Program of section Robotics, automation

Lectures

RefNr: 27 (Review state=accepted_lecture)

Anca PETRIŞOR , Constantin MARIN, Nicu George BÎZDOACĂ:
THE MATHEMATICAL MODEL OF A WALKING ROBOT WITH ONE FREE JOINT
Presenters: Petrisor, Anca
Abstract

The paper presents the mathematical model of a walking robot where the active pair of leg has one free joint. The mathematical model is determined considering all the points in the xz-plane as being complex numbers. Taking into account a possible symmetrical structure, only the vertical xz-plane evolution is considered. The results can be extended to three-dimensional space. The model is based on the so called Variable Causality Dynamic Systems (VCDS) approach. It is considered that the first leg from the active pair has both joints external controlled. The second leg has the knee joint external controlled and the shoulder joint free. The model is implemented in MATLAB environment and some evolutions examples are presented.

RefNr: 39 (Review state=accepted_lecture)

Marcel HORÁK:
Optimisation of Vacuum Effectors for Handling with Thin Sheets
Presenters: None.
Abstract

A study of vacuum grippers design is presented based on a loading analysis as well as on results of numerical simulation of the deformation behaviour of the individual suction cup at radial, axial and combined stresses. Different approaches are shown relating to the dimensioning of suction cup sizes according to the typical dynamic conception of safe gripping and according to the deformation degree of safety. Finally, optimization techniques for suggestion of suction cups arrangement in the gripper are described in relation to a gripped thin sheet.

RefNr: 122 (Review state=accepted_lecture)

János Gyeviki, Kálmán Rózsahegyi and Attila Csiszár:
CHATTERING REDUCTION IN SLIDING MODE CONTROL OF PNEUMATIC ACTUATOR
Presenters: Gyeviki, János
Abstract

This paper deals with one of the challenging problems in the field of robot control, namely how to make a pneumatic driven robot manipulator to move as fast as possible without violating the accuracy requirements. In practical applications, unmodeled dynamics in the closed loop like actuators cause fast, finite amplitude oscillations, known as ?chattering?. The main contribution of this paper is a design of a robust sliding mode controller implemented on a DSP system.

RefNr: 127 (Review state=accepted_lecture)

Nicu BÎZDOACĂ,Elvira BÎZDOACĂ , Anca PETRIŞOR, Ilie DIACONU, Cristina PANĂ,Viorel STOIAN, Dorin POPESCU, Marius NICULESCU,Daniela PĂTRAŞCU:
ROBOTIC STRUCTURE FOR HIGH RISK ENVIROMENT INSPECTION
Presenters: None.
Abstract

The present paper describes an inspection robot based on the soccer system Mirosot focusing on kinematics, dynamics and software control strategy. The initial MiroSot system involves multiple robots that need to collaborate in an adversarial environment to achieve specific objectives. In multi-robot systems the environment's dynamics can be determined by other robots in addition to the uncertainty that may be inherent in the domain. They have dynamic environments as other robots intentionally affect the environment in unpredictable ways. The key aspect being the need for robots not only to control themselves, but also to track and control the target which is a passive part of the environment.The mobile robots implied in solving this situation are complex mechatronics structure. In order to develop a suitable software control strategy, a correct and feasible kinematics and dynamics model is required.

RefNr: 133 (Review state=accepted_lecture)

Radek ?TOHL and Zdeněk BRADÁČ:
UNCONVENTIONAL APPLICATION OF HETEROGENEOUS NETWORKS IN AUTOMATION
Presenters: Stohl, Radek
Abstract

The paper provides information about training demonstration model for lessons on industrial networks and PLC. The electromechanical model of a xylophone is a great example for application of connection of the heterogeneous serial industrial communication buses including AS-Interface (AS-I or AS-i) network and MODBUS network. Mallets of the xylophone are controlled over AS-Interface network by PLC SIMATIC S7-200. The score of the particular melody is transferred via the MODBUS network from the master AMiNi to the slave S7-200.

RefNr: 164 (Review state=accepted_lecture)

E. Voisan, D. Iercan, F. Dragan:
Aspects of a Virtual Room Construction Using Open Inventor/Coin3D Technology
Presenters: Voisan, Emil
Abstract

It is very useful to use custom virtual environments to develop reliable movement algorithms, to be able to simulate robot behavior before its ?real world? implementation. This goal can be achieved in different ways, the purpose of our paper is to present a relatively simple method, a C++ object oriented method, to obtain this. The virtual representation of a space can be easily achieved using different 3D graphical tools but it is difficult to interface with the tested algorithm, so it will be more efficient to construct the scene into a programming language. A programming environment makes it possible to control object behavior in a more effective manner using graphical directives and real time rendering There are two widespread graphical function sets, one is DirectX, developed by Microsoft, and the second direction is OpenGL, an attractive alternative with support for different operating systems. For a cost effective solution it is recommended to use OpenGL solutions paired with the Linux based operating systems.

RefNr: 168 (Review state=accepted_lecture)

Ramona Galatus, Tiberiu Marita, Sorina Persa, Daniel Moga, Mihai R. Dumitrean, Viorel Trifa:
PROPOSAL FOR A COMPUTERIZED CYTOLOGICAL SCREENING SYSTEM
Presenters: Marita, Tiberiu
Abstract

The traditional process for detecting the cervical cancer is called Pap smear testing and it is the most widely used screening technique. The pathologists diagnose the smear according to its normality or abnormality. The huge number of slides to be analyzed requires an automated computer-aided system which can help in diagnosis process. This paper proposes an architecture appropriate for a system that automatically scans the slides and extracts the regions of interests looking for signs of precancerous and cancerous changes.

RefNr: 169 (Review state=accepted_lecture)

S. Nedevschi, T. Marita, R. Danescu, F. Oniga, C. Pocol:
MOVING CAMERA ROTATION ESTIMATION USING HORIZON LINE FEATURES? MOTION FIELD
Presenters: None.
Abstract

RefNr: 170 (Review state=accepted_lecture)

Zoltán Hegedűs, István Pintér:
COMPUTER VISION SYSTEM AND INDUSTRIAL ROBOT INTEGRATION: A DESIGN SPACE APPROACH
Presenters: Hegedűs, Zoltán
Abstract

In this paper our results in integration of a computer vision system (CVS) and an industrial robot are discussed. The method applied is the recently widely used design space approach. Because of the many useful built-in features in the camera unit applied, the main emphasis in this article is on the details of the successful system integration.

Posters