Relevant bibliographies by topics / Robots, Industrial. Computers, Optical

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Robots, Industrial. Computers, Optical'

Author: Grafiati
Published: 4 June 2021
Last updated: 4 February 2022

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Journal articles on the topic "Robots, Industrial. Computers, Optical"

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Gharaaty, Sepehr, Tingting Shu, Ahmed Joubair, Wen Fang Xie, and Ilian A. Bonev. "Online pose correction of an industrial robot using an optical coordinate measure machine system." International Journal of Advanced Robotic Systems 15, no. 4 (2018): 172988141878791. http://dx.doi.org/10.1177/1729881418787915.

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In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The dev
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Mineo, Carmelo, Donatella Cerniglia, Vito Ricotta, and Bernhard Reitinger. "Autonomous 3D geometry reconstruction through robot-manipulated optical sensors." International Journal of Advanced Manufacturing Technology 116, no. 5-6 (2021): 1895–911. http://dx.doi.org/10.1007/s00170-021-07432-5.

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AbstractMany industrial sectors face increasing production demands and the need to reduce costs, without compromising the quality. The use of robotics and automation has grown significantly in recent years, but versatile robotic manipulators are still not commonly used in small factories. Beside of the investments required to enable efficient and profitable use of robot technology, the efforts needed to program robots are only economically viable in case of large lot sizes. Generating robot programs for specific manufacturing tasks still relies on programming trajectory waypoints by hand. The
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Yamaji, Koki, and Yoshihisa Muraoka. "Motor Driving Control of an X-Y-Z Table Using a Photoelectric Device and Optical Pattern Recognition." Journal of Robotics and Mechatronics 11, no. 4 (1999): 342–48. http://dx.doi.org/10.20965/jrm.1999.p0342.

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The introduction of industrial robots is an indispensable methodology in acheving factory automation. In order to advance the application technology of the robots, peripheral technology such as measurement and recognition must be developed. There are large amount of research devoted to sensing and recognition devices and systems. Assembly automation requires the accurate three dimensional position sensors, positioning systems and related sensory devices. A wide variety of optical devices have been developed for many applications. The advent of the laser has provided a coherent light source. Th
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HSIEH, SHENG-JEN. "RECONFIGURABLE MODULES, PROGRAMMABLE LOGIC CONTROLLER, AND VISION SYSTEM FOR DUAL ROBOT ASSEMBLY WORKCELL DESIGN." Journal of Advanced Manufacturing Systems 02, no. 02 (2003): 201–28. http://dx.doi.org/10.1142/s0219686703000320.

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Robot workcell system design involves integrating one or more robots with components such as conveyors, pallets, machine tools, and fixtures. Previous work in workcell design has addressed control and operations management issues such as scheduling. There has been relatively little emphasis on overall design, interface, system integration and agility issues. This paper provides a detailed technical description of (1) a cost-effective approach to prototyping a robotic assembly workcell using off-the-shelf modules and sensors; and (2) the process of designing, building, and integrating a dual ro
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Huang, Wensheng, and Hongli Xu. "Development of six-DOF welding robot with machine vision." Modern Physics Letters B 32, no. 34n36 (2018): 1840079. http://dx.doi.org/10.1142/s0217984918400791.

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The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera’s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray s
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Chen, Chang, and Hua Zhu. "Visual-inertial SLAM method based on optical flow in a GPS-denied environment." Industrial Robot: An International Journal 45, no. 3 (2018): 401–6. http://dx.doi.org/10.1108/ir-01-2018-0002.

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Purpose This study aims to present a visual-inertial simultaneous localization and mapping (SLAM) method for accurate positioning and navigation of mobile robots in the event of global positioning system (GPS) signal failure in buildings, trees and other obstacles. Design/methodology/approach In this framework, a feature extraction method distributes features on the image under texture-less scenes. The assumption of constant luminosity is improved, and the features are tracked by the optical flow to enhance the stability of the system. The camera data and inertial measurement unit data are tig
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Rudd, Grant, Liam Daly, and Filip Cuckov. "Intuitive gesture-based control system with collision avoidance for robotic manipulators." Industrial Robot: the international journal of robotics research and application 47, no. 2 (2020): 243–51. http://dx.doi.org/10.1108/ir-03-2019-0045.

