Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Industrial robotic manipulators are designed and built to perform certain predetermined tasks. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and/or performance constraints can be specified in terms of the required end-effector positions, orientations along the task trajectory. In this work, we define, develop and test a methodology that can generate optimal manipulator geometric structures based on the task requirements. Another objective of this work is to guarantee task performance under user defined joint constraints. Using this methodology, task-specific optimal manipulator structures can be generated that guarantee task performance under a set of operating constraints.

Recent developments in several other emerging fields enable us to think of the fields of prototype design, development and automation in new ways and to consider new applications. This paper presents trends of prototyping design and automation with an emphasis on the following two sub-topics: 1) a review on prototyping discrete event and hybrid systems; and 2) the trends on prototyping real-time machine vision system design.

One problem associated with car racing is the time differential between teams during pits stops, which substantially affects the final results. In addition a high percentage of the accident in Formula One is due to pit stop problems. Changing the tires of a car while almost in motion, after reaching dangerous pressure and temperature values, is a very risky challenge, no matter how well a team is trained. Approximately 15-25 people are constantly exposed to serious dangers. The risks taken are extreme and any idea of reducing it without affecting the quality of the race should be considered. Our idea is to build a fully robotized system that takes over the tire changing and refuelling process. There will practically be no need for human intervention. The system will demonstrate remarkable time accuracy, precision and low risk implications.

Developing an environment that enables optimal and flexible design of robot manipulators using reconfigurable links, joints, actuators, and sensors is an essential step for efficient robot design and prototyping. Such an environment should have the right "mix" of software and hardware components for designing the physical parts and the controllers, and for the algorithmic control of the robot modules (kinematics, inverse kinematics, dynamics, trajectory planning, analog control and digital computer control). Specifying object-based communications and catalog mechanisms between the software modules, controllers, physical parts, CAD designs, and actuator and sensor components is a necessary step in the prototyping activities. In this paper the authors propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.

In this work we address the problem of tolerance representation and analysis across the domains of industrial inspection using sensed data, CAD design, and manufacturing. Instead of using geometric primitives in CAD models to define and represent tolerances, we propose the use of stronger methods that are completely based on the manufacturing knowledge for the objects to be inspected. 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. 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.

In designing robot manipulators, the interaction between several modules (S/W, VLSI, CAD, CAM, robotics, and control) illustrates an interdisciplinary prototyping environment that includes different types of information that are radically different but combined in a coordinated way. This paper describes the analysis and design of a 3-link robot manipulator prototype as part of a research project for building a prototyping environment for electromechanical systems. This prototype robot can be used as an educational tool in robotics and control classes.>

We address the problem of intelligent sensing in this work. In particular, we use discrete event dynamic systems (DEDS) to guide the sensing of mechanical parts for industrial inspection and reverse engineering.>

A perception framework for intelligent inspection and reverse engineering is addressed. The use of discrete event dynamic systems (DEDS) to guide the sensing of mechanical parts is investigated. Dynamic recursive finite state machines (DRFSMs) are introduced as a new DEDS tool for utilizing the recursive nature of the mechanical parts under consideration. The proposed framework uses DRFSM DEDS for constructing an observer for exploration and inspection purposes. A sensing /spl rarr/ CAD interface is constructed for the automatic reconstruction of parts from visual data. A graphical interface for designing DRFSM DEDS controllers is implemented.>

The problem of development and implementation of a discrete event dynamic system observer for a moving agent is considered. The authors present a modeling approach for the visual system and its observer, where the 'events' are defined as ranges on parameter subsets. In particular, the proposed system is used for observing a manipulation process, where a robot hand manipulates an object. the hand/object interaction is recognised over time and a stabilizing observer is constructed. The resulting robot arm behavior is constructed as a hybrid intelligent mechanism. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. Some results from a sequence of a peg-in-hole operation are documented.>

The authors address the problem of observing a moving agent. They advocate a modeling approach for the visual system and its observer, where a discrete event dynamic system framework is developed and events are defined as ranges on parameter subsets. A system for observing a manipulation process in which a robot hand manipulates an object is proposed. The hand/object interaction is recognized over time, and a stabilizing observer is constructed. Low-level modules are developed for recognizing the events that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes, and uncertainties in the manipulation system, observer construction process, and even identification mechanisms. The system utilized different tracking techniques to observe and recognize the task in an active and goal-directed manner.>

The authors address the problem of observing a moving agent. In particular, they propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system framework is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the 'events' that cause state transitions within the dynamic manipulation system. The work examines closely the possibilities for errors, mistakes and uncertainties in the manipulation system, observer construction process and event identification mechanisms. The system utilizes different tracking techniques in order to observe and recognize the task in an active, adaptive and goal-directed manner.>