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Georgia Tech Research Institute (GTRI)
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ItemA Network-based Approach for Assessing Co-Operating Manned and Unmanned Systems (MUMS)(Georgia Institute of Technology, 2010-09) Weiss, Lora G.Traditionally, robots have been programmed to do precisely what their human operators instruct them to do, but more recently, they have become more sophisticated, intelligent, and autonomous. Once they reach a sufficiently high level of intelligent autonomy, they can support more collaborative interactions with each other and with people. As robots become more and more intelligent, we will begin designing systems where robots interact with humans, rather than designing robots that are commanded by people with continual oversight. One approach to assessing how humans and robots will interact in the future is to frame the problem as a collection of intelligent nodes. Multiple, collaborating, and interacting manned and robotic systems can be represented as a collection of dynamic, interacting nodes. This paper develops preliminary metrics to support understanding the extent of preferential attachment that would arise in a system of co-operating manned and unmanned systems (MUMS). The metrics seek to help explain if attachments are localized to specific situations or if they are more pervasive throughout a MUMS society.
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ItemKinematics and Verification of a Deboning Device(Georgia Institute of Technology, 2009-08) Zhou, Debao ; Daley, Wayne ; McMurray, GaryPoultry deboning process is one of the largest employers in the United States and mainly involves human workers due to the unstructured nature of the task. For the automation of this process, a cutting device with the adaptive capability has been developed. In this paper, we focused on the kinematics of this device and the accuracy of the actual cutting point location. We validated the kinematic formulation and proofed the confidence of the accurate cutting. The applied verification method can be generalized to be applicable to general kinematics verification.
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ItemAutomation of the Bird Shoulder Joint Deboning(Georgia Institute of Technology, 2007-09) Zhou, Debao ; Holmes, Jonathan ; Holcombe, Wiley ; McMurray, GaryPoultry deboning processing is one of the largest employers of people in the United States. It involves mainly manual processes with only limited use of fixed automation. The main difficulty in this task is the unstructured nature of the task due to the natural variability of birds’ size and deformable bodies. To increase product safety and quality, the industry is looking to robotics to help solve these problems. This research has focused on automating cutting of bird front halves. The anatomic structure of the chicken shoulder joint was studied first. Thus the cutting locations on chicken front halves were identified. In conjunction with force control robotics, a 3-DOF device with the capability for size adaptation and deformation compensation was proposed and the cutting trajectory was simulated. The results of the dynamic simulation verified that the desired trajectory can be followed and the response time for bone detection can be satisfied. A functional prototype of this device has been built and is currently under evaluation.
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ItemAutomation of Bird Front Half Deboning Procedure: Design and Analysis(Georgia Institute of Technology, 2007-06) Zhou, Debao ; Holmes, Jonathan ; Holcombe, Wiley ; Lee, Kok-Meng ; McMurray, GaryBio -material cutting, such as meat deboning, is one of the most common operations in the food processing industry. It is also the largest employer of people in the United States. These tasks are currently manual processes with only limited use of fixed automation. The main difficulty in this task is the natural variability of the product's size and individual anatomy. The industry is looking to robotics to help solve these problems. This research has focused on automating the cutting of chicken front halves to obtain high quality breast meat. In order to specify the cutting locations and cutting trajectories on chicken front halves, in this paper, the anatomy structure of the chicken shoulder joint was studied first. Then a 2-DOF cutting mechanism was proposed. Through the formulation of the kinematics and dynamics of the mechanism, the cutting trajectory was simulated. Pneumatic actuators with position feedback sensors were selected as the driven system. To verify whether the pneumatic driving system could satisfy the trajectory following requirements (speed and response time), experiments were carried out. The results show that the pneumatics driven system can marginally follow the desired trajectory with enough speed for the adaptation motion. The device will be built and tested in our future research.
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ItemCutting, ‘by Pressing and Slicing’, Applied to Robotic Cutting Bio-materials, Part I: Modeling of Stress Distribution(Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V.Bio-material cutting, such as meat deboning, is one the most common operations in food processing. Automating this process using robotic devices with closed-loop force control has shown some promise. The control of the force trajectory directly relates to the internal stress in the material being cut, and must provide enough force to initiate the cut. The ability to model the stress distribution in the bio-materials being cut would provide a better understanding of the influencing factors and help predict the required cutting force for the design of the cutting mechanism and for automating the cutting operations. This research is presented in two parts: part I models the stress distribution when a blade acts on the bio-material and part II discusses the principles of biomaterial cutting. Starting with modeling a point force in the normal and tangential direction on the boundary of a semi -infinite body, an analytical expression for the stress tensor has been obtained and simulated using direct integral method. This paper provides the theoretical basis for explaining the cutting phenomena and predicting the cutting forces, a topic to be presented in Part II.
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ItemCutting, ‘by Pressing and Slicing’, Applied to the Robotic Cut of Bio-materials, Part II: Force during Slicing and Pressing Cuts(Georgia Institute of Technology, 2006-05) Zhou, Debao ; Claffee, Mark R. ; Lee, Kok-Meng ; McMurray, Gary V.The applications of robotics are becoming more and more common in non-traditional industries such as the medical industry including robotic surgery and sample microtoming as well as food industry that include the processing of meats, fruits and vegetables. In this paper, the influence of the blade edgeshape and its slicing angle on the cutting of biomaterials are formulated and discussed based on the stress analysis that has been presented in Part I. Through modeling the cutting force, an optimal slicing angle can be formulated to maximize the feed rate while minimizing the cutting forces. Moreover, the method offers a means to predict cutting forces between the blade and the biomaterials, and a basis for design of robust force control algorithms for automating the cutting of biomaterials.
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ItemUncalibrated Eye-in-Hand Visual Servoing(Georgia Institute of Technology, 2002-05) Piepmeier, Jenelle Armstrong ; Gumpert, Ben A. ; Lipkin, HarveyThis paper presents uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object and maintain the desired features. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated, and a variety of parameters are investigated with respect to performance.
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ItemModeling of the Natural Product Deboning Process Using Biological and Human Models(Georgia Institute of Technology, 1999-09) Daley, Wayne ; He, Tian ; Lee, Kok-Meng ; Sandlin, MelissaOne critical area in automation for commercial deboning systems for meat processing, is the inability of existing equipment to adapt to varying sizes and shapes of products. This usually results in less than desirable outcomes when measured in terms of yield of the operations. In poultry processing for example, the initial cut of wing-shoulder joints is the most critical step in the deboning process. Two approaches for determining a trajectory for the cut is presented. The first is a technique using x-ray and visual images to obtain a 2-D model that locates the shoulder joint with respect to the surface features of the product. The second approach is obtained by determining a 3-D cutting trajectory and the associated forces/torques using a motion analysis system and a force/torque sensor incorporated with a knife. We then discuss the potential application of these results in the design of an automated cutting system that uses the obtained trajectory as a nominal cutting path. The system would make'adjustments during the cut using force feedback so as to emulate the manual cutting process.