Robotics specialists observe nature carefully and try to recreate the complex motions performed by people and animals with ease. Locomotion and the ability to manipulate flexible objects are especially challenging, but progress is being made.
Programming frameworks  are application generators with the following components: library of software modules (building blocks out of which the system is constructed), a method for designing new modules that can be appended to the above mentioned library, a pattern according to which ready modules can be assembled into a complete system jointly exerting control over it and realizing the task at hand. The presented transition function based formalism can be applied to specifying programming frameworks for robot controllers executing very diverse tasks. The paper deals with systems consisting of multiple embodied agents, influencing the environment through e#27;ectors, gathering information from the environment through sensors and communicating with other agents through communication channels. The presented code patterns pertain to behavioural agents. The formalism was instrumental in the design of MRROC++ robot programming framework, which has been used for producing controllers of single and two manipulator systems performing diverse tasks. The formalism introduces rigor into the discussion of the structure of embodied agent controllers. It is used as the means for the specification of the functions of the components of the control system and the structure of the communication links between them. This structures the implementation of a programming framework, and that in turn makes the coding of specific controllers much easier, both from the point of view of dealing with the hardware configuration of the system and the specific task that has to be executed.
In this paper, the authors present a robot for pipe inspection and exploration, which has in its structure a module for the maintenance of a constant pressure force between the robot's wheels and the inside diameter of the pipe. The paper starts with a short introduction about necessity of the presented solution followed by design aspects and finalizing with the test of the developed compliant module.
This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.
Statystyczny Polak spędza przeciętnie około 20% swojego życia na wykonywaniu pracy zawodowej, stąd działania pracodawcy, jego służb bhp i organów państwowej kontroli skupiają się nad zapewnieniem możliwie jak najbardziej bezpiecznych warunków środowiska pracy. Całkowite wyeliminowanie z otoczenia pracownika czynników, będących źródłem zagrożeń niebezpiecznych, szkodliwych bądź uciążliwych, w wielu przypadkach jest zadaniem trudnym, a często niemożliwym. Wynika to z faktu, iż dany czynnik stanowić może podstawową składową procesu technologicznego i nie może zostać wykluczony, tak jak to ma miejsce w przypadku prac szczególnie niebezpiecznych, np. podczas używania materiałów wybuchowych przeznaczonych do użytku cywilnego. W takim wypadku szczegółowa identyfikacja oraz ocena poziomu zagrożeń, uwzględniająca wiedzę ekspercką z zakresu stosowanych środków strzałowych oraz technologii, stanowi przyczynek do wzrostu poziomu bezpieczeństwa pracownika pomimo stosowania niebezpiecznych substancji, niebezpiecznych środków pracy czy niebezpiecznych technologii. W trakcie eksploatacji metodą odkrywkową jednym z najczęściej stosowanych sposobów odspojenia i rozdrobnienia złoża skalnego jest użycie materiałów wybuchowych. Taka technika urabiania powoduje konieczność zatrudnienia pracowników na stanowiskach specjalistycznych, na których występuje wiele zagrożeń tzw. ogólnokopalnianych oraz tych wynikających z bezpośredniej ekspozycji na czynnik niebezpieczny, jakim są środki strzałowe. W niniejszym artykule przedstawiono szczegółową identyfikację zagrożeń na stanowiskach związanych z używaniem materiałów wybuchowych, uwzględniającą wykonywane czynności podczas realizacji robót strzałowych w górnictwie odkrywkowym oraz zróżnicowanie tych zagrożeń w przypadku stosowania różnych systemów inicjowania materiałów wybuchowych. Po zidentyfikowaniu zagrożeń dokonano ich hierarchizacji z wykorzystaniem metody Analytic Hierarchy Process (AHP), która jest jedną z technik wielokryterialnego podejmowania decyzji, umożliwiającą bezpośrednie porównanie między sobą i szeregowanie według przyjętych kryteriów analitycznych. Na podstawie wyników przeprowadzonych analiz sporządzono ocenę macierzową dla wyznaczenia poziomu ryzyka zagrożeń dla specjalistycznego stanowiska pracy w ruchu odkrywkowego zakładu górniczego – górnika strzałowego.