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Purpose This paper aims to present an intuitive control system for robotic manipulators that pairs a Leap Motion, a low-cost optical tracking and gesture recognition device, with the ability to record and replay trajectories and operation to create an intuitive method of controlling and programming a robotic manipulator. This system was designed to be extensible and includes modules and methods for obstacle detection and dynamic trajectory modification for obstacle avoidance. Design/methodology/approach The presented control architecture, while portable to any robotic platform, was designed to
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AILISTO, HEIKKI, RISTO MITIKKA, ILKKA MORING, HANNU JOKINEN, and ILKKA KAISTO. "3D MEASUREMENT CONTROLLED BY A CAD MODEL-BASED MEASUREMENT PLANNING AND VISION SYSTEM." International Journal of Pattern Recognition and Artificial Intelligence 10, no. 02 (1996): 151–64. http://dx.doi.org/10.1142/s021800149600013x.

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Optical coordinate measurement systems will benefit from developments similar to those taking place in robots, namely off-line programming capability and intelligent sensors. Research work towards these goals is reported here. An experimental system with CAD model-based measurement planning and vision control has been constructed and its feasibility demonstrated. The system comprises a measurement planning tool, a measurement robot with vision guidance and a means of visualizing and comparing the measured results with the design data. The measurement planning tool is based on a commercial CAD
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Al Rashed, Mohammed Abdullah, and Tariq Pervez Sattar. "Inexpensive spatial position system for the automation of inspection with mobile robots." Industrial Robot: An International Journal 41, no. 6 (2014): 508–17. http://dx.doi.org/10.1108/ir-09-2014-0386.

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Purpose – The purpose of this paper is to develop a wireless positioning system. The automation of non-destructive testing (NDT) of large and complex geometry structures such as aircraft wings and fuselage is prohibitively expensive, though automation promises to improve on manual ultrasound testing. One inexpensive way to achieve automation is by using a small wall-climbing mobile robot to move a single ultrasound probe over the surface through a scanning trajectory defined by a qualified procedure. However, the problem is to guide the robot though the trajectory and know whether it has follo
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Tabarah, E., B. Benhabib, and R. G. Fenton. "Motion Planning for Cooperative Robotic Systems Performing Contact Operations." Journal of Mechanical Design 116, no. 4 (1994): 1177–80. http://dx.doi.org/10.1115/1.2919505.

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Two algorithms are developed in this paper for the optimal motion coordination of a pair of industrial robots engaged in contact operations such as part machining or deburring. In the first algorithm the two robots jointly grasp a tool, and move it in such a way that it performs a prescribed contact operation along the surface of a workpiece. In the second algorithm, one robot grasps the tool while a second robot grasps and maneuvers the workpiece; both robots move simultaneously relative to each other so that the tool maintains contact with the workpiece while tracking a prescribed trajectory
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Dissertations / Theses on the topic "Robots, Industrial. Computers, Optical"

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Sadat, Sayed Abdullah. "Optimal Bidding Strategy for a Strategic Power Producer Using Mixed Integer Programming." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6631.

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The thesis focuses on a mixed integer linear programming (MILP) formulation for a bi-level mathematical program with equilibrium constraints (MPEC) considering chance constraints. The particular MPEC problem relates to a power producer’s bidding strategy: maximize its total benefit through determining bidding price and bidding power output while considering an electricity pool’s operation and guessing the rival producer’s bidding price. The entire decision-making process can be described by a bi-level optimization problem. The contribution of our thesis is the MILP formulation of this problem
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Edström, Jacob, and Pontus Mjöberg. "The Optimal Hardware Architecture for High Precision 3D Localization on the Edge. : A Study of Robot Guidance for Automated Bolt Tightening." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-263104.

