This paper describes the documentation that comes with our hands-on course on real-time systems, ... more This paper describes the documentation that comes with our hands-on course on real-time systems, as we present it to fourth-year mechatronics engineering students. This hands-on course is one part of a cluster of three, the others being more theoretical courses on real-time software, and on processors and interfacing for real-time systems.
ABSTRACT An important challenge in mechatronic system design is to select a feasible system archi... more ABSTRACT An important challenge in mechatronic system design is to select a feasible system architecture that satisfies all requirements. This article describes (i) the necessary concepts that a system architect needs to be able to formally and declaratively describe the design space of mechanical design synthesis problems, thereby minimizing accidental complexity; (ii) how a Domain Specific Language based on the SysML modeling language and the Object Constraint Language (OCL) can be used to create this model of the design space; and (iii) an iterative process to come up with a formal model of the design space. This model describes the design space independent of any (knowledge of a) particular solving technology for the Design Space Exploration. Furthermore, the information in the model allows to select the most appropriate solving strategy for a particular design synthesis problem. The different concepts are illustrated on the example of automated synthesis of a gearbox.
This paper presents a contribution to programming by human demonstration, in the context of compl... more This paper presents a contribution to programming by human demonstration, in the context of compliant motion task specification for sensor-controlled robot systems that physically interact with the environment. One wants to learn about the geometric parameters of the task and segment the total motion executed by the human into subtasks for the robot that can each be executed with simple compliant motion task specifications. The motion of the human demonstration tool is sensed with a 3D camera, and the interaction with the environment is sensed with a force sensor in the human demonstration tool. Both measurements are uncertain, and do not give direct information about the geometric parameters of the contacting surfaces, or about the contact formations encountered during the human demonstration. The paper uses a Bayesian Sequential Monte Carlo method (also known as a particle filter) to do the simultaneous estimation of the contact formation (discrete information) and the geometric parameters (continuous information). The simultaneous contact formation segmentation and the geometric parameter estimation are helped by the availability of a contact state graph of all possible contact formations. The presented approach applies to all compliant motion tasks involving polyhedral objects with a known geometry, where the uncertain geometric parameters are the poses of the objects. The approach has been verified in real world experiments, in which it is able to discriminate in realtime between 245 different contact formations of the contact state graph.
This paper describes the construction of a 3-D model from the identification of geometrical param... more This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. Following improvements with respect to the state of the art are made: (i) creation of a 3-D model from a previously unknown environment, (ii) force estimation for feedback to a force controller or for monitoring contact forces, (iii) reduction of the number of modelling parameters, leading to computational reduction and more accurate geometric descriptions.
This paper describes the documentation that comes with our hands-on course on real-time systems, ... more This paper describes the documentation that comes with our hands-on course on real-time systems, as we present it to fourth-year mechatronics engineering students. This hands-on course is one part of a cluster of three, the others being more theoretical courses on real-time software, and on processors and interfacing for real-time systems.
ABSTRACT An important challenge in mechatronic system design is to select a feasible system archi... more ABSTRACT An important challenge in mechatronic system design is to select a feasible system architecture that satisfies all requirements. This article describes (i) the necessary concepts that a system architect needs to be able to formally and declaratively describe the design space of mechanical design synthesis problems, thereby minimizing accidental complexity; (ii) how a Domain Specific Language based on the SysML modeling language and the Object Constraint Language (OCL) can be used to create this model of the design space; and (iii) an iterative process to come up with a formal model of the design space. This model describes the design space independent of any (knowledge of a) particular solving technology for the Design Space Exploration. Furthermore, the information in the model allows to select the most appropriate solving strategy for a particular design synthesis problem. The different concepts are illustrated on the example of automated synthesis of a gearbox.
This paper presents a contribution to programming by human demonstration, in the context of compl... more This paper presents a contribution to programming by human demonstration, in the context of compliant motion task specification for sensor-controlled robot systems that physically interact with the environment. One wants to learn about the geometric parameters of the task and segment the total motion executed by the human into subtasks for the robot that can each be executed with simple compliant motion task specifications. The motion of the human demonstration tool is sensed with a 3D camera, and the interaction with the environment is sensed with a force sensor in the human demonstration tool. Both measurements are uncertain, and do not give direct information about the geometric parameters of the contacting surfaces, or about the contact formations encountered during the human demonstration. The paper uses a Bayesian Sequential Monte Carlo method (also known as a particle filter) to do the simultaneous estimation of the contact formation (discrete information) and the geometric parameters (continuous information). The simultaneous contact formation segmentation and the geometric parameter estimation are helped by the availability of a contact state graph of all possible contact formations. The presented approach applies to all compliant motion tasks involving polyhedral objects with a known geometry, where the uncertain geometric parameters are the poses of the objects. The approach has been verified in real world experiments, in which it is able to discriminate in realtime between 245 different contact formations of the contact state graph.
This paper describes the construction of a 3-D model from the identification of geometrical param... more This paper describes the construction of a 3-D model from the identification of geometrical parameters of polyhedral objects during a force-controlled task. Following improvements with respect to the state of the art are made: (i) creation of a 3-D model from a previously unknown environment, (ii) force estimation for feedback to a force controller or for monitoring contact forces, (iii) reduction of the number of modelling parameters, leading to computational reduction and more accurate geometric descriptions.
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