Dragan Stokic

Historical perspectives and state of the art in joint force sensory feedback control of manipulation robots

The application of the joint force sensory feedback in both the gross and fine motion control of manipulation robots is considered in the paper. One of the objectives of the paper is to give a historical overview how the idea of the joint force sensory feedback has appeared and developed in the past two decades. The control schemes, which include joint torque sensory feedback, are surveyed in the paper. The main advantages of this approach are discussed: the joint torque feedback offers an elegant way to compensate for the effects of the robot dynamics without real time computation of the robot dynamics, the control schemes are robust in respect of parameter variations. Various problems regarding design and implementation of joint torque sensor are also considered. Special emphasis is given to the application of this approach in hybrid position/force control schemes.

Applied Control of Manipulation Robots

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The Conceptual LeanPPD Model

This paper is presenting the conceptual Lean Product and Process Development (LeanPPD) model which is a project funded by the EU-PF7. The project is addressing the needs of European manufacturing companies of a new model that goes beyond lean manufacturing, to ensure the transformation of the enterprise into lean environment. This is a respond to the market demand of value creation, incorporating sustainability and customisation as well as ensuring business growth through the development of high quality products in a cost effective manner at the shortest time. The authors believe that significant change in enterprise performance can be achieved through the adoption of lean thinking throughout the product life cycle. The paper presents the LeanPPD enablers which represent the building block of the model.

Energy efficiency improvement through context sensitive self-learning of machine availability

In this paper, we present a generic solution for context based self-adaptation of production systems. We describe the overall architecture of the proposed system, as well as its components. Furthermore, we illustrate how this architecture is being used to extract the production context of machine tools and improve their energy efficiency.

A Procedure for the Interactive Dynamic Control Synthesis of Manipulators

A procedure for the interactive computer-aided control synthesis of manipulators is presented. The procedure is based on an approach to control synthesis in which the dynamics of the system are taken into account, but the resulting control law is simple and applicable. All phases of the procedure are briefly described. At each step of the control synthesis, interaction with the user is emphasized underlining the ability of the procedure to include user experience. The algorithm is applied to a six degree of freedom industrial manipulator.

Service-based knowledge monitoring of collaborative environments for user-context sensitive enhancement

This paper presents an approach to correlate user interactions with knowledge in a collaborative environment to enhance information recommendations given by as well as the environment itself. It premises that in a user-sensitive context the important information to use is coherent with the actions made by an individual as well as by the group. The following description shows how to utilize this monitorable information of interactions with existing systems in a collaborative environment to enrich and focus the recommendations of knowledge for the individual. The approach focuses on the implicit and explicit knowledge given by a user in a dynamic bi-directional feedback system that unobtrusively monitors the active and passive knowledge. The described process is supported by a modular service-oriented architecture which allows docking onto different systems to monitor and analyze the users interactions and support the systems through monitoring data, based on configurable rules allowing adaptation to different scenarios.

Significance of Force-Feedback in Controlling Artificial Locomotion-Manipulation Systems

In the paper two aspects of force-feedback implementation in controlling artificial locomotion-manipulation systems are considered: 1) as a global control, for reducing the influence of coupling among subsystems when decentralized control is applied, and (b) for solving dynamic control tasks often encountered when the aforementioned systems are considered. In order to illustrate the implementation of force-feedback, four examples are presented, two for a biped system and two for an anthropomorphic manipulator.

A Platform to Support the Product Servitization

Nowadays manufacturers are forced to shift from their traditional product-manufacturing paradigm to the goods-services continuum by providing integrated combination of products and services. The adoption of service-based strategies is the natural consequence of the higher pressure that these companies are facing in the global markets especially due to the presence of competitors which operate in low wage region. By betting on services, or more specifically, on servitization manufacturing companies are moving up the value chain in order to move the competition from costs to sophistication and innovation. The proliferation of new emerging technologies and paradigms together with a wider dissemination of information technology (IT) can significantly improve the capability of manufacturing companies to infuse services in their own products. The authors present a knowledge-based and data-driven platform that can support the design and development of Product Extended by Services (PESs) solutions.

Dynamic stabilization of biped posture

Abstract The problem of posture stabilization is treated in this paper from the standpoint of automatic control as well as the corresponding modeling of the mechanical system of the posture. The mechanism of posture regulation is studied on the basis of the linear regulator and decoupled control as well as force feedback. The algorithms elaborated for solving the posture stabilization problem are presented. The results reported in the paper show global similarity to the posture control mechanism existing in real biological systems.

FUTURE TRENDS IN PRODUCT/PROCESS INNOVATION

The approaches to support innovation in industry, including ICT tools, have experienced tremendous changes in last decades and are likely to be a subject of further evolution. Many research trends could be observed that are likely to provide new innovation approaches and effective means to support such new innovation processes. This paper provides an overview of some of the key trends in product/process innovation in industry. The emphasis is on new approaches for innovation that are already emerging and will find their wide application in industry. Special emphasis is made upon ICT as a key facilitator of the innovation process in future.