in-hole insertion problems are briefly analysis.

This Master Thesis was performed in terms of robotic three dimensional friction stir welding with T-butt joint. Friction stir welding (FSW) is a solid state welding method that achieves the weld temperature by friction of a rotating non-consumable tool with the workpiece. Science and technology fast developing requires for higher seam quality and more complex welding joint geometry like 3D welds. In order to acquire high productivity, capacity and flexibility with acceptable cost, robotic FSW solution have been proposed. Instead of the standard FSW machine, using a robot to perform complicated welds such as, three-dimensional. In this report, a solution for weld a 3D T-butt joint, which located in an aluminium cylinder with 1.5 mm thickness using a robot, was developed. Moreover, two new paths were investigated in order to avoid the use of two welds to perform this type of joint. The paths were tested on 2D and on 3D (with a 5050 curvature radius) geometries. Both paths had good results. What is more, the parameter developing methods of FSW process, which is composed of necessary parameter setting, positional compensation was introduced. Specially,the study demonstrates how complicate geometry can be welded using a robot. Also,it shows that TWT temperature control is able to acquire high quality 3D welds. In addition, an analysis of the 2D welding and 3D welding was performed, which exposed that, keeping exactly the same welding conditions, higher lateral forces on the tool were found during 3D welding. Basis on the special case in this paper, when the tool goes like "climbing" the sample, the suffering force of tool decreasing with increasing the height(Z position); nevertheless, when the tool goes like "downhill", the suffering force of tool decreasing with decreasing the height (Z position). What is more, in 2D weld, increasing the downforce (Fz) results increasing the lateral forces which can be Fx and/or Fy. Finally, the future works suggestions were presented in terms of (1) performing the new paths into a real cylinder, (2) performing tensile test on the paths and comparing it with conventional path which weld twice, (3) researching how the downforce (Fz) influence the Fx and Fy during welding of different 3D geometries, (4) how the cooling rate of backing bar influence the seam quality when it is use the same welding parameters and (5) the effect of performing welds in the same welding temperature achieved with different combination of the tool rotational speed and downforce on the material properties

In 2010, a donation was given to the University of Victoria Robotics and Mechanisms lab by Roper Industries. It was a Flight Telerobotic Servicer (FTS) Right Finger training tool. This is an electro-hydraulic robotic arm, approximately eight feet long, weighing in excess of four hundred pounds. This arm was designed and built in the late nineteen eighties as part of a program in support of the Space Station Freedom project. The intention of the arm was to assist in the training of astronauts in the use of an end effector which would be mounted at the distal end of the Canadarm©. The end effector would have right and left fingers, as well as a thumb (used for stabilization, not grasping). Unfortunately, the robot did not come with any of the control hardware, software, manuals, or functional descriptions, and the original equipment manufacturers (OEMs) were not able to share any information regarding the nature of the controls. The focus of the present work is to re-animate this arm without additional feedback, operating the arm only by hand-eye control, using currently available electronics and hardware. Also, investigate the absolute position sensors. These are described as near-infinite resolution analog absolute position sensors. Investigation was also conducted on an alternate solution (Vernier Optical Encoder), which was finally were abandoned. Strain-gauge type torque feedback sensors were found to be functional, and can be used without further work on future experimentation. The outcome of the research and assembly is a fully functional electro-hydraulic robotic arm, which is digitally controlled using an XBOX© game controller, using only visual feedback for position. The position sensor work was not as fruitful, with no working position sensors available. The torque feedback sensors are functional, but not utilized in the final work. / Graduate

