Innovative Production Machines and Systems Conference - Robotics

Welcome

Ze Ji — Thu, 05 Jul 2007 10:42:13 +0100

Welcome to the Robotics session of the IPROMS2007 conference.

My name is Ze Ji and I am the co-chairman of this session.

Here, there are five papers on different topics, including fuzzy theories applied to system
modeling and multiple mobile robots, a novel robotic manipulator design, a novel algorithm for
multiple mobile robot formation, and a software platform for mobile robot simulation based on
Matlab.

Many thanks to all participants and authors for your contribution!

Please do not hesitate to contact me if there is any query regarding this session that I can help.

A distributed algorithm for robot formations using local sensing and limited range communications

hosam_ib_ali — Wed, 08 Aug 2007 12:58:22 +0100

This paper focuses on the development of intelligent multi-agent robot teams that are capable of acting autonomously and of collaborating in a dynamic environment to achieve team objectives. This paper also addresses the problem of achieving a global behavior by a group of simple and autonomous mobile robots. This behavior can be achieved by controlling the local interactions among the members of the robot team-mates. A new vision based technique in the context of robot formation task is proposed. There is neither global information nor team leader is available therefore to get different robot formations, a distributed algorithm for robot controller is proposed.

A matlab-based simulator for autonomous mobile robots

doskey — Fri, 22 Jun 2007 14:17:48 +0100

Matlab is a powerful software development tool and can dramatically reduce the programming workload during the period of algorithm development and theory research. Unfortunately, most of commercial robot simulators do not support Matlab. This paper presents a Matlab-based simulator for algorithm development of 2D indoor robot navigation. It provides a simple user interface for constructing robot models and indoor environment models, including visual observations for the algorithms to be tested. Experimental results are presented to show the feasibility and performance of the proposed simulator

Inductive fuzzy neural network for multi-input multi-output dynamic systems modelling

sceaaf — Fri, 22 Jun 2007 14:17:48 +0100

This paper presents a systematic inductive fuzzy neural network for multi-input multi-output dynamic systems modelling based on input/output measurements. An inductive learning algorithm is applied to generate the required fuzzy modelling rules from input/output numerical measurements recorded from the dynamic system. Then, a full differentiable fuzzy neural network is developed to construct the dynamic model of the multi-input multi-output system, while back-propagation algorithm or similar techniques can be further applied to tune the network parameters due to the differentiable nature of th

Hierarchical and Modular Fuzzy Architecture for Multiple Mobile Robots

Medhat Awadalla — Fri, 22 Jun 2007 14:17:48 +0100

Implementation of autonomous behaviours in mobile robots, using fuzzy logic control, requires formulation of rules that are collectively responsible for necessary levels of intelligence. This collection of rules can be conveniently decomposed and effectively implemented as a hierarchy of fuzzy behaviours. For this purpose, a hierarchical approach to the incremental design of complex robot behaviours based on fuzzy logic is proposed. Since the primitive behaviours of individual robots have different aims and this may cause conflict. Some of these behaviours are competitive and some of them are cooperative.

Design of a versatile connector for reconfigurable robotic manipulators with articulated anatomies and their kinematic analysis

H.Valsamos — Fri, 22 Jun 2007 14:17:46 +0100

Modular reconfigurable manipulators are the next step into creating extremely adaptable and flexible industrial robotic systems. Two significant problems of these systems are their lack of homogeneity and the significant amount of down time required to perform a physical reconfiguration. In this paper, a new connecting module for modular reconfigurable manipulators in order to limit these problems to a certain degree is presented. The kinematical modeling of the connecting module and a case study showing how it affects the kinematics of a 3 D.O.F. manipulator and its workspace are shown.