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ARAS Research Profile
March. 2007
Advanced Robotic & Automated Systems (ARAS) K. N. Toosi Univ. of TechnologyTehran, Iran
4/3/2007 Research Profile ٢
ARAS Research Group
Contact Address
322 Mirdamad West St.K. N. Toosi Univ. of TechnologyARAS Research GroupTehran, IRANhttp://saba.kntu.ac.ir/eecd/aras
Dr. Hamid D. TaghiradTel: +98 21 8846 2026Fax: +98 21 8846 2066Email: taghirad@kntu.ac.ir
Dr. S. Ali A. MoosavianTel: +98 21 7779 1031Fax: +98 21 7733 4338Email: moosavian@kntu.ac.ir
4/3/2007 Research Profile ٣
ARAS Research Group
• Introduction and History
• Our Vision and Strength
• Industrial Projects
• R&D Projects
• Conclusions
Contents
4/3/2007 Research Profile ٤
ARAS Research Group
The university was originally established in 1928 in Tehran as an "Institute of Communications".
Expanded with an Electronic and Electrical Power Engineering departments.
The department of Civil Engineering was founded in 1955.
The department of Mechanical Engineering was founded in 1973.
Broad expansions since then…
K. N. Toosi Univ of Tech
4/3/2007 Research Profile ٥
ARAS Research Group
KNTU offers bachelor's (B.S.) degrees in 17 academic fields.
Graduate (M. Sc. and PhD) degrees in many of those.
About 250 full-time faculty members.
More than 3,500 Bachelor’s students.
More than 250 Ph.D. and 1500 Master’s students.
K. N. Toosi Univ of Tech
4/3/2007 Research Profile ٦
ARAS Research Group
• Established in 1997 for research joint collaboration between:
Prof. Ali Ghaffari
Prof. Hamid D. Taghirad
Prof. S. Ali A. Moosavian
• Accomplished Projects in Robotics, Robotic Cells, Automated equipment and systems.
• Ongoing projects in Robotics, Automation, Control Systems and Environment.
ARAS History
4/3/2007 Research Profile ٧
ARAS Research Group
To be the topmost Iranian institution in the field
of Robotics &Robotics & AutomationAutomation, by conduction of
applied research toward practice.
Our Vision
4/3/2007 Research Profile ٨
ARAS Research Group
Our Strength
ARAS Research Group
Highly Motivated and Talented Students
Professionally Trained Research Assistants
Laboratories and Manufacturing Facilities
International cooperative sister companies for procurement
Close Industrial Relation
4/3/2007 Research Profile ٩
ARAS Research Group
ARAS Projects
Industrial R&D
Casting Robot, D&A 101
Robotic Cell, D&A 401
E. Board Assembly, D&A 301
SPC Software, D&A 320
Casting Machine, D&A 201
Quality Control M., D&A 310
Welding Robot, D&A 110
Climbing Robot, D&A 410
Control Logic, D&A 420
Intelligent Pig Robotic Shoulder
Industrial IT Flexible Joint Robot
Maglev & RTAC EMG Driven Robot
Fault Detection Mobile Robot SLAM
Active Suspension CD Parallel Robot
AUV
Visual ServoingHard Disk Drives
Robotic Simulators
4/3/2007 Research Profile ١٠
ARAS Research Group
• Casting Robot: D&A 101
Industrial Projects
Technical Specification
FloorMounting Position
1000 Kg weight
±2.5 mmRepeatability
5 mmAccuracy
2100 mmMax. Reach
5 KgPayload
4Number of axis
DC MotorsActuators
ArticulatedRobot Type
4/3/2007 Research Profile ١١
ARAS Research Group
• Casting Robot: Design Clips
Industrial Projects
4/3/2007 Research Profile ١٢
ARAS Research Group
• Casting Robot: Performance Clips
Industrial Projects
4/3/2007 Research Profile ١٣
ARAS Research Group
• Casting Robot in 25th Tehran Int. Trade Fair: President Visit
Industrial Projects
4/3/2007 Research Profile ١٤
ARAS Research Group
• Robotic Cell: D&A 401D&A 401 is a robotic cell designed to illustrate the integration of five different automatic components of a production line working together. The integrity of robotic handling system, flexible conveying system, Quality control unit and grading system is controlled with an IPC, and a user friendly software developed for the system. This robotic cell consists of :• A 4 DOF robot• A 5 DOF robot• A quality control arm • An indexing table• A flexible conveyer• A grading station
Industrial Projects
4/3/2007 Research Profile ١٥
ARAS Research Group
• Robotic Cell Components:
• 5DOF Robot
Technical Specification
Floor, Ceiling, Wall
Mounting Position
50 Kg weight
±0.5 mmRepeatability
0.5 mmAccuracy
630 mmMax. Reach
0.7 KgPayload
5Number of axis
Stepper MotorsActuators
ArticulatedRobot Type
Industrial Projects
4/3/2007 Research Profile ١٦
ARAS Research Group
• Robotic Cell Components:
• 4DOF Robot
Technical Specification
FloorMounting Position
185 Kg weight
±3 mmRepeatability
3 mmAccuracy
1750 mmMax. Reach
1.5 KgPayload
4 Number of axis
DC MotorsActuators
ArticulatedRobot Type
Industrial Projects
4/3/2007 Research Profile ١٧
ARAS Research Group
• Robotic Cell Components:
• QC Arm and Indexing Table
Technical Specification
QC Arm
150 mmBelt width
GenevaMechanism
1200 mm ~ 2000 mmLength
AC MotorActuator
Indexing Table
950 KgHeight
400 mmLength
DC MotorsActuators
Industrial Projects
4/3/2007 Research Profile ١٨
ARAS Research Group
• Robotic Cell Working Clips
Industrial Projects
4/3/2007 Research Profile ١٩
ARAS Research Group
• Semi Automatic Electronic Board
Assembly Station: D&A 301
D&A301 is a semi-automatic machine for THT electronic boards assembly, with high accuracy and speed. Electrical component bins are delivered to the user, while a laser beam is projected by light head on the board in order to indicate the position of components. The control of mechanical movement of the bins, the accurate motion of the laser beam and the safety and integrity of the assembly is controlled by an IPC. A user-friendly software DAS, is developed for the system, which translates the electronic board design into a categorized assembling code for the system
Industrial Projects
4/3/2007 Research Profile ٢٠
ARAS Research Group
• D&A 301 Components:
DAS Software
DAS software is designed to provide a quick and efficient way for assembly program construction.Features:•File import option for PCB design software •Advanced propriety editor for board components •Customizable board viewer •Six different sorting methods •Assembly simulation of written program
Industrial Projects
4/3/2007 Research Profile ٢١
ARAS Research Group
• D&A 301 Components:
Mechanism
The Assembly station consists of 120 bins, in which every 8 bins are placed on a container called "magazine". The mechanism of the bins is designed in such a way that the bins are delivered to the user with two dimensional movement in the least possible period of time. In this mechanism two stepper motors are used as actuators.
Industrial Projects
4/3/2007 Research Profile ٢٢
ARAS Research Group
• D&A 301 Components:
Control Scheme
• Great Accuracy:Cooperation of a microcontroller (online control) and an IPC (supervisory control).
• Pleasant GUI:Touch screen LCD.
Industrial Projects
4/3/2007 Research Profile ٢٣
ARAS Research Group
• Semi Automatic Electronic Board
Assembly Station: D&A 301
Industrial Projects
Technical Specification
220 VInput Voltage
54 Kg weight
% 98Repeatability
0.2 mmLight accuracy
120No. of Bins
Automatic from ProtelDrawing inputs
Touch Screen LCDUser Interface
Stepper MotorsActuators
LaserGuiding Light
4/3/2007 Research Profile ٢٤
ARAS Research Group
• Assembly Station: Mechanism Motion Clips
Industrial Projects
4/3/2007 Research Profile ٢٥
ARAS Research Group
• Assembly Station: Performance clips
Industrial Projects
4/3/2007 Research Profile ٢٦
ARAS Research Group
• Assembly Station: Optics Performance Clips
Industrial Projects
4/3/2007 Research Profile ٢٧
ARAS Research Group
• Assembly Station: Software Performance Clips
Industrial Projects
4/3/2007 Research Profile ٢٨
ARAS Research Group
• Statistical Process Control (SPC)
Software: D&A 320
is capable of sorting and archiving data while providing statistical process control tools including control charts, calculation of statistical quantities like average and standard deviation, application of sensitivity laws and calculation of process capability ratio, CP, PP and CPK. This software is released in Persian and English languages.
Industrial Projects
4/3/2007 Research Profile ٢٩
ARAS Research Group
• D&A 320is capable of guiding the Quality Control Engineers the occurrence of any non-random problems within the production line. Many statistical tools and measures are calculated and plotted for the operator to ease up this decision. Average, standard deviation control charts, and histograms are produced by D&A SPC in a Multi Document Interface (MDI) for operator visualization.
Industrial Projects
4/3/2007 Research Profile ٣٠
ARAS Research Group
• D&A 320Stores the data in the standard data base format, ODBC . Hence, these information can be almost unlimited, and used by other data base systems. The diagrams can be exported into bmp or WMF formats. The SPC reports can be generated into html format, ready to be submitted into internet. Many sensitivity rules can be used to generically distinguish production line deviations.
Industrial Projects
4/3/2007 Research Profile ٣١
ARAS Research Group
• D&A 320Is completely secured by different access codes generated for different level of access, to ensure no loss or change of data from data base, and change of SPC settings for usual operators.
Simultaneous analysis of several data banks is possible, and D&A SPC is fully released in English and Farsi (Persian) Languages.
Industrial Projects
4/3/2007 Research Profile ٣٢
ARAS Research Group
• Automatic Piston Casting Machine:
D&A 201
Performs a gravity casting process in permanent water-cooled moulds. Mould parts and cores are automatically separated from the product after solidification. A robot manipulator transfers product to a cooling station where it is cooled by virtue of air and/or water currents. The casting machine is suitable for casting double Aluminium pistons of φ65 mm ~ φ92 mm with a core distance of 150 mm.
Industrial Projects
4/3/2007 Research Profile ٣٣
ARAS Research Group
• Automatic Piston Casting Machine:
D&A 201
Casting Process
• Double mould casting machine.• Manual operation in setup mode. • Fully automatic operation mode. • Product delivery with robot
manipulator.• Optional equipment for strut delivery.• Hydraulically driven.• Controlled by Siemens S5-115U PLC.
Industrial Projects
4/3/2007 Research Profile ٣٤
ARAS Research Group
• Automatic Piston Casting Machine:
D&A 201: Technical Data
Industrial Projects
Natural gas:1.1 m3/hAir for heating:pressure reduced air
Gas connection
Pressure:6 barsFlow:about 24 m3/h
Pneumatic connection
Pressure:5 barsFlow:about 1.2 m3/h
Water connection
Pressure:40-50 barsFlow:16 lit. per casting cycle
Hydraulic connection
Operation voltage:3x400vControl voltage:24V-/230V~Magnet valves:24V-Consumption:5 kW,rated current 9A
Electrical connections
about 3000kgWeight
Casting machine with control cabinetca. 1520 mmca. 2000 mm
DimensionsDepthWidth
4/3/2007 Research Profile ٣٥
ARAS Research Group
• D&A 201: Performance clip
Industrial Projects
4/3/2007 Research Profile ٣٦
ARAS Research Group
• Piston Pin Automatic Quality
Control Machine: D&A 310
Piston pins conform to ultra high precision and quality standards. This automatic quality control machine provides the capability of total products quality control using non-destructive testing methods. Piston pins are graded on the basis of the results of tests.
Industrial Projects
4/3/2007 Research Profile ٣٧
ARAS Research Group
• D&A 310
Main Measurement Stations:
Main measurement station of the Automatic Quality control machine are:1) Length measurement2) Diameter measurement
(diameter, Cylindricity androundness).Eddy current flaw detectionUltrasound crack detectionUltrasound thicknessmeasurement
3) Ordering and Grading Station 1
2
3
Industrial Projects
4/3/2007 Research Profile ٣٨
ARAS Research Group
• D&A 310 Components:
Length Measurement Station
In this station the
following Length of the
piston pins are measured
with high precision
pneumatic actuated
LVDT’s.
Industrial Projects
4/3/2007 Research Profile ٣٩
ARAS Research Group
• D&A 310 Components:
High precision Measurement Station
In this station the following high
precision measurements are
accomplished:
1) Sub-micron diameter measurement
2) Eddy current surface flaw detection
3) Ultrasonic crack detection
and thickness measurement
321
Industrial Projects
4/3/2007 Research Profile ٤٠
ARAS Research Group
• D&A 310 Components:
High precision Measurement Station
Industrial Projects
4/3/2007 Research Profile ٤١
ARAS Research Group
• D&A 310 Components:
Ordering and Grading Station
Due to the accuracy of the
production measured in the
measurement station, the
piston pins are graded
automatically into four
accepted categories, as well as
four required finishing, or
rejected categories by this
mechanism.
Industrial Projects
4/3/2007 Research Profile ٤٢
ARAS Research Group
• D&A 310: Performance Clips
Industrial Projects
4/3/2007 Research Profile ٤٣
ARAS Research Group
• Automatic Pipe Welding Robot:
D&A 110
Industrial Projects
is designed for automated welding of nozzles to headers used in power plant boilers. The radial welding of these pipes with different radii necessitates saddle curves tracking with adjustable dimensions. The mechanical subsystems controlled by individual micro-controllers being supervised by a central controller, provide a fully automated solution to this application, despite the geometrical limitations.
4/3/2007 Research Profile ٤٤
ARAS Research Group
• D&A 110 Mechanism description
A saddle curve is formed at the intersection of nozzle to the header. The welding torch needs three degrees of freedom to go through this curve:• A revolute movement around the nozzle (φmovement). • A prismatic movement along the nozzle axis ( Z movement). • In addition, since the nozzles have variable diameters, a third degree of freedom is used to compensate this movement which moves the torch along the nozzle radius (r movement). These three movements are supported by 3 gear groups. A general view of this mechanism is shown in the figure.
Industrial Projects
4/3/2007 Research Profile ٤٥
ARAS Research Group
• D&A 110 Mechanism description
Industrial Projects
4/3/2007 Research Profile ٤٦
ARAS Research Group
• D&A 110 Control System
Control system of automated welding machine which is equipped to a minimum system of MCS-51 microcontrollers, works as a multiprocessing system using serial communication protocol. In this system, a master controller by use of the other local (slave) controllers manages and controls actuators and welding process to accomplish a fine weld on the pipes. Also, This robot uses the MIG/MAG welding machine BDH550 to synergic control of the welding parameters. Block diagram of the control system of this robot is shown in figure.
Industrial Projects
4/3/2007 Research Profile ٤٧
ARAS Research Group
• Intelligent Pigs
R&D Projects
• Importance of Oil and Gas Pipeline monitoring and inspection
4/3/2007 Research Profile ٤٨
ARAS Research Group
• Intelligent Pigs
R&D Projects
• Intelligent pipeline defect determination: MFL
4/3/2007 Research Profile ٤٩
ARAS Research Group
• Intelligent Pigs
R&D Projects
• Intelligent pipeline defect determination: Ultrasonic Testing
4/3/2007 Research Profile ٥٠
ARAS Research Group
• Industrial IT• FCS (Field Bus Control Systems)
• Foundation Fieldbus
• Profibus
• Hart
• Modbus
• Virtual LAB
• Remote monitoring via internet
• Labview
R&D Projects
4/3/2007 Research Profile ٥١
ARAS Research Group
R&D Projects
• Industrial IT• FCS (Field Bus Control Systems)
• Physical Layers
4/3/2007 Research Profile ٥٢
ARAS Research Group
R&D Projects
• Industrial IT• Virtual Lab
• Sample
implementation
4/3/2007 Research Profile ٥٣
ARAS Research Group
• Robotic Simulators• ARAS ROBOSIM
• 3D Graphics to simulate robot
performance
• Automatic dynamical model generator
• Matlab Assist for controller design
• Tracking performance visualization
and report in html format
R&D Projects
4/3/2007 Research Profile ٥٤
ARAS Research Group
• Robotic Simulators• SimMechanics
• 3D Graphics to simulate robot performance by VR
• Automatic dynamical model generator
• Matlab Assist for controller design
• Tracking performance visualization
• And much more
• Movie Clips• Forward Kinematics
• Hydraulic Shoulder: A Parallel Manipulator
• Virtual Environment: Hydraulic Shoulder
• Virtual Environment: Serial Manipulator
R&D Projects
4/3/2007 Research Profile ٥٥
ARAS Research Group
• Redundant Hydraulic Shoulder• Biological Resemblance
R&D Projects
• Parallel• Redundant• High precision• Hydraulic
4/3/2007 Research Profile ٥٦
ARAS Research Group
• Redundant Hydraulic Shoulder: Controller Card
R&D Projects
4/3/2007 Research Profile ٥٧
ARAS Research Group
• