Robotics, Intelligent Sensing and Control Lab (RISC)
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Transcript of Robotics, Intelligent Sensing and Control Lab (RISC)
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Robotics, Intelligent Sensing and Control Lab
(RISC)
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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Faculty, Staff and Students
Faculty: Prof. Tarek Sobh
Staff:– Lab Manager: Abdelshakour Abuzneid– Tech. Assistant: Matanya Elchanani
Students: Raul Mihali, Gerald Lim, Ossama Abdelfattah,
Wei Zhang, Radesh Kanniganti, Hai-Poh Teoh, Petar Gacesa.
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Objectives and Ongoing ProjectsRobotics and Prototyping
Prototyping and synthesis of controllers, simulators, and monitors, calibration of manipulators and singularity determination for generic robots.– Real time controlling/simulating/monitoring of
manipulators.– Kinematics and Dynamics hardware for multi-
degree of freedom manipulators.
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Objectives and Ongoing ProjectsRobotics and Prototyping
– Concurrent optimal engineering design of manipulator prototypes.
– Component-Based Dynamics simulation for robotics manipulators.
– Active kinematic (and Dynamic) calibration of generic manipulators
– Manipulator design based on task specification– Kinematic Optimization of manipulators.– Singularity Determination for manipulators.
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Objectives and Ongoing Projects Robotics and Prototyping (cont.)
Service robotics (tire-changing robots) Web tele-operated control of robotic manipulators
(for Distance Learning too). Algorithms for manipulator workspace generation
and visualization in the presence of obstacles.
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Objectives and Ongoing ProjectsSensing
Precise Reverse Engineering and inspection Feature-based reverse engineering and inspection of machine parts. Computation of manufacturing tolerances from sense data Algorithms for uncertainty computation from sense data Unifying tolerances across sensing, design and manufacturing Tolerance representation and determination for inspection and
manufacturing. Parallel architectures for the realization of uncertainty from sensed
data Reverse engineering applications in dentistry. Parallel architectures for robust motion and structure recovery from
uncertainty in sensed data. Active sensing under uncertainty.
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Objectives and Ongoing ProjectsHybrid and Autonomous systems Uncertainty modeling, representing, controlling, and observing
interactive robotic agents in unstructured environments.
Modeling and verification of distributed control schemes for mobile
robots.
Sensor-based distributed control schemes (for mobile robots).
Discrete event modeling and control of autonomous agents under
uncertainty.
Discrete event and hybrid systems in robotics and automation
Framework for timed hybrid systems representation, synthesis, and
analysis
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Prototyping Environment for Robot Manipulators
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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To design a robot manipulator, the following tasks are required:
Specify the tasks and the performance requirements.
Determine the robot configuration and parameters. Select the necessary hardware components. Order the parts. Develop the required software systems (controller,
simulator, etc...). Assemble and test.
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The required sub-systems for robot manipulator prototyping:
Design Simulation Control Monitoring Hardware selection CAD/CAM modeling Part Ordering Physical assembly and testing
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Robot Prototyping Environment
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Closed Loop Control
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PID Controller Simulator
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Interfacing the Robot
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Manipulator Workspace Generation and Visualization in the Presence of Obstacles
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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Industrial Inspection and Reverse Engineering
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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What is reverse engineering?Reconstruction of an object
from sensed information.
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Why reverse engineering? Applications:
– Legal technicalities.– Unfriendly competition.– Shapes designed off-line.– Post-design changes.– Pre-CAD designs.– Lost or corrupted information.– Isolated working environment.– Medical.
Interesting problem Findings useful.
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Closed Loop Reverse Engineering
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A Framework for Intelligent Inspection and Reverse
Engineering
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Recovering 3-D Uncertainties from Sensory Measurements for
Robotics Applications
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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Propagation of Uncertainty
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Refining Image Motion
Mechanical limitations Geometrical imitations
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Fitting Parabolic Curves
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2-D Motion Envelopes
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Flow Envelopes
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3-D Event Uncertainty
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Tolerancing and Other Projects
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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ProblemProblem A unifying framework for
tolerance specification, synthesis, and analysis across the domains of industrial inspection using sensed data, CAD design, and manufacturing.
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SolutionSolution We guide our sensing strategies
based on the manufacturing process plans for the parts that are to be inspected and define, compute and analyze the tolerances of the parts based on the uncertainty in the sensed data along the different toolpaths of the sensed part.
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ContributionContribution
We believe that our new approach is the best way to unify tolerances across sensing, CAD, and CAM, as it captures the manufacturing knowledge of the parts to be inspected, as opposed to just CAD geometric representations.
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Sensing Under Uncertainty for Mobile Robots
Prof. Tarek Sobh
University of Bridgeport Department of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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Abstract Sensor ModelWe can view the sensory system using three
different levels of abstraction
Dumb Sensor: returns raw data without any interpretation.
Intelligent Sensor: interprets the raw data into an event.
Controlling sensor: can issue commands based on the received events.
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3 Levels of Abstraction
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Distributed Control Architecture
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Trajectory of the robot in a hallway environment
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Trajectory of the robot from the initial to goal point
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Trajectory of the robot in the lab environment
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Discrete Event and Hybrid Systems
Prof. Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
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The ProblemHybrid systems that contain a “mix” of:
Continuous Parameters and Functions. Discrete Parameters and Functions. Chaotic Behavior. Symbolic Aspects.
Are hard to define, model, analyze, control, or observe !!
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Discrete Event Dynamic Systems (DEDS) are dynamic systems (typically asynchronous) in which state transitions are triggered by the occurrence of discrete events in the system.
Modified DEDS might be suitable for representing hybrid systems.
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Eventual GoalDevelop the Ultimate Framework and Tools !!
Controlling and observing co-operating moving agents (robots).
A CMM Controller for sensing tasks. Multimedia Synchronization. Intelligent Sensing (for manufacturing,
autonomous agents, etc...). Hardwiring the framework in hardware
(with Ganesh).
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Applications
Networks and Communication Protocols Manufacturing (sensing, inspection, and assembly) Economy Robotics (cooperating agents) Highway traffic control Operating systems Concurrency control Scheduling Assembly planning Real-Time systems Observation under uncertainty Distributed Systems
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Discrete and Hybrid Systems Tool
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Discrete and Hybrid Systems Tool
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Other Projects Modeling and recovering uncertainty in 3-D
structure and motion Dynamics and kinematics generation and analysis
for multi-DOF robots Active observation and control of a moving agent
under uncertainty Automation for genetics application Manipulator workspace generation in the presence
of obstacles Turbulent flow analysis using sensors within a
DES framework
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THE END