Differential-Difference Equations. By Richard Bellman and Kenneth L. Cooke. Pp. xvi, 465. 1963. (Academic Press)

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

[서평]「The Unified Modeling Language User Guide」

Summary) The abstract should follow the structure of the article (relevance, degree of exploration of the problem, the goal, the main results, conclusion) and characterize the theoretical and practical significance of the study results. The abstract should not contain wording echoing the title, cumbersome grammatical structures and abbreviations. The text should be written in scientific style. The volume of abstracts (summaries) depends on the content of the article, but should not be less than 250 words. All abbreviations must be disclosed in the summary (in spite of the fact that they will be disclosed in the main text of the article), references to the numbers of publications from reference list should not be made. The sentences of the abstract should constitute an integral text, which can be made by use of the words “consequently”, “for example”, “as a result”. Avoid the use of unnecessary introductory phrases (eg, “the author of the article considers...”, “The article presents...” and so on.)

/pdf/ministry-of-education-and-science-of-the-russian-federation-7m2jn0xnm1.pdf

Ministry of Education and Science of the Russian Federation

Dynamic analysis of flexible manipulators, a literature review

Human–robot collaboration (HRC) is expected to add flexibility and agility to production lines in manufacturing plants. In this context, versatile scheduling algorithms are needed to organize the increasingly complex work-flow and to exploit the gained flexibility, ensuring the optimal use of resources and the smart management of failures. Moreover, intuitive user interfaces are needed to communicate with the human worker, informing him/her of the next operation to perform. Usually, grounded or wearable screens are used to this aim. Whenever human sight is impaired or needs to be free, other sensory channels could be used as well. In this work, we present a new dynamic scheduler that adapts to the system variability, and a novel way of communicating instructions to the human operators based on haptic guidance. The proposed strategies were applied to a complex assembly task involving three agents and compared to baseline methods with an experimental campaign involving 16 subjects. Results show the clear advantage of using dynamic scheduling over the static one and suggest that a combination of visual and tactile stimuli is a viable and effective solution for displaying instructions in complex HRC scenarios.

Flexible scheduling and tactile communication for human–robot collaboration

Visual servoing of eye-in-hand flexible manipulators is considered in this paper. Dynamic effects of both the rigid and the flexible motion of the manipulator are fully taken into account in a control solution where the two-time scale nature of the problem is exploited. The visual information is used in the "slow" subsystem for a task space oriented control law, where computationally expensive operations, such as inverse and time derivative of the Jacobian, are avoided. A rigorous proof of stability of this control scheme, based on the Lyapunov theory, is also presented. Some simulation results finally show the effectiveness of the proposed controller.

Task space visual servoing of eye-in-hand flexible manipulators

Triangular force/position control with application to robotic deburring

In manufacturing, kitting is the process of grouping separate items together to be supplied as one unit to the assembly line. This is a key logistic task, which is usually performed manually by human operators. However, picking objects from the warehouse implies a great repetitiveness in arm motion. Moreover, the weight and position of items may increase the physical strain and induce the development of work-related musculoskeletal disorders. The inclusion of a collaborative robot in the process may help to reduce the operator's effort and increase productivity. This paper introduces an online scheduling algorithm to guide the picking operations of the human and the robot. The proposed approach has been experimentally evaluated and compared with an offline scheduler, as well as with the baseline case of manual kitting.

An online scheduling algorithm for human-robot collaborative kitting

http://www.nt.ntnu.no/users/skoge/prost/proceedings/ifac11-proceedings/data/html/papers/0687.pdf

Paolo Rocco

Papers

Flexible scheduling and tactile communication for human–robot collaboration

Task space visual servoing of eye-in-hand flexible manipulators

Triangular force/position control with application to robotic deburring

An online scheduling algorithm for human-robot collaborative kitting

On the use of functional redundancy in industrial robotic manipulators for optimal spray painting