Ο πρωταρχικός στόχος αυτής της εργασίας είναι η υλοποίηση μιας βιομηχανικής διάταξης σε εργαστηριακή κλίμακα στην οποία να συνεργάζονται ένα στερεοσκοπικό σύστημα και ένας ρομποτικός βραχίονας. Πιο συγκεκριμένα, η διαδικασία χωρίζεται σε δύο μέρη, την αναγνώριση στο χώρο των επιθυμητών αντικειμένων και την οδήγηση βάση αυτής του ρομποτικού βραχίονα. Για το πρώτο μέρος έγινε χρήση της βιβλιοθήκης OpenCV σε γλώσσα C++ και ως στερεοσκοπικό υλικό χρησιμοποιήθηκαν δύο παράλληλα διατεταγμένες κάμερες τύπου webcam. Η διαδικασία που ακολουθήθηκε για την αναγνώριση θέσης χωρίστηκε σε αρκετά βήματα. Αρχικά δημιουργήθηκε ένα πρόγραμμα το οποίο αποθηκεύει καρέ από τις δύο κάμερες στα οποία απεικονίζεται ένα μοτίβο βαθμονόμησης. Στη συνέχεια, αυτές οι εικόνες εισάγονται στον κώδικα βαθμονόμησης με στόχο να υπολογιστούν οι εγγενείς και εξωγενείς παράμετροι των καμερών. Έπειτα, με τη χρήση των παραμέτρων αυτών και τη θεωρία της επιπολικής γεωμετρίας μπορεί να γίνει η αναγνώριση θέσης ενός αντικειμένου στο χώρο. Τέλος, χρησιμοποιείται ένας αλγόριθμος εντοπισμού του κέντρου ενός αντικειμένου στην οθόνη με βάση το χρώμα έτσι ώστε να καθοριστεί για ποιο αντικείμενο ο αλγόριθμος θα υπολογίσει τη θέση. Στο δεύτερο μέρος χρησιμοποιήθηκε ο ρομποτικός βραχίονας Katana s400 6M90G της εταιρείας Neuronics, ο οποίος προγραμματίστηκε σε γλώσσα C++, σε περιβάλλον Visual Studio 2008. Αρχικά, βρέθηκαν οι γωνίες Euler της αρπάγης, για διαφορετικές προσεγγίσεις του προσανατολισμού της. Με τον συνδυασμό των συντεταγμένων του αντικειμένου, που βρίσκονται από το στερεοσκοπικό σύστημα καθοδηγείται το Katana ώστε να το πιάσει. Τα πειράματα που διεξαχθήκαν περιλάμβαναν την αρπαγή στάσιμων αντικειμένων με γενικό και οριζόντιο προσανατολισμό εργαλείου. Τέλος, πραγματοποιήθηκαν πειράματα με αντικείμενα εν κινήσει, τυχαίας θέσης με γενικό, κάθετο και οριζόντιο προσανατολισμό αρπάγης. / The primary objective of this thesis is the implementation of an industrial system at laboratory scale in which a stereo system collaborates with a robotic arm. More specifically, the process is divided into two parts, the recognition of the desired objects and the manipulation of the robotic arm. In the first part were used the OpenCV library, in C ++ language and two parallel web-cameras. The procedure for the recognition of the objects, was divided into several steps. Initially a number of images were inserted in the calibration algorithm in order to estimate the intrinsic and extrinsic camera parameters. Then, using these parameters and the epipolar geometry it was possible to recognize the position of an object in 3D space. Finally, an algorithm is used to locate the center of an object on the screen by color in order to determine for what object the algorithm will calculate the position. In the second part was used the robotic arm Katana s400 6M90G by Neuronics, programmed in C ++, in Visual Studio 2008. Initially, the Euler angles of the gripper for different orientations were found. Given the coordinates of the objects, provided by the stereo system, the Katana arm was guided to grasp them. The experiments that were conducted included the grasping of stationary objects in a general and horizontal orientation of the Katana tool. Finally, experiments were performed with objects in motion and random position in general, vertical and horizontal orientation of the gripper.

Στόχος της παρούσας διπλωματικής εργασίας είναι η μελέτη και η ανάπτυξη ενός ρομποτικού οχήματος το οποίο θα είναι ικανό να πλοηγηθεί αυτόνομα στο χώρο αναγνωρίζοντας και αποφεύγοντας τα πιθανά εμπόδια στο περιβάλλον που θα κινηθεί. / The aim of this thesis is to study and develop a robotic vehicle that will be able to navigate autonomously in space by identifying and avoiding potential barriers in the environment that it will move.

The concept of tinkering is a central practice within research in the field of Human Computer Interaction, dealing with new interactive forms and technologies. In this thesis, tinkering is discussed not only as a practice for interaction design in general, but as an attitude that calls for a deeper reflection over research practices, knowledge generation and the recent movements in the direction of materials and materiality within the field. The presented research exemplifies practices and studies in relation to interactive technology through a number of projects, all revolving around the design and interaction with physical interactive artifacts. In particular, nearly all projects are focused around robotic artifacts for consumer settings. Three main contributions are presented in terms of studies, prototypes and concepts, together with a conceptual discussion around tinkering framed as an attitude within interaction design. The results from this research revolve around how grounding is achieved, partly through studies of existing interaction and partly through how tinkering-oriented activities generates knowledge in relation to design concepts, built prototypes and real world interaction. / <p>QC 20131203</p>

As robots continue to enter people's spaces and environments, it will be increasingly important to have effective interfaces for interaction and communication. One such aspect of this communication is people's awareness of the robot's actions and state. We believe that using high-level state representations, as a peripheral awareness channel, will help people to be aware of the robotic states in an easy to understand way. For example, when a robot is boxed in a small area, it can suggest a negative robot state (e.g., not willing to work in a small area as it cannot clean the entire room) by appearing unhappy to people. To investigate this, we built a robotic dog tail prototype and conducted a study to investigate how different tail motions (based on several motion parameters, e.g., speed) influence people’s perceptions of the robot. The results from this study formed design guidelines that Human-Robot Interaction (HRI) designers can leverage to convey robotic states. Further, we evaluated our overall approach and tested these guidelines by conducting a design workshop with interaction designers where we asked them to use the guidelines to design tail behaviors for various robotic states (e.g., looking for dirt) for robots working in different environments (e.g., domestic service). Results from this workshop helped in improving the confusing parts in our guidelines and making them easy to use by the designers. In conclusion, this thesis presents a set of solidified design guidelines that can be leveraged by HRI designers to convey the states of robots in a way that people can readily understand when and how to interact with them.

The current study evaluated whether robotic guidance can influence movement planning and/or the use of online proprioceptive feedback. Participants were divided into three groups wherein they practiced an aiming task unassisted or via a robotic device that led them through a trajectory with an asymmetric or symmetric velocity profile. Baseline performance was measured prior to training and a post-test included control and tendon vibration trials. Temporal, spatial, and kinematic variables were used to assess planning and online control mechanisms. Results indicated that tendon vibration altered the way individuals planned their movements and used online sensory feedback. Robotic-guided groups appeared to use online feedback to a lesser extent than the unassisted group during tendon vibration trials, based on kinematic data. Individuals may become less inclined to use erroneous proprioceptive feedback following robotic guidance, supporting the potential benefit of robotics in neuro-motor rehabilitation for those with proprioceptive deficits.