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The industry is moving towards a higher degree of automation and connectivity, where previously manual operations are being adapted for interconnected industrial robots. This thesis focuses specifically on the automation of tightening applications with pre-tightened bolts and collaborative robots. The use of 3D computer vision is investigated for direct localization of bolts, to allow for flexible assembly solutions. A localization algorithm based on 3D data is developed with the intention to create a lightweight software to be run on edge devices. A restrictive use of deep learning classifica
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Rajagopalan, Ramesh. "A computer-aided methodology for the calibration of industrial robots employing optical metrology." Thesis, 1986. http://spectrum.library.concordia.ca/4493/1/ML35526.pdf.

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Books on the topic "Robots, Industrial. Computers, Optical"

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Intelligent, Robots and Computer Vision (1984 Cambridge Mass ). Intelligent robots and computer vision: November 5-8, 1984, Cambridge, Massachusetts : [proceedings]. SPIE, 1985.

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Blume, Christian. Programming languagesfor industrial robots. Springer-Verlag, 1986.

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Programming languages for industrial robots. Springer-Verlag, 1986.

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International, Conference on Industrial Electronics Control and Instrumentation. Proceedings IECON '85: 1985 International Conference on Industrial Electronics, Control and Instrumentation, Hyatt Regency Hotel, San Francisco, California, November 18-22, 1985 : industrial applications of mini, micro & personal computers. The Institute, 1985.

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Xiao-Dong, Hu, and Du Dingzhu, eds. Multiwavelength optical networks. Kluwer Academic Publishers, 2002.

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IEEE International Conference on Robotics and Automation (15th 1998 Louvain, Belgium). Proceedings, 1998 IEEE International Conference on Robotics and Automation: May 16-20, 1998, Katholieke Universiteit Leuven, Leuven, Belgium. IEEE Computer Society Press, 1998.

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Schuster, Guido M. Rate-distortion based video compression: Optimal video frame compression and object boundary encoding. Kluwer Academic Publishers, 1997.

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N, Sivarajan Kumar, ed. Optical networks: A practical perspective. 2nd ed. Morgan Kaufmann Publishers, 2002.

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Ramaswami, Rajiv. Optical networks: A practical perspective. Morgan Kaufmann Publishers, 1998.

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J, Waldron Kenneth, ed. Machines that walk: The adaptive suspension vehicle. MIT Press, 1989.

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Book chapters on the topic "Robots, Industrial. Computers, Optical"

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Petrochenko, A. V., and I. A. Konyakhin. "Method of Constructing a System of Optical Sensors for Mutual Orientation of Industrial Robots for Monitoring of the Technosphere Objects." In Smart Electromechanical Systems: The Central Nervous System. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-53327-8_9.

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Manjunatha, K. C., H. S. Mohana, and P. A. Vijaya. "Computer Vision-Based Non-Magnetic Object Detection on Moving Conveyors in Steel Industry Through Differential Techniques and Performance Evaluation." In Computer Vision. IGI Global, 2018. http://dx.doi.org/10.4018/978-1-5225-5204-8.ch077.

