his.sePublications
Change search
Link to record
Permanent link

Direct link
BETA
Mohammed, Abdullah
Publications (4 of 4) Show all publications
Mohammed, A., Wang, L. & Gao, R. X. (2013). Integrated Image Processing and Path Planning for Robotic Sketching. In: Roberto Teti (Ed.), Eighth CIRP Conference on Intelligent Computation in Manufacturing Engineering: . Paper presented at CIRP ICME'12 - 8th CIRP Conference on Intelligent Computation in Manufacturing Engineering, Innovative and Cognitive Production Technology and Systems, 18-20 July 2012, Ischia, Gulf of Naples, Italy (pp. 199-204). Elsevier, 12
Open this publication in new window or tab >>Integrated Image Processing and Path Planning for Robotic Sketching
2013 (English)In: Eighth CIRP Conference on Intelligent Computation in Manufacturing Engineering / [ed] Roberto Teti, Elsevier, 2013, Vol. 12, p. 199-204Conference paper, Published paper (Refereed)
Abstract [en]

Since the beginning of the development of machine vision, researchers have realized its importance in the robotics field, as it provides a useful tool for both the environment detection and decision making during the automation process. At the same time, path planning for robots influences many in the robotics and automation field and it has remained active for both methodology research and system implementation. This research combines machine vision with robot path planning with an aim of programming-free robotic applications. Particularly as a proof of concept, a programming-free robotic sketching prototype is developed as a case study. Within the context, this paper consists of three parts. The first part covers the processing of a facial image taken by a webcam to identify the contours that represent the image; the second part converts these contours to paths for an industrial robot to follow; and the third part controls the robot adaptively for sketching including auto-generation of control codes and self-calibration. The developed prototype is a closed-loop system with networked camera and robot. Intelligent computation is applied to identify the contours of the image with minimum representation of points and with the correct sequence of points for each curve (path); the sequence of the output robot paths represents the near-optimal sequence to preserve the minimum travelling time for the robot. The robot control module can also retrieve the TCP of the robot for off-site monitoring. The ultimate goal of this research is future applications of robot path following, e.g. ad-hoc robotic cutting or welding where the paths can be specified by hand-drawings of an operator on the target workpiece with zero programming for the operator.

Place, publisher, year, edition, pages
Elsevier, 2013
Series
Procedia CIRP, ISSN 2212-8271 ; 12
Keywords
Image processing, path planning, robotics, automation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-6853 (URN)10.1016/j.procir.2013.09.035 (DOI)2-s2.0-84886791751 (Scopus ID)
Conference
CIRP ICME'12 - 8th CIRP Conference on Intelligent Computation in Manufacturing Engineering, Innovative and Cognitive Production Technology and Systems, 18-20 July 2012, Ischia, Gulf of Naples, Italy
Available from: 2012-11-22 Created: 2012-11-22 Last updated: 2019-12-20Bibliographically approved
Mohammed, A., Givehchi, M. & Wang, L. (2012). Interfacing Image Processing with Robotic Sketching. In: Hasse Nylund, Satu Kantti, Ville Toivonen & Seppo Torvinen (Ed.), Proceedings of the FAIM 2012, 22nd International Conference on Flexible Automation and Intelligent Manufacturing, June 10th-13th, 2012, Helsinki, Finland: . Paper presented at FAIM 2012, 22nd International Conference on Flexible Automation and Intelligent Manufacturing, June 10th-13th, 2012, Helsinki, Finland (pp. 285-294). Tampere: Tampere University of Technology
Open this publication in new window or tab >>Interfacing Image Processing with Robotic Sketching
2012 (English)In: Proceedings of the FAIM 2012, 22nd International Conference on Flexible Automation and Intelligent Manufacturing, June 10th-13th, 2012, Helsinki, Finland / [ed] Hasse Nylund, Satu Kantti, Ville Toivonen & Seppo Torvinen, Tampere: Tampere University of Technology, 2012, p. 285-294Conference paper, Published paper (Refereed)
Abstract [en]

In attempt to have a flexible manufacturing environment with adaptive control systems, several researchers tend to integrate vision systems into the industrial systems to achieve that objective; the majority of the research works that have been done in this perspective tend to keep this kind of integration fully automated. Along the same direction, this paper presents an approach for integrating Robotic Sketching and Path Planning with Image Processing, and it introduces at the same time the ability for operators to remotely control and monitor the processing stages. It has been accomplished using network based architecture consisting of a vision system together with a server, a client and an ABB industrial robot. The aims of this paper are: (1) to provide an example that illustrates the benefit of interfacing the image processing techniques with the industrial shop floor system, and (2) to develop a web based system that allows an operator to remotely monitor and control the stages of the application using Java based applet. Further analyses have been done for the processing times of the application; this helped us to address the problem that consumed the largest proportion of the processing time. The work that has been done in this research provides additional supervision ability for the integrated system, and it demonstrates some of the challenges and the obstacles that may face this kind of integration.

