Jorge Pomares Baeza

Disassembly movements for geometrical objects through heuristic methods

This paper presents a non-destructive disassembly method. It tries to make up for limitations of other methods based on contact surfaces. It uses a contact surfaces graph and shows an algorithm to obtain the movement sequence needed for the disassembly of two objects, using a composition of transfer movement. It performs a second filter to obtain the exact disassembly direction from the group of directions obtained from the contact surfaces. The filter employs a mobile robotic heuristic to feedback the contact surface graph throughout the disassembly process. The heuristic generates an environment map to infer the region where the probability of collision with the other objects is lower. To achieve the disassembly the paper presents a method for modeling the elements implied in the disassembly process. This virtual model of the environment allows us to quickly process the elements and the simulation of the movements for disassembly. This model can be used to either schedule the disassembly process or to test, during the design stage, whether the products can be easily disassembled.This paper presents a non-destructive disassembly method. It tries to make up for limitations of other methods based on contact surfaces. It uses a contact surfaces graph and shows an algorithm to obtain the movement sequence needed for the disassembly of two objects, using a composition of transfer movement. It performs a second filter to obtain the exact disassembly direction from the group of directions obtained from the contact surfaces. The filter employs a mobile robotic heuristic to feedback the contact surface graph throughout the disassembly process. The heuristic generates an environment map to infer the region where the probability of collision with the other objects is lower. To achieve the disassembly the paper presents a method for modeling the elements implied in the disassembly process. This virtual model of the environment allows us to quickly process the elements and the simulation of the movements for disassembly. This model can be used to either schedule the disassembly process or to test, during the design stage, whether the products can be easily disassembled.

Product disassembly scheduling using graph models

Disassembly problem is a current issue for industrial companies. Governments of different countries promote research in this field. This paper presents the following points. First a brief state of the art in disassembly planning. Next it exposes a solution for the disassembly problem of industrial products. It uses a combination between direct and indirect graph representation for the product, all components that have physical entity are considered as vertices of the graph. Edges of the graph represent the relationships between vertices. There are three different types of edges. First corresponds with accessibility and fastener restrictions. Second corresponds with direct relations between components without fasteners. Last one corresponds with contact relationships, which represent an indifferent choice of the vertices. Based on that representation the paper exposed a method to find the best sequence to disassemble a component. Costs of disassembling each component and of changing tool between each pair of vertices and different sequences of the disassembly are taken into consideration. This method consists in a function minimization defined in the graph domain. In the last point of the paper this method is tested with a remote control disassembly. This method gives a solution to the problem, if several solutions, with the same cost, exist then it gives all of them, and any one of these disassemble sequences could be used to achieve to the target component.Disassembly problem is a current issue for industrial companies. Governments of different countries promote research in this field. This paper presents the following points. First a brief state of the art in disassembly planning. Next it exposes a solution for the disassembly problem of industrial products. It uses a combination between direct and indirect graph representation for the product, all components that have physical entity are considered as vertices of the graph. Edges of the graph represent the relationships between vertices. There are three different types of edges. First corresponds with accessibility and fastener restrictions. Second corresponds with direct relations between components without fasteners. Last one corresponds with contact relationships, which represent an indifferent choice of the vertices. Based on that representation the paper exposed a method to find the best sequence to disassemble a component. Costs of disassembling each component and of changing tool between each pair of vertices and different sequences of the disassembly are taken into consideration. This method consists in a function minimization defined in the graph domain. In the last point of the paper this method is tested with a remote control disassembly. This method gives a solution to the problem, if several solutions, with the same cost, exist then it gives all of them, and any one of these disassemble sequences could be used to achieve to the target component.© (2002) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.

2-D VISUAL SERVOING WITH INTEGRATION OF MULTIPLE PREDICTIONS OF MOVEMENT BASED ON KALMAN FILTER

Abstract In this paper, a visual servoing for the tracking of objects in a plane using a fixed camera system is shown. The method proposed of tracking makes use of a variable number of trackers determined automatically. The integration of the predictions of each of them affords a flexible and robust system of tracking. The studies of efficiency carried out reflect that the delays produced are suitable for use in visual servoing. The proposed system can be generalized to tracking three-dimensional objects with movable cameras.