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Intelligent process control technology in various manufacturing industries is important. Vision-based non-magnetic object detection on moving conveyor in the steel industry will play a vital role for intelligent processes and raw material handling. This chapter presents an approach for a vision-based system that performs the detection of non-magnetic objects on raw material moving conveyor in a secondary steel-making industry. At single camera level, a vision-based differential algorithm is applied to recognize an object. Image pixels-based differential techniques, optical flow, and motion-based segmentations are used for traffic parameters extraction; the proposed approach extends those futures into industrial applications. The authors implement a smart control system, since they can save the energy and control unnecessary breakdowns in a robust manner. The technique developed for non-magnetic object detection has a single static background. Establishing background and background subtraction from continuous video input frames forms the basis. Detection of non-magnetic materials, which are moving with raw materials, and taking immediate action at the same stage as the material handling system will avoid the breakdowns or power wastage. The authors achieve accuracy up to 95% with the computational time of not more than 1.5 seconds for complete system execution.
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Manjunatha, K. C., H. S. Mohana, and P. A. Vijaya. "Computer Vision-Based Non-Magnetic Object Detection on Moving Conveyors in Steel Industry through Differential Techniques and Performance Evaluation." In Computer Vision and Image Processing in Intelligent Systems and Multimedia Technologies. IGI Global, 2014. http://dx.doi.org/10.4018/978-1-4666-6030-4.ch014.

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Intelligent process control technology in various manufacturing industries is important. Vision-based non-magnetic object detection on moving conveyor in the steel industry will play a vital role for intelligent processes and raw material handling. This chapter presents an approach for a vision-based system that performs the detection of non-magnetic objects on raw material moving conveyor in a secondary steel-making industry. At single camera level, a vision-based differential algorithm is applied to recognize an object. Image pixels-based differential techniques, optical flow, and motion-based segmentations are used for traffic parameters extraction; the proposed approach extends those futures into industrial applications. The authors implement a smart control system, since they can save the energy and control unnecessary breakdowns in a robust manner. The technique developed for non-magnetic object detection has a single static background. Establishing background and background subtraction from continuous video input frames forms the basis. Detection of non-magnetic materials, which are moving with raw materials, and taking immediate action at the same stage as the material handling system will avoid the breakdowns or power wastage. The authors achieve accuracy up to 95% with the computational time of not more than 1.5 seconds for complete system execution.
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Troll, Péter, Károly Szipka, and Andreas Archenti. "Indoor Localization of Quadcopters in Industrial Environment." In Advances in Transdisciplinary Engineering. IOS Press, 2020. http://dx.doi.org/10.3233/atde200183.

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The research work in this paper was carried out to reach advanced positioning capabilities of unmanned aerial vehicles (UAVs) for indoor applications. The paper includes the design of a quadcopter and the implementation of a control system with the capability to position the quadcopter indoor using onboard visual pose estimation system, without the help of GPS. The project also covered the design and implementation of quadcopter hardware and the control software. The developed hardware enables the quadcopter to raise at least 0.5kg additional payload. The system was developed on a Raspberry single-board computer in combination with a PixHawk flight controller. OpenCV library was used to implement the necessary computer vision. The Open-source software-based solution was developed in the Robotic Operating System (ROS) environment, which performs sensor reading and communication with the flight controller while recording data about its operation and transmits those to the user interface. For the vision-based position estimation, pre-positioned printed markers were used. The markers were generated by ArUco coding, which exactly defines the current position and orientation of the quadcopter, with the help of computer vision. The resulting data was processed in the ROS environment. LiDAR with Hector SLAM algorithm was used to map the objects around the quadcopter. The project also deals with the necessary camera calibration. The fusion of signals from the camera and from the IMU (Inertial Measurement Unit) was achieved by using Extended Kalman Filter (EKF). The evaluation of the completed positioning system was performed with an OptiTrack optical-based external multi-camera measurement system. The introduced evaluation method has enough precision to be used to investigate the enhancement of positioning performance of quadcopters, as well as fine-tuning the parameters of the used controller and filtering approach. The payload capacity allows autonomous material handling indoors. Based on the experiments, the system has an accurate positioning system to be suitable for industrial application.
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Baecker, Ronald M. "Automation, work, and jobs." In Computers and Society. Oxford University Press, 2019. http://dx.doi.org/10.1093/oso/9780198827085.003.0017.

