Intuitive and efficient interfaces for human- robot interaction （HRI） have been a challenging issue in robotics as it is essential for the prevalence of robots supporting humans in key areas of activities. This pape...Intuitive and efficient interfaces for human- robot interaction （HRI） have been a challenging issue in robotics as it is essential for the prevalence of robots supporting humans in key areas of activities. This paper presents a novel augmented reality （AR） based interface to facilitate human-virtual robot interaction. A number of human-virtual robot interaction methods have been for- mulated and implemented with respect to the various types of operations needed in different robotic applications. A Euclidean distance-based method is developed to assist the users in the interaction with the virtual robot and the spatial entities in an AR environment. A monitor-based visualization mode is adopted as it enables the users to perceive the virtual contents associated with different interaction methods, and the virtual content augmented in the real environment is informative and useful to the users during their interaction with the virtual robot. Case researches are presented to demonstrate the successful implementation of the AR-based HRI interface in planning robot pick-and-place operations and path following operations.展开更多
Digital twin(DT)has garnered attention in both industry and academia.With advances in big data and internet of things(IoTs)technologies,the infrastructure for DT implementation is becoming more readily available.As an...Digital twin(DT)has garnered attention in both industry and academia.With advances in big data and internet of things(IoTs)technologies,the infrastructure for DT implementation is becoming more readily available.As an emerging technology,there are both potential and challenges.DT is a promising methodology to leverage the modern data explosion to aid engineers,managers,healthcare experts and politicians in managing production lines,patient health and smart cities by providing a comprehensive and high fidelity monitoring,prognostics and diagnostics tools.New research and surveys into the topic are published regularly,as interest in this technology is high although there is a lack of standardization to the definition of a DT.Due to the large amount of information present in a DT system and the dual cyber and physical nature of a DT,augmented reality(AR)is a suitable technology for data visualization and interaction with DTs.This paper seeks to classify different types of DT implementations that have been reported,highlights some researches that have used AR as data visualization tool in DT,and examines the more recent approaches to solve outstanding challenges in DT and the integration of DT and AR.展开更多
Robotic welding demands high accuracy and precision.However,robot programming is often a tedious and time-consuming process that requires expert knowledge.This paper presents an augmented reality assisted robot weldin...Robotic welding demands high accuracy and precision.However,robot programming is often a tedious and time-consuming process that requires expert knowledge.This paper presents an augmented reality assisted robot welding task programming(ARWP)system using a user-friendly augmented reality(AR)interface that simplifies and speeds up the programming of robotic welding tasks.The ARWP system makes the programming of robot welding tasks more user-friendly and reduces the need for trained programmers and expertise in specific robotic systems.The AR interface simplifies the definition of a welding path as well as the welding gun orientation,and the system;the system can locate the welding seam of a workpiece quickly and generate a viable welding path based on the user input.The developed system is integrated with the touch-sensing capability of welding robots in order to locate the welding path accurately based on the user input,for fillet welding.The system is applicable to other welding processes and methods of seam localization.The system implementation is described and evaluated with a case study.展开更多
This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration...This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration in certain operations, such as in the configuration of a parallel manip- ulator functioning as a machine tool where the workpiece is fixed to a worktable. The pose of the end-effector is mea- sured using three digital indicators installed on the external fixed frame. To enable measurement, the end-effector is assumed to be a plane large enough that all digital indicators could touch. The error is defined as the difference between the theoretical and actual readings of the digital indicators. The geometric parameters of the parallel manipulator are optimized to minimize this error. This calibration method is low cost and feasible for compensating geometric parameter errors for a parallel manipulator. Optimal pose selection for the calibration is achieved using a swarm intelligence search algorithm. The method is implemented on a prototype of a six degrees-of-freedom （DOFs） Gough-Stewart platform constructed to function as a machine tool.展开更多
Ubiquitous augmented reality(UAR)implementation can benefit smart shop floor operations significantly.UAR from a user's first-person view can support and provide the user with suitable and comprehensive informatio...Ubiquitous augmented reality(UAR)implementation can benefit smart shop floor operations significantly.UAR from a user's first-person view can support and provide the user with suitable and comprehensive information without him/her being distracted from ongoing tasks.A natural hand-based interaction interface,namely,a mobile bare-hand interface(MBHI),is proposed to assist a user in exploring and navigating a large amount of information for a task in the user's first-person view.The integration of a smart shop floor and UAR-based MBHI is particularly challenging.A real shop floor environment is composed of challenging conditions for the implementation of UAR,e.g.,messy backgrounds and significant changes in illumination conditions.Meanwhile,the MBHI is required to provide precise and quick responses to minimize the dificulty of a user's task.In this study,a wearable UAR system integrated with an MBH is proposed to augment the shop floor environment with smart information.A case study is implemented to demonstrate the practicality and effectiveness of the proposed UAR and MBHI system.展开更多
In this paper,a mobile augmented reality(AR)framework for on-site finite element analysis(FEA)is proposed.The proposed framework is achieved using a client–server architecture.The performance of FEA relies on several...In this paper,a mobile augmented reality(AR)framework for on-site finite element analysis(FEA)is proposed.The proposed framework is achieved using a client–server architecture.The performance of FEA relies on several important components,namely,computational power,visualization technique,and numerical analysis.AR renders intuitive computer-generated contents directly on a user’s surroundings.Integrating FEA with AR helps users through enhancing their perception and interaction with the engineering problems.Correct and effective visualization of these data using an AR platform can reduce the misinterpretation in spatial and logical aspects.Over the past decade,AR has undergone a transition from desktop to phablet computing.Mobile platforms enable user exploration of FEA results in situ.The client side uses a hybrid method to visualize FEA results in the mobile AR environment.In addition,a user can collaborate with other users by using the result sharing function.A prototype with basic functions has been built and a case study has been implemented to demonstrate the visualization method and evaluate the overall performance.展开更多
This paper presents an adaptive human-machine interface(HMI)that can provide appropriate sets of digital maintenanceinformation and guidance to an operator during maintenance.It takes into consideration the expertise ...This paper presents an adaptive human-machine interface(HMI)that can provide appropriate sets of digital maintenanceinformation and guidance to an operator during maintenance.It takes into consideration the expertise level of the operator and the maintenance context and progress.The proposed human-centric methodology considers the heart rate,intention,and expertise level of the operator,which can be captured using sensors during maintenance.A set of rules is formulated based on the sensor data to infer the state of the operator during a maintenance task.Based on the operator state,the adaptive HMI can augment the operator's senses using a scheme that combines visual,audio,and haptic guidance cues during maintenance to enhance the operator's ability to perceive information and perform maintenance tasks.Various schemes of visual,audio,and haptic cues are developed based on a comparison of the best practices obtained from experienced operators.展开更多
文摘Intuitive and efficient interfaces for human- robot interaction （HRI） have been a challenging issue in robotics as it is essential for the prevalence of robots supporting humans in key areas of activities. This paper presents a novel augmented reality （AR） based interface to facilitate human-virtual robot interaction. A number of human-virtual robot interaction methods have been for- mulated and implemented with respect to the various types of operations needed in different robotic applications. A Euclidean distance-based method is developed to assist the users in the interaction with the virtual robot and the spatial entities in an AR environment. A monitor-based visualization mode is adopted as it enables the users to perceive the virtual contents associated with different interaction methods, and the virtual content augmented in the real environment is informative and useful to the users during their interaction with the virtual robot. Case researches are presented to demonstrate the successful implementation of the AR-based HRI interface in planning robot pick-and-place operations and path following operations.
文摘Digital twin(DT)has garnered attention in both industry and academia.With advances in big data and internet of things(IoTs)technologies,the infrastructure for DT implementation is becoming more readily available.As an emerging technology,there are both potential and challenges.DT is a promising methodology to leverage the modern data explosion to aid engineers,managers,healthcare experts and politicians in managing production lines,patient health and smart cities by providing a comprehensive and high fidelity monitoring,prognostics and diagnostics tools.New research and surveys into the topic are published regularly,as interest in this technology is high although there is a lack of standardization to the definition of a DT.Due to the large amount of information present in a DT system and the dual cyber and physical nature of a DT,augmented reality(AR)is a suitable technology for data visualization and interaction with DTs.This paper seeks to classify different types of DT implementations that have been reported,highlights some researches that have used AR as data visualization tool in DT,and examines the more recent approaches to solve outstanding challenges in DT and the integration of DT and AR.
基金This research is supported by the Singapore A*STAR Agency for Science,Technology and Research,Science Engineering Research Council,Industrial Robotic Programme on Interface for Human Robot Interaction(Grant No.1225100001)the Public Sector Research Funding Programme on Embedding Powerful Computer Applications in Ubiquitous Augmented Reality Environments(Grant No.1521200081).
文摘Robotic welding demands high accuracy and precision.However,robot programming is often a tedious and time-consuming process that requires expert knowledge.This paper presents an augmented reality assisted robot welding task programming(ARWP)system using a user-friendly augmented reality(AR)interface that simplifies and speeds up the programming of robotic welding tasks.The ARWP system makes the programming of robot welding tasks more user-friendly and reduces the need for trained programmers and expertise in specific robotic systems.The AR interface simplifies the definition of a welding path as well as the welding gun orientation,and the system;the system can locate the welding seam of a workpiece quickly and generate a viable welding path based on the user input.The developed system is integrated with the touch-sensing capability of welding robots in order to locate the welding path accurately based on the user input,for fillet welding.The system is applicable to other welding processes and methods of seam localization.The system implementation is described and evaluated with a case study.
文摘This paper presents a calibration method for parallel manipulators using a measurement system specially installed on an external fixed frame. The external fixed frame is important as an error reference for calibration in certain operations, such as in the configuration of a parallel manip- ulator functioning as a machine tool where the workpiece is fixed to a worktable. The pose of the end-effector is mea- sured using three digital indicators installed on the external fixed frame. To enable measurement, the end-effector is assumed to be a plane large enough that all digital indicators could touch. The error is defined as the difference between the theoretical and actual readings of the digital indicators. The geometric parameters of the parallel manipulator are optimized to minimize this error. This calibration method is low cost and feasible for compensating geometric parameter errors for a parallel manipulator. Optimal pose selection for the calibration is achieved using a swarm intelligence search algorithm. The method is implemented on a prototype of a six degrees-of-freedom （DOFs） Gough-Stewart platform constructed to function as a machine tool.
基金supported by the Singapore A*STAR Agency for Science,Technology and Research Public Sector Research Funding Programme(Grant No.1521200081).
文摘Ubiquitous augmented reality(UAR)implementation can benefit smart shop floor operations significantly.UAR from a user's first-person view can support and provide the user with suitable and comprehensive information without him/her being distracted from ongoing tasks.A natural hand-based interaction interface,namely,a mobile bare-hand interface(MBHI),is proposed to assist a user in exploring and navigating a large amount of information for a task in the user's first-person view.The integration of a smart shop floor and UAR-based MBHI is particularly challenging.A real shop floor environment is composed of challenging conditions for the implementation of UAR,e.g.,messy backgrounds and significant changes in illumination conditions.Meanwhile,the MBHI is required to provide precise and quick responses to minimize the dificulty of a user's task.In this study,a wearable UAR system integrated with an MBH is proposed to augment the shop floor environment with smart information.A case study is implemented to demonstrate the practicality and effectiveness of the proposed UAR and MBHI system.
文摘In this paper,a mobile augmented reality(AR)framework for on-site finite element analysis(FEA)is proposed.The proposed framework is achieved using a client–server architecture.The performance of FEA relies on several important components,namely,computational power,visualization technique,and numerical analysis.AR renders intuitive computer-generated contents directly on a user’s surroundings.Integrating FEA with AR helps users through enhancing their perception and interaction with the engineering problems.Correct and effective visualization of these data using an AR platform can reduce the misinterpretation in spatial and logical aspects.Over the past decade,AR has undergone a transition from desktop to phablet computing.Mobile platforms enable user exploration of FEA results in situ.The client side uses a hybrid method to visualize FEA results in the mobile AR environment.In addition,a user can collaborate with other users by using the result sharing function.A prototype with basic functions has been built and a case study has been implemented to demonstrate the visualization method and evaluate the overall performance.
文摘This paper presents an adaptive human-machine interface(HMI)that can provide appropriate sets of digital maintenanceinformation and guidance to an operator during maintenance.It takes into consideration the expertise level of the operator and the maintenance context and progress.The proposed human-centric methodology considers the heart rate,intention,and expertise level of the operator,which can be captured using sensors during maintenance.A set of rules is formulated based on the sensor data to infer the state of the operator during a maintenance task.Based on the operator state,the adaptive HMI can augment the operator's senses using a scheme that combines visual,audio,and haptic guidance cues during maintenance to enhance the operator's ability to perceive information and perform maintenance tasks.Various schemes of visual,audio,and haptic cues are developed based on a comparison of the best practices obtained from experienced operators.