Supplementing well recognised practical models of project and construction management, based on probabilistic and fuzzy events may make possible to transfer the weight of the change and extra orders assessment from the qualitative form to a quantitative one. This assessment, however, is naturally burdened with an immeasurable, subjective aspect. Elaboration of probability of occurrence in a construction project unforeseen building works requires application (in addition to the non-measureable, qualitative criteria) of measurable (quantitative) criteria which still appear during construction project implementation. In reimbursable engineering contracts, a random event described as an extra, supplementary building work has a random character and occurs with a specific likelihood. In lump sum contracts, on the other hand, such a random event has a fuzzy character and its occurrence is defined in a linear manner by the function of affiliation to the set of fuzzy events being identical with unforeseen events. The strive for quantitative presentation of criteria regarded by nature as qualitative and the intention to determine relations between them led to the application of the fuzzy sets theory to this issue. Their properties enable description of the unforeseen works of construction projects in an unambiguous, quantitative way.
The last decades, when robots have appeared in the operating room, showed the possibility of surgery enhancement by improving precision, repeatability, stability and dexterity. However, taking into consideration still existing limitations of robotics in surgery, and treating the robots as medical devices with the highest degree of safety level requirements, one must take a number of complex actions when preparing the experimental clinical application of a new modern robot Robin Heart. Presented paper describes the current state of procedures carried out in the Robin Heart project of surgery robots prepared for clinical application. Based on experiences with the devices existing on the market and, first of all, thanks to knowledge and expertise gained by our team during last 12 years, intensive work are currently done in order to introduce both mechanical and electronic modifications as well as to improve the safety system. As far as human resources are concerned, a professional team able to carry out the robot-supported surgery is prepared based on the created system of technical and functional trainings on simulation stands, which also includes the developed operation planning procedures. The first telemanipulator designed for clinical practice is the Robin Heart Vision – endoscopic system manipulator.
This paper presents a concept of humanoid robot motion generation using the dedicated simplified dynamic model of the robot (Extended Cart-Table model). Humanoid robot gait with equal steps length is considered. Motion pattern is obtained here with use of Preview Control method. Motion trajectories are first obtained in simulations (off-line) and then they are verified on a test-bed. Tests performed using the real robot confirmed the correctness of the method. Robot completed a set of steps without losing its balance.
This article proposes to use abrasive waterjet cutting (AWJ) for deflashing, deburring and similar finishing operations in casting. The basic requirements concerning the dimensional accuracy and surface texture of cast components are not met if visible surface flaws are detected. The experiments focused on the removal of external flash from elements made of EN-GJL-150 cast iron. The method employed for finishing was abrasive waterjet cutting. The tests were carried out using an APW 2010BB waterjet cutting machine. The form profiles before and after flash removal were determined with a Taylor Hobson PGI 1200 contact profiler. A Nikon AZ100 optical microscope was applied to observe and measure the changes in the flash height and width. The casting surface after finishing was smooth, without characteristic sharp, rough edges that occur in the cutting of objects with a considerable thickness. It should be emphasized that this method does not replace precise cutting operations. Yet, it can be successfully used to finish castings for which lower surface quality is required. An undoubted advantage of waterjet cutting is no effect of high temperature as is the case with plasma, laser or conventional cutting. This process is also easy to automate; one tool is needed to perform different finishing operations in order to obtain the desired dimensions, both internal and external.
Adaptive locomotion over difficult or irregular terrain is considered as a superiority feature of walking robots over wheeled or tracked machines. However, safe foot positioning, body posture and stability, correct leg trajectory, and efficient path planning are a necessity for legged robots to overcome a variety of possible terrains and obstacles.Without these properties, anywalking machine becomes useless. Energy consumption is one of the major problems for robots with a large number of Degrees of Freedom (DoF). When considering a path plan ormovement parameters such as speed, step length or step height, it is important to choose the most suitable variables to sustain long battery life and to reach the objective or complete the task successfully.We change the settings of a hexapod robot leg trajectory for overcoming small terrain irregularities by optimizing consumed energy and leg trajectory during each leg transfer. The trajectory settings are implemented as a part of hexapod robot simulation model and tested through series of experiments with various terrains of differing complexity and obstacles of various sizes. Our results show that the proposed energy-efficient trajectory transformation is an effective method for minimizing energy consumption and improving overall performance of a walking robot.
This paper identifies the adverse events occurring during the execution of water supply and sewerage systems construction. The basis for this paper is research conducted in 2010-2014 on the construction sites of water supply and sewerage systems located in the provinces of Lower Silesia and Opole. The research consisted of direct observations of construction sites and review of construction documentation. It showed that work stoppages on the examined construction sites were frequent. They were caused by violations of work discipline by the production employees, adverse weather conditions, and defects in the project documentation. The study demonstrated that in almost every case, these bad an adverse effect on the completion date and budget of the investment. The analyses show that in such important and expensive investments as water supply and sewerage systems, organizational structures in which a special role is assigned to middle-rank personnel should be adopted.
