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Sensors in Flexible Manufacturing Systems
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During the assembly task, a number of processes (executors) are running, requiring synchronization of data transfer. The data may consist of, for instance, the type, position, and orientation of a detected part by the vision system. The communication between the processes is realized through a shared memory lock in the VME bus.
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8.12.4 Vision Sensor Software
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The first step consists of a segmentation of gray-value image into a binary image. Because backlighting is used in the system, contrast is excellent and simple thresholding is sufficient for segmentation. During initialization, a threshold is calculated from the image histogram and used until the next initialization takes place. Before the system starts an assembly operation, the vision system must be calibrated to the robot coordinate system. This is done by moving a ring in the vision field. From the known robot coordinates, the ring position, and the computed ring coordinates in the vision system, the necessary transformation is calculated. A drawback of connectivity analysis is that objects may not touch. The vision package may be extended with graph-matching techniques to allow recognition of touching and overlapping parts.
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History of Industrial Robotics
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The word robot was introduced to the public by Czech writer Karel Capek in his play R.U.R. (Rossum s Universal Robots), which premiered in 1921 (Fig. 8.34). The play begins in a factory that makes artificial people called robots, but they are closer to the modern ideas of
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FIGURE 8.34 A scene from Karel Capek s 1920 play R.U.R. (Rossum s Universal Robots), showing three robots.
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Eight
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androids and clones, creatures who can be mistaken for humans. They can plainly think for themselves, though they seem happy to serve. At issue is whether the robots are being exploited and the consequences of their treatment. However, Karel Capek himself did not coin the word; he wrote a short letter in reference to an etymology in the Oxford English Dictionary in which he named his brother, the painter and writer Josef Capek, as its actual originator. In an article in the Czech journal Lidov noviny in 1933, he explained that he had originally wanted to call the creatures labori (from Latin labor, work). However, he did not like the word, and sought advice from his brother Josef, who suggested roboti. The word robota means literally work, labor or serf labor, and figuratively drudgery or hard work in Czech and many Slavic languages. Serfdom was outlawed in 1848 in Bohemia, so at the time Capek wrote R.U.R., usage of the term robota had broadened to include various types of work, but the obsolete sense of serfdom would still have been known.
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Early Modern Developments
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Leonardo da Vinci (1452 1519) sketched plans for a humanoid robot around 1495. Da Vinci s notebooks, rediscovered in the 1950s, contain detailed drawings of a mechanical knight now known as Leonardo s robot, able to sit up, wave its arms, and move its head and jaw. The design was probably based on anatomical research recorded in his Vitruvian Man. It is not known whether he attempted to build it. In 1738 and 1739, Jacques de Vaucanson exhibited several life-sized automatons: a flute player, a pipe player, and a duck. The mechanical duck could flap its wings, crane its neck, and swallow food from the exhibitor s hand, and it gave the illusion of digesting its food by excreting matter stored in a hidden compartment. Complex mechanical toys and animals built in Japan in the 1700s were described in the Karakuri zui (Illustrated Machinery, 1796). (See Fig. 8.35.)
Modern Developments
The Japanese craftsman Hisashige Tanaka (1799 1881), known as Japan s Edison, created an array of extremely complex mechanical toys, some of which served tea, fired arrows drawn from a quiver, and even painted a Japanese kanji character. In 1898, Nikola Tesla publicly demonstrated a radio-controlled torpedo. Based on patents for teleautomation, Tesla hoped to develop it into a weapon system for the U.S. Navy. In 1926, Westinghouse Electric Corporation created Televox, the first robot put to useful work. They followed Televox with a number of other simple robots, including one called Rastus, made in the crude image of a black man. In the 1930s, they created a humanoid robot known as Elektro for exhibition purposes, including the 1939 and 1940 World s Fairs. In 1928, Japan s first robot, Gakutensoku, was designed
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