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The effect of automation on employment and jobs has engaged thoughtful computer scientists and economists since the earliest days of computing. Yet there have been concerns about the effects of technology on employment since ancient times, and notably during the First Industrial Revolution in the nineteenth century by a group of workers known as the ‘Luddites’. Our first topic is the role of algorithms in enabling more efficient processing of job applicants and the selection of candidates to interview. This now includes the automatic filtering out of huge numbers of résumés that are never seen by human resource professionals. Next, we look at how technology is used in monitoring job performance, with the goal of encouraging or requiring enhanced performance. Oftentimes, these practices have the opposite effect, as it makes workers feel like ‘Big Brother’ is watching. Companies have long used contractors to provide flexibility in the availability of workers as well as to circumvent costs such as medical benefits and liabilities such as severance pay. This practice has recently changed dramatically: internet communication can now rapidly link seekers of services to providers of the services. This is typically called the gig economy or sharing economy, yet a better name is on-demand services. We shall then examine areas where automation threatens to replace human workers with machines. Fear is rampant, as typified by a 2017 New York Times article, ‘Will Robots Take Our Children’s Jobs?’ Between 2014 and 2016, future prospects were analysed in five scholarly books. We examine the phenomenon of unemployment by looking at specific areas: agriculture, manufacturing, service industries, and the professions. We highlight how new robotic technology, incorporating sensing, reasoning, and manipulating abilities, is enabling significant automation. Of particular importance is the extent to which new machine learning systems are enabling the automation of thinking and reasoning, which were previously considered infeasible for machines. Arguably the most interesting, challenging, and risky application is that of automatic diagnosis of disease, and, more speculatively, robot doctors.
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Smith, Gary. "Conclusion." In The AI Delusion. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198824305.003.0015.

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We live in an incredible period in history. The Computer Revolution may be even more life-changing than the Industrial Revolution. We can do things with computers that could never be done before, and computers can do things for us that never could be done before. I am addicted to computers and you may be, too. But we shouldn’t let our love of computers cloud our recognition of their limitations. Yes, computers know more facts than we do. Yes, computers have better memories than we do. Yes, computers can make calculations faster than we can. Yes, computers do not get tired like we do. Robots far surpass humans at repetitive, monotonous tasks like tightening bolts, planting seeds, searching legal documents, and accepting bank deposits and dispensing cash. Computers can recognize objects, draw pictures, drive cars. You can surely think of a dozen other impressive— even superhuman—computer feats. It is tempting to think that because computers can do some things extremely well, they must be highly intelligent. However, being useful for specific tasks is very different from having a general intelligence that applies the lessons learned and skills required for one task to more complex tasks or to completely different tasks. With true intelligence, skills are portable. Computers are great and getting better, but computer algorithms are still designed to have the very narrow capabilities needed to perform well-defined chores, not the general intelligence needed to deal with unfamiliar situations by assessing what is happening, why it is happening, and what the consequences are of taking action. Humans can apply general knowledge to specific situations and use specific situations to improve their general knowledge. Computers today cannot. Artificial intelligence is not at all like the real intelligence that comes from human brains. Computers do not know what words mean because computers do not experience the world the way we do. They do not even know what the real world is. Computers do not have the common sense or wisdom that humans accumulate by living life. Computers cannot formulate persuasive theories. Computers cannot do inductive reasoning or make long-run plans.
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Kumar, Ravinder. "Espousal of Industry 4.0 in Indian Manufacturing Organizations." In Advances in Computer and Electrical Engineering. IGI Global, 2020. http://dx.doi.org/10.4018/978-1-7998-2772-6.ch013.