In Poland, it often happens that construction objects are subject to demolition work for different reasons. Demolition, according the Construction Law, is defined as a type of construction works and, as such, represents a particular type of construction project. As in other construction projects, a very important phase, in addition to execution of the works, is to prepare, design and plan demolition works. Some demolition activities are covered by appropriate regulations and can be described as typical. On the other hand the technical side of demolition works depends on many factors such as: the type of building, its age, technical condition, type of construction, etc. This article covers the analysis of the stages and tasks in the preparatory phase of the building demolition. This work will also present a description of the tasks carried out during the demolition works based on the example of a historic tenement house located in Krakow. This analysis aims to identify implementation problems and sources of risk that may occur during this type of construction work.
The paper presents the possibilities of teaching a robot controller to perform operations of autonomous segregation of objects differing in features that can be identified using a vision system.Objects can be arranged freely on the robot scene also covered with others. In the learning phase, a robot operator presents the segregation method by moving subsequent objects held in a human hand, e.g. a red object to container A, a green object to container B, etc. The robot system, after recognizing the idea of segregation that is being done using the vision system, continues this work in an autonomous way, until all identified objects will be removed from robotic scene. There are no restrictions on the dimensions, shapes and placement of containers collecting segregated objects. The developed algorithms were verified on a test bench equipped with two modern robots KUKA LBR iiwa 14 R820.
The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.
The aim of this paper is to present an in-pipe modular robotic system that can navigate inaccessible industrial pipes in order to check their condition, locate leakages, and clean the ventilation systems. The aspects concerning the development of a lightweight and energy efficient modular robotic system are presented. The paper starts with a short introduction about modular inspection systems in the first chapter, followed by design aspects and finalizing with the test of the developed robotic system.
Limb physical movements disability is the result of illnesses or serious injuries, impaired execution of daily activities and limitations or even inability to perform working activity. Restoration of fitness in such cases is possible through rehabilitation that requires arduous repetition of appropriate exercises with participation of an experienced physiotherapist. Exercises using the robot to repeat movements would speed up the process of rehabilitation. The paper presents the concept of rehabilitation robot control system realizing a specified purpose.
The issues of medical robots have been approached for 12 years in the Institute of Machine Tools and Production Engineering of the Technical University of Lodz. In the last two years, the scope of research related to the miniaturization of surgical tools, automated changing of these tools with the use of a tool depot designed for this purpose, equipping the robot in the sense of touch and developing the software which provides ergonomic and intuitive robot control with the use of all its functions. In the telemanipulator control, strong emphasis is placed on the intuitiveness of control, which is hard to be ensured due to the fact that the robot tool is observed by a laparoscopic camera, whose orientation and position may vary. That is the reason for developing a new algorithm. It copies the increments of the position and orientation measured in relation to the monitor coordinate system onto the robot tool movement and orientation, which are measured in relation to the camera coordinates system. In this algorithm it is necessary to solve inverse kinematics, which has a discontinuity. Avoiding the discontinuity is achieved by mapping the solution with the cosine function. It causes smooth pass through the area of discontinuity in this way avoiding the singularity.
This paper presents control method for multiple two-wheeled mobile robots moving in formation. Trajectory tracking algorithm from  is extended by collision avoidance, and is applied to the different type of formation task: each robot in the formation mimics motion of the virtual leader with a certain displacement. Each robot avoids collisions with other robots and circular shaped, static obstacles existing in the environment. Artificial potential functions are used to generate repulsive component of the control. Stability analysis of the closed-loop system is based on Lyapunov-like function. Effectiveness of the proposed algorithm is illustrated by simulation results.
Calibration is necessary for dual manipulator to complete operational tasks. This paper proposes an effective robot-robot and hand-eye calibration method based on virtual constraints. Firstly, a rotational error model and a translational error model are established based on the relationships between the transformation matrices of the dual manipulator calibration system. Then a poses-alignment method is designed to make the poses of the two robots satisfy the constructed virtual constraints. At the aligned positions, the joint angles of the two robots are saved and used to calculate the values of the variables in the error models. Finally, the robot-robot and hand-eye rotational errors are estimated by an iterative algorithm. These errors are then used to calculate translational errors based on the SVD (singular value decomposition) method. To show the feasibility and effectiveness of the proposed method, experiments of robot-robot and hand-eye calibration for dual manipulators are performed. The experiment results demonstrate that the accuracy of the dual manipulator system is improved greatly.
