mecpr02 - Clemson University

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19 Οκτ 2013 (πριν από 4 χρόνια και 2 μήνες)

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Robotics and Mechatronics (RAM)
Laboratory


Mechatronics is the blending of


Mechanical Design/Analysis,


Computer Software/Hardware Systems,


Advanced Modeling/Control/Analysis Techniques,


Image Processing/Computer Vision Techniques, and


Design/Use of Electric Subsystems


Emergence followed Microprocessor
-
Revolution


RAM Personnel


Electrical and Computer Engineering Faculty


Darren Dawson


Robert Schalkoff


Ian Walker


Adam Hoover


Other College Faculty


Nader Jalili, Frank Paul, John Wagner, Eric Austin (Mechanical
Engineering)


Anand Gramopadye (Industrial Engineering)


Robert Geist, Andrew Duchowski (Computer Science)


Approximately 30 Graduate Students

RAM Coursework


Electrical and Mechanical Engineering Courses:


Analysis of Linear Systems


Applied Optimization and Optimum Control


Nonlinear Control of Mechatronic Systems


Dynamics/Control of Distributed Systems


Analysis/Modeling/Control of Robotic Systems


Computer Vision


Neural Networks and Artificial Intelligence


Pattern Recognition and Image Processing


Special topic courses along with courses in the Mathematics
and Computer Science Departments provide additional breadth
and depth.

RAM Graduates


Ph.D. students
-

Industrial Positions


Lucent Technology in Connecticut


Oakridge National Laboratories in Tennessee


Ph.D. students
-

Academic Positions


Clarkson University at Potsdam, New York


University of Michigan at Ann Arbor, Michigan


Louisiana State University, Louisiana


MS Students
-

Industrial Positions


General Electric in Virginia


IBM in North Carolina


MS Students
-

Ph.D. Pursuits


German Aerospace Institute in Germany


Stanford University in California

RAM Research Facilities


Robotics

Laboratory
:

Five

Robot

Stations

including

a

Dual

Robot

Arm

Workcell

and

2

Direct

Drive

Robot



Manipulators


Computational

Laboratory
:

Cluster


of

Personal

Computers

and

Workstations



Union

Camp

Laboratory
:

Motor

Drive


Equipment,

Magnetic

Bearing

Assembly,


and

two

Realtime

Workstations


The

Biomorphic

Robotics
:

Multi
-
fingered


Robot Hand and Serpentine Testbeds


Sensor Network Laboratory:
Two Computer


Vision Based Systems for Mapping 2D and


3D Environments for Robotic Applications


RAM Research Facilities


Square

D

Laboratory
:

Several


Vibration

Control

Testbeds


The

Image

Processing

Lab
:

Image


Acquisition, Processing and Display,


Real
-
Time Image Processing Systems


Automotive Research Laboratory:


Power Steering and Gas Engine Testbeds



Virtual Reality Lab:

SGI Reality


Monster, SGI Onyx Reality Engine,


Ten SGI Indy Development Stations,


and Five Head
-
Mounted Display Units.


RAM Research Thrust Areas


Advanced Computer
-
Based Software Interfaces and
Position/Force Control Systems for Robot Manipulator
Systems


Modeling/Control Techniques


for Automotive Subsystems


High Precision Position


Controllers for Electric


Motors and Magnetic


Bearing Systems


Computer Vision Based Sensor


Networks for Robotics

RAM Research Thrust Areas


Vibration Control Techniques for Flexible Structures via
Boundary Control and Piezoelectric Materials


Digital Image Processing, Pattern


Recognition and Computer Vision


3
-
D Environmental Modeling for Robotic


Systems and Tele
-
Immersion


Dynamic Manipulation of Objects with


Robot Hands


Modeling and Control of Hyperredundant and Mobile Robotic
Systems


Model
-
Based Fault Detection Algorithms for Robotic Systems

Research Funding


Flexible Systems
-

ONR, NASA, and NSF


Material Handling
-

DOC and TAPPI


Modeling/Control for Robotics


NSF, NASA, DOE


Automotive Research

TACOM


Electromechanical System Control
-

NSF and ONR


Fault Detection/Tolerance
-

DOE


Industrial Sponsors include:


Westinghouse, Square D, Union Camp, WonderWare, AT&T/NCR,
and Foster
-
Miller, Inc.

Mathematical Model of the Yarn Path
in Overend Unwinding


Mathematics on spool

being qualified


Testing developed by CRB


Current research topics


Detailed models of friction


String vs. beam modeling

of yarn in forward unwinding


Improved solution of the

nonlinear state equation


Estimation of errors due

to user
-
chosen path


Integrating new sensors for

hairiness and evenness

Improved Non
-
Contact Atomic Force
Microscope Imaging Systems


The atomic force microscope (AFM) system has evolved into a useful tool for
unraveling the intermolecular forces at nanoscale level with atomic
-
resolution
characterization.


The non
-
contact AFM offers unique advantages over other contemporary scanning
probe techniques


The new imaging technique is based


on software and hardware level


modifications to improve the


resolution of the generated topographical


images for biological species.

