Anamaria Dogar
Politehnica University of Bucharest
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Publication
Featured researches published by Anamaria Dogar.
IFAC Proceedings Volumes | 2009
Theodor Borangiu; Anamaria Dogar; Alexandru Dumitrache
Abstract This article presents a heuristic algorithm for motion planning of a short range 7-DOF Laser Scanning System consisting of a 6-DOF vertical robot arm and a rotary table holding the workpiece. The redundancy of the mechanism is exploited for specifying certain constraints such as imposing a smooth motion of the rotary table while respecting the acceleration and speed limits and avoiding undesirable configurations of the robot arm such as the kinematic singularities, out-of-range conditions and collisions between the mechanical elements of the system (robot, table, workpiece and laser probe). The paper also presents the control system of the rotary table, and a communication protocol which allows the integration of the above-mentioned planning algorithm into the 3D scanning system.
international joint conference on computational cybernetics and technical informatics | 2010
Theodor Borangiu; Adrian Curaj; Anamaria Dogar
The paper presents a strategic academic project, promoting in collaboration with industry a modern educational frame for skills and competence training in higher education in the area of Service Science, Management and Engineering (SSME) and fostering innovation in services industry, based on an open and continuous education model which uses an advanced Information Technology infrastructure — Cloud Computing — with virtualised resources, which can be accessed as services.
ieee international conference on automation, quality and testing, robotics | 2008
Th. Borangiu; Anamaria Dogar; A. Dumitrache
The paper addresses an implementation issue of a robotized reverse engineering platform for not modelled objects. The RE platform is composed of three major components: a 6 d.o.f. industrial robot, a dual-camera laser scanner and a digitally controlled turntable on which the object is placed. One important objective of this work is to develop suitable scanning strategies and robot motion patterns for automatic sensor guiding and acquisition of 3D surface data of objects to be modelled. The proposed strategy implies the synchronization of the robot movements with the rotation of the turntable, in order to avoid collisions or axis out of range and to keep, if possible, the robot in the central area of its workspace. For each unique picture taking point, the adequate turntable angle and robot configuration will be computed. A 6 d.o.f vertical articulated robot simulator was developed to generate the set of necessary robot configurations and turntable angles corresponding to the scanning strategies. The simulator is used to test whether a scanning path is feasible from the kinematics point of view. The scanning strategy consists of two stages: first, predefined scanning paths are followed, based on offline planned motion patterns; secondly, evaluation of the acquired 3D data may eventually lead to new scanning paths with different orientations of the hand-held laser scanner to obtain complete 3D information of the hidden details of the objectpsilas surface.
IFAC Proceedings Volumes | 2006
Florin Daniel Anton; Theodor Borangiu; Silvia Tunaru; Anamaria Dogar; Steluta Gheorghiu
Abstract The paper describes a scientific project aiming to build up a remote controlled, fault tolerant robotized manufacturing cell. The platform is a software product designed to support multiple remote connections with a number of Adept Technology V+ robot-vision controllers (masters over manufacturing workstations), either located in a local network or via Internet.
IFAC Proceedings Volumes | 2007
Theodor Borangiu; Luis Manuel Tomás Balibrea; Florin Daniel Anton; Nick Ivanescu; Silvia Tunaru; Anamaria Dogar; Silviu Raileanu
Abstract The paper describes a networked fault-tolerant assembly system of job shop type containing multiple robotized stations operating under visual control. During the assembly process, the products are identified, located, qualified, and controlled by analyzing images from virtual cameras associated to stationary- and arm-mounted cameras. The holonic control architecture is formed by the following types of entities: a Global Assembly Scheduler generating Order Holons, a dual layer of Material Handling (Robot) Holons and Sensory Holons, and a System Monitoring & Database entity. These elements are embedded in a 3-layer computing & control structure, and interconnected by a 4-fold fault-tolerant communication network keeping track of assembly job execution. Implementing issues and experimental results are reported.
IFAC Proceedings Volumes | 2010
Alexandru Dumitrache; Theodor Borangiu; Anamaria Dogar
Abstract This paper presents a NC toolpath generation strategy with tool engagement control for arbitrarily complex discrete part geometry, which reduces machining time and tool wear and can be used in high speed machining. Simulations and comparison with existing methods are presented.
19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010) | 2010
Alexandru Dumitrache; Theodor Borangiu; Anamaria Dogar
This paper proposes a set of techniques for predictive collision avoidance, which ensure robust operation of robot applications. Implementation issues for applying the techniques to state-of-art robots are presented, including integration with manual and automatic operation modes.
IFAC Proceedings Volumes | 2009
Theodor Borangiu; Alexandru Dumitrache; Anamaria Dogar
Abstract This paper addresses an actual problem regarding complex industrial robot applications. Based on the fact that no CAD model for the processed parts is available, the application presented here consists in a 3D accurate path following, applicable in various robot tasks. Using a sensor-based 3D path learning procedure available in automatic or manual mode, the 6 d.o.f industrial robot will be able to reproduce in real-time the learned trajectory. Calibration and synchronization aspects are presented, and experimental results are provided and analyzed.
mediterranean conference on control and automation | 2007
Nick Ivanescu; Th. Borangiu; S. Brotac; Anamaria Dogar
The paper describes an efficient method for process control using microcontrollers, based on logic control diagrams, that are commonly used by PLCs. The chosen software solution allows even quasi-simultaneous interpretation of several sequential function charts (SFC). The C compiler program CodeVision AVR was used for implementing this control solution on ATMEL microcontrollers from the ATMEGA family. The experimental results are described for the programming of a CNC machine using an ATMEGA microcontroller based circuit.
IFAC Proceedings Volumes | 2006
Theodor Borangiu; Florin Daniel Anton; Silvia Tunaru; Anamaria Dogar; Nick Ivanescu
Abstract Intelligent image processing blurs the distinction between Guidance Vision for Robots (GVR) and Automated Visual Inspection (AVI) applications. The paper presents AI techniques for interactive learning of scene-object models by feature descriptions of part flows. Robot grippers are modelled by fingerprints for ***collision-free part access. The parameters of the vision models are remotely created by a Server application which accepts simultaneous connections over LAN/Internet with multiple Clients – executing on IBM PC robot terminals integrated in flexible, networked manufacturing structures. Experimental results are reported for cluster and pattern construction for part recognition.