Place, publisher, year, edition, pages
Tampere: Tampere University of Technology, 2012
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-6425 (URN)978-952-15-2783-8 (ISBN)
Conference
FAIM 2012, 22nd International Conference on Flexible Automation and Intelligent Manufacturing, June 10th-13th, 2012, Helsinki, Finland
Available from: 2012-10-10 Created: 2012-10-02 Last updated: 2019-12-20Bibliographically approved
Mohammed, A., Schmidt, B. & Wang, L. (2012). Remote monitoring and controlling for robotic path following operations. In: Proceedings of the SPS12 conference 2012: . Paper presented at The 5th International Swedish Production Symposium 6th – 8th of November 2012 Linköping, Sweden (pp. 27-33). The Swedish Production Academy
Open this publication in new window or tab >>Remote monitoring and controlling for robotic path following operations
2012 (English)In: Proceedings of the SPS12 conference 2012, The Swedish Production Academy , 2012, p. 27-33Conference paper, Published paper (Refereed)
Abstract [en]

Controlling a robot's movement requires a prior knowledge about the needed path and configurations to accomplish the movement. The lack of this knowledge causes limitations in the robot's adaptability in dynamic environments. The objectives of this paper are: (1) to improve the ability of the robot to follow any arbitrary path defined by an operator, and (2) to provide the ability for an authorized distant operator to access the system for monitoring and controlling both the robot and the stages of the process. The system developed in this research consists of a calibrated network camera, an industrial robot and an application server. The process starts by having a sketch drown by an operator representing the paths that the robot needs to follow, then the operator can remotely take a snapshot of the paths and retrieve the contours that represent the paths; after that the system sends them to the robot controller to perform the task of path following. The results have shown that the system can perform the required task within a relatively short time and with a reasonable level of quality. This research proves that it is possible to build an adaptive robotic system that can follow efficiently any arbitrary path without the need for defining it in advance.

Place, publisher, year, edition, pages
The Swedish Production Academy, 2012
Keywords
Robotic Sketching, Adaptive Manufacturing, Path Following
National Category
Robotics
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-7167 (URN)978-91-7519-752-4 (ISBN)
Conference
The 5th International Swedish Production Symposium 6th – 8th of November 2012 Linköping, Sweden
Available from: 2013-02-07 Created: 2013-02-07 Last updated: 2019-12-20Bibliographically approved
Holm, M., Givehchi, M., Mohammed, A. & Wang, L. (2012). Web based monitoring and control of distant Robotic Operations. In: Proceedings of the ASME 2012 International Manufacturing Science and Engineering Conference MSEC2012 June 4-8, 2012, Notre Dame, Indiana, USA: . Paper presented at ASME 2012 International Manufacturing Science and Engineering Conference, Notre Dame, Indiana, USA, June 4–8, 2012 (pp. 605-612). ASME Press
Open this publication in new window or tab >>Web based monitoring and control of distant Robotic Operations
2012 (English)In: Proceedings of the ASME 2012 International Manufacturing Science and Engineering Conference MSEC2012 June 4-8, 2012, Notre Dame, Indiana, USA, ASME Press, 2012, p. 605-612Conference paper, Published paper (Refereed)
Abstract [en]

In order to improve the production efficiency while facing today’s manufacturing uncertainty, responsive and adaptive capabilities for rapid production changes are essential. This paper presents how dynamic control and real-time monitoring (embedded in a web-based Wise-ShopFloor framework) can integrate virtual models with real shop floors. Wise-ShopFloor (Web-based integrated sensor-driven e-ShopFloor)uses Java technologies (e.g., Java Servlet and Java3D) for implementing the system. It allows the operators, both remote and on-site, to monitor and control machines, devices and operations on a shop floor, based on run-time information from the connected machines, devices and their sensors. Two case studies are presented to demonstrate the approach towards web-based adaptive manufacturing. The first demonstrating how OPC-technology is used to improve the monitoring and control capabilities of the production and the second one focusing  on remote control of a robot eliminating the need of motion planning and tedious robot programming.

Place, publisher, year, edition, pages
ASME Press, 2012
Keywords
Web-based monitoring, remote control, virtual manufacturing, adaptive system, and Java 3D.
National Category
Robotics
Research subject
Technology
Identifiers
urn:nbn:se:his:diva-10729 (URN)10.1115/MSEC2012-7296 (DOI)000324347700070 ()2-s2.0-84883079412 (Scopus ID)978-0-7918-5499-0 (ISBN)
Conference
ASME 2012 International Manufacturing Science and Engineering Conference, Notre Dame, Indiana, USA, June 4–8, 2012
Projects
Wise-ShopFloor
Funder
Knowledge Foundation
Available from: 2015-03-09 Created: 2015-03-09 Last updated: 2019-12-20Bibliographically approved
Organisations

Search in DiVA

Show all publications