Active Vibration Control using an
Vibration

Absorber


Undesirable Vibrations Influence the Effectiveness and Operation
of Mechanical Systems


Developed a New Active Vibration Absorber


This device absorbs vibratory


energy from its point of attachment


at a given frequency


The frequency to be absorbed can


be tuned in real
-
time


If the controller or the actuator fails,


the device still functions as a


passive absorber and it is


therefore

inherently fail
-
safe

A general model of the primary structure
equipped with an active resonator

Unmanned/Manned Vehicle Steer
-
by
-
Wire
Systems
-

Design, Modeling, and Control


Autonomous directional control for
unmanned vehicle operation


Human
-
machine interface design for
adjustable road “feel” at the servo
-
motor steering wheel


Accommodation of disabled operators
through alternative driver input devices


Hardware
-
in
-
the
-
loop test

station with real time virtual reality
display


Exploring collaborative effort

with Psychology department

Nanotubes Actuation Mechanism


Boron
-
Nitride (BN) nanotube theory predicts that spontaneous electric polarization
arises as the result of changes in the tube geometry


Unlike conventional ferroelectric actuators, low operating voltages can be applied
to the nanotube
-
based actuators to generate large enough strains for effective
actuation


We have demonstrated the feasibility of fabricating thin film (20 μm) PVDF
actuators/sensors using a single wall nanotube (SWNT)/PVDF composite matrix


The composite layer is sandwiched


between two vapor deposited Ag electrodes


The equality between the lengths


of the two electrodes is disrupted


when a voltage is applied

SWNT/PVDF film

Ag electrodes

V

Schematic of PVDF/SWNT actuator/sensor

Modeling and Control of Hydraulic
Valves


Develop and Analyze Models for

Hydraulic Valves and the associated


Manufacturing Systems


Explore Experimental Strategies to


Quantify System Nonlinearities


Design Lyapunov
-
based Nonlinear


Controllers for Hydraulic Systems


Subjected to Periodic Disturbances

Detailed Modeling of Piezoelectric
Actuation on a Rubber Substrate


Incompressible substrate O(5)

softer that piezoelectric material


Equivalent
-
moment models

break down for soft substrates


Need detailed understanding

of interface stresses


Moments concentrated near ends, but how much is lost to shear lag
in the material?


Currently working on infinite
-
width, finite
-
thickness strip


Solution by Fourier transform methods from contact mechanics

Advanced Thermal Management
Systems
-

Theory and Test


Innovative coolant flow strategies for
internal combustion engines


Smart thermostat valve


Variable speed water pump/radiator
fan


Suite of system sensors


Design nonlinear controllers for

synchronous regulation of the valve,
pump, and radiator fan with external
coil


Validation of concept using
numerical simulations, scale thermal
test station, and engines


Hydraulic Robot Fault Detection


Fault detection critical for robots in remote, hazardous environments


Existing techniques valid primarily for electric drives


Most robots in radioactive, explosive environments are driven by
hydraulic actuators


Current work addresses:


Development of nonlinear dynamic models for


hydraulic drive systems under faults


Model
-
based fault detection algorithm develop
-


ment using analytical redundancy technique


Analysis of ROSIE mobile robot for reactor


decommissioning

Hyperredundant Robot Arms


These types of Robots Feature a Dramatic Overabundance of Joints
to Improve Grasping and Dexterity


These Robots are similar to Tentacles or Elephant's Trunks


These Robots Exhibit more Fluid and Versatile Movements


Current Work Addresses:


Kinematics and dynamic


modeling of hyperredundant


arms


Empirical work with


`elephant's trunk' arm


Investigation of tentacle
-
like


grasping

Dynamic Manipulation with
Robot Hands


Robot/environment Interaction is Critical


Typical interaction Based on Quasi
-
Static


Models that Produce Slow, Inefficient


Manipulation


Impact
-
based Solutions


Allow robot (hand) to dynamically impact


environment


Consider underlying physics (dynamics) of


impact


Produces faster, more efficient manipulation

Visual Servoing of Robot Manipulators


Problem: Control of Moving Objects in an Unstructured Environment is
Difficult due to the Corrupting Influences of Camera Calibration with
regard to Task Planning


Solution: Close the Control Loop with


Camera Measurements


Testbed Features a High
-
Speed


Real
-
Time Camera System


2.5D Visual Servoing


Design a Controller to Regulate


the Position and Orientation


of the End
-
Effector


Control Strategy Uses Both 2D


Image
-
Space and 3D Task
-
Space


Information

Realtime Software and

Hardware Development


Past Control Implementation


Required Special Purpose


DSP Control Computers


Developed a Realtime QNX


based Control Environment


for Intel Processors


Developed a MATLAB/Simulink


Realtime LINUX
-
based Control


Environment

Mobile Robot Inspection System


Developed the ARIES #1 Vision System


to Acquire Drum Surface Images


Performed Autonomous Visual


Inspection Leading to a Classification


as “Acceptable” or “Suspect”.


Involved Vision System Design Methodology,
Algorithmic Structure, Hardware Processing
Structure, and Image Acquisition Hardware.

Autonomous 3
-
D Environment Building


Developed 3
-
D Models Suitable for Control


and Tele
-
Immersion


Advanced the Autonomous Modeling


of arbitrary 3
-
D Environments using


Structured Lighting

Computer Vision Sensor Networks


Developing Data Fusion Techniques


and Using Multiple Cameras to


Render a Three Dimensional Map of


the Environment


The Map can be used for Path


Planning and for Real
-
Time Control


Applications for this Research include:


Space
-
based Applications,


Remote Handling Operations, and


Assembly Related Tasks