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A formal industrialization commenced with steam power generation and the application of machines that mechanized the industrial work in past. Subsequently, the development in electric power, the assembly lines, and mass manufacturing led toward the third era of numeric control and automation. Now in modern era of industry 4.0, robots connected with the computers and machines. Tools are working on machines learning algorithms and running the cyber physical manufacturing systems. Sensing the need of hour, Indian manufacturing organizations are working hard to implement the practices of Industry 4.0. Working on identical direction, the author has identified 12 enablers poignant the espousal of Industry 4.0 in Indian manufacturing sectors from literature review and by opinion of experts. Further, the author has used Decision Making Trial and Evaluation Laboratory (DEMATEL) technique for developing the structural and circumstantial kinship among the enablers of Industry 4.0.
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Kumar, Ravinder. "Espousal of Industry 4.0 in Indian Manufacturing Organizations." In Research Anthology on Cross-Industry Challenges of Industry 4.0. IGI Global, 2021. http://dx.doi.org/10.4018/978-1-7998-8548-1.ch063.

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A formal industrialization commenced with steam power generation and the application of machines that mechanized the industrial work in past. Subsequently, the development in electric power, the assembly lines, and mass manufacturing led toward the third era of numeric control and automation. Now in modern era of industry 4.0, robots connected with the computers and machines. Tools are working on machines learning algorithms and running the cyber physical manufacturing systems. Sensing the need of hour, Indian manufacturing organizations are working hard to implement the practices of Industry 4.0. Working on identical direction, the author has identified 12 enablers poignant the espousal of Industry 4.0 in Indian manufacturing sectors from literature review and by opinion of experts. Further, the author has used Decision Making Trial and Evaluation Laboratory (DEMATEL) technique for developing the structural and circumstantial kinship among the enablers of Industry 4.0.
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Conference papers on the topic "Robots, Industrial. Computers, Optical"

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O¨lvander, Johan, Xiaolong Feng, and Bo Holmgren. "Optimal Kinematics Design of an Industrial Robot Family." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49645.

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Product family design is a well recognized method to address the demands of mass customization. A potential drawback of product families is that the performance of individual members are reduced due to the constraints added by the common platform, i.e. parts and components need to be shared by other family members. This paper presents a formal mathematical framework where the product family design problem is stated as an optimization problem and where optimization is used to find an optimal product family. The object of study is kinematics design of a family of industrial robots. The robot is
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Feng, Xiaolong, Bo Holmgren, and Johan O¨lvander. "Evaluation and Optimization of Industrial Robot Families Using Different Kinematic Measures." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86946.

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In this paper, overall manipulability measure and stroke of workspace are proposed and evaluated as design criteria for optimal kinematics design of a family of industrial robots. The object of study is a 6 degree of freedom serial robot manipulator where individual family members (robots) share arms from a common platform. The paper presents a formal mathematical framework where the product family design problem is stated as an optimization problem and where optimization is used to find an optimal product family. The paper illustrates how the proposed kinematic design criteria may be used to
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Balkan, Tuna. "A Programming Technique for Multifunctional Use of Industrial Robots." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/fas-1701.

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Abstract In this study, a software is developed in order to use an industrial robot, specifically an arc welding robot, as a palletizing robot by using programming codes of a FANUC ARC Mate Sr. on a FANUC R-G2 controller environment. The software performs all standard palletizing options of a material handling robot in the same category without requirement of any optional built-in software. In addition, multiplication and division can be performed without any optional software for these functions, by using standard addition and subtraction software. Thus, with the algorithm of the developed so
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Tarkian, Mehdi, Bhanoday Vemula, Xiaolong Feng, and Johan Ölvander. "Metamodel Based Design Automation: Applied on Multidisciplinary Design Optimization of Industrial Robots." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70867.

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Intricate and complex dependencies between multiple disciplines require iterative intensive optimization processes. To this end, multidisciplinary design optimization (MDO) has been established as a convincing concurrent technique to manage inherited complexities. This paper presents a high level CAD and CAE design automation methodology which enables fast, efficient concept generation for MDO. To increase the evaluation speed, global metamodels are introduced to replace computationally expensive CAD and CAE models. In addition, various techniques are applied to drastically decrease the number
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Xie, Zexiao, Peixin Wu, and Ping Ren. "A Comparative Study on the Pick-and-Place Trajectories for a Delta Robot." In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59359.

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A comparative study on the pick-and-place trajectories for high-speed Delta robots is presented in this paper. The Adept Cycle has been widely accepted as a standardized pick-and-place trajectory for industrial robots. The blending curves and optimization methods to smooth this trajectory are briefly surveyed. Three major types of trajectories: Lamé curves, clothoids and piecewise polynomials, are selected as candidates to be compared. The processes to generate these trajectories are briefly reviewed. The trajectories are firstly compared in term of their computation time. Then, based on a dyn
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Kaci, Lila, Sébastien Briot, Clément Boudaud, and Philippe Martinet. "RobEcolo: Optimal Design of a Wooden Five-Bar Mechanism." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85218.

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Eco-design of robots has almost never be en explored in the past. This work investigates the potential of using bio-sourced materials, which have almost no environmental impact, instead of metals for robot design. Also, wood is one of the best candidates because of its interesting mechanical properties. However, wood performance / dimensions vary with the atmospheric conditions / external solicitations. Thus, it is challenging to design a stiff and accurate wooden industrial robot. Therefore, the objective of this paper is to describe a new design methodology leading to the design a wooden fiv
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Feng, Xiaolong, Daniel Wa¨ppling, Hans Andersson, Johan O¨lvander, and Mehdi Tarkian. "Multi-Objective Optimization in Industrial Robotic Cell Design." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28488.

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It has become a common practice to conduct simulation-based design of industrial robotic cells, where Mechatronic system model of an industrial robot is used to accurately predict robot performance characteristics like cycle time, critical component lifetime, and energy efficiency. However, current robot programming systems do not usually provide functionality for finding the optimal design of robotic cells. Robot cell designers therefore still face significant challenge to manually search in design space for achieving optimal robot cell design in consideration of productivity measured by the
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Segeborn, Johan, Johan S. Carlson, Kristina Wa¨rmefjord, and Rikard So¨derberg. "Evaluating Genetic Algorithms on Welding Sequence Optimization With Respect to Dimensional Variation and Cycle Time." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48393.

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Spot welding is the predominant joining method in car body assembly. Spot welding sequences have a significant influence on the dimensional variation of resulting assemblies and ultimately on overall product quality. It also has a significant influence on welding robot cycle time and thus ultimately on manufacturing cost. In this work we evaluate the performance of Genetic Algorithms, GAs, on multi-criteria optimization of welding sequence with respect to dimensional assembly variation and welding robot cycle time. Reference assemblies are fully modelled in 3D including detailed fixtures, weld
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Terakawa, Tatsuro, Masaharu Komori, and Yuya Morita. "Motion Analysis and Experiments of Reducer-Integrated Motor Using Strain Wave Gearing System." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85299.

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Industrial robots need motors with high-precision positioning, large torque output, and small size. However, the conventional motors combined with reducers tend to be large. To solve the problem, we proposed the motor integrated with reducer that could output reduced rotation directly by using the strain wave gearing system. The proposed motor is thought to have advantages not only in downsizing but also in high load-supporting capacity and high stiffness because of the simultaneous engagement of three gear pairs. In this paper, we derive the theoretical input-output relation in the proposed m
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10

Jain, Piyush K., and Souran Manoochehri. "Optimal Three Dimensional Robot Path Planning With Collision Avoidance." In ASME 1991 Design Technical Conferences. American Society of Mechanical Engineers, 1991. http://dx.doi.org/10.1115/detc1991-0155.

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Abstract The study reported in this paper deals with path planning in three-dimensional space using network optimization for robotic manipulators working in the presence of obstacles and workspace singularities. To execute the algorithm, the robot design parameters, the geometry and location of the obstacles, and the initial and goal positions of the desired task are required. As a first step, the manipulator workspace is discretized and points inside forbidden regions formed by obstacles and singularities are excluded. An ellipsoidal searchspace is then selected as a part of the workspace to
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