In the paper the new constructions of robots, modern technologies of painting and newest methods of paint robots programming were presented. Fanuc P-250iA robot using to painting was characterized. The general characteristic of robot with controller R-30iA was demonstrated. The technology and the paint equipment applied to paint frames and load-carrying boxes was shown. The possibilities of simulation software Roboguide were presented exactly, which is a tool for robot environment simulation on a computer PC. Roboguide system application can reduce the programming time of robots and necessary programs optimization conducted before implementation to production.
Prowadzenie eksploatacji z wykorzystaniem materiałów wybuchowych w odkrywkowych zakładach górniczych wiąże się z szeregiem zagrożeń, które należy uwzględnić w trakcie prowadzenia robót strzałowych oraz na etapie ich projektowania. Odpowiednio zaprojektowane i starannie wykonane roboty zapewniają kontrolę nad tymi zagrożeniami oraz pozwalają na przewidzenie zasięgu i intensywności ich oddziaływania na otoczenie. Jednym z zagrożeń jest rozrzut odłamków skalnych, niebezpieczny dla załogi i maszyn pracujących w zakładzie górniczym, a także otoczenia kopalni. Jest to zagrożenie niezwykle istotne, lecz trudne do jednoznacznego oszacowania. Na przestrzeni lat opracowano wiele sposobów analitycznego wyznaczenia poziomu tego zagrożenia. Część opracowanych zależności opiera się na wynikach badań terenowych, zaś część na teoriach z zakresu fizyki i balistyki. Na wielkość strefy rozrzutu ma wpływ szereg czynników geologiczno- górniczych. Część z nich na chwilę obecną, dzięki coraz szerzej rozpowszechnianym narzędziom geodezyjnym, tj. skaner laserowy, czy urządzenie typu Boretrak, możemy bardzo precyzyjnie zmierzyć (geometria ociosu, dewiacja otworów strzałowych, rzeczywisty zabiór), a niektóre tylko oszacować (m.in. występowanie ukrytych przerostów gliny lub krasów na podstawie raportów z pracy wiertnicy lub zwiercin). W artykule zaprezentowano wybrane czynniki, które wpływają na zasięg strefy oraz sposoby ich minimalizacji. Ponadto opisano wybrane metody i wzory empiryczne do szacowania zasięgu strefy oraz zaprezentowano zmienność wartości szacowanych w zależności od zmiany parametrów siatki otworów strzałowych oraz użytych środków strzałowych. W artykule dokonano również przedstawienia wybranych rozwiązań numerycznych w zakresie szacowania zasięgu rozrzutu odłamków skalnych. Algorytmy te pozwalają na wstępną ocenę dynamiki rozrzutu odłamków dla zadanych warunków brzegowych, co może stanowić perspektywiczny kierunek rozwoju aktualnie stosowanej metodologii.
Screw axis measurement methods obtain a precise identification of the physical reality of the industrial robots’ geometry. However, these methods are in a clear disadvantage compared to mathematical optimisation processes for kinematical parameters. That’s because mathematical processes obtain kinematical parameters which best reduce the robot errors, despite not necessarily representing the real geometry of the robot. This paper takes the next step at the identification of a robot’s movement from the identification of its real kinematical parameters for the later study of every articulation’s rotation. We then obtain a combination of real kinematic and dynamic parameters which describe the robot’s movement, improving its precision with a physical understanding of the errors.
A system setup for measurements of acoustic field, together with the results of 3D visualisations of acoustic energy flow are presented in the paper. Spatial sampling of the field is performed by a Cartesian robot. Automatization of the measurement process is achieved with the use of a specialized control system. The method is based on measuring the sound pressure (scalar) and particle velocity(vector) quantities. The aim of the system is to collect data with a high precision and repeatability. The system is employed for measurements of acoustic energy flow in the proximity of an artificial head in an anechoic chamber. In the measurement setup an algorithm for generation of the probe movement path is included. The algorithm finds the optimum path of the robot movement, taking into account a given 3D object shape present in the measurement space. The results are presented for two cases, first without any obstacle and the other - with an artificial head in the sound field.
The paper presents construction and control system of the climbing robot Safari designed at the Poznan University of Technology for inspection of high building walls, executed in order to evaluate their technical condition. Because such tasks are uncomfortable and very dangerous for humans, this mobile machine gives a possibility to observe and examine the state of the surface on which it is moving. The robot is a construction developed for walking on ﬂat but uneven vertical and horizontal surfaces. Its on-board equipment provides ability to remotely examine and record images reﬂecting the robot’s surroundings. At the beginning of the paper, several concepts of existing climbing robots (four-legged, six-legged, sliding platform) are outlined. Next, the mechanical system of the Safari robot is presented with special emphasis on its kinematic equations and description of movement stages. Then, the on-board manipulator as well as the sensor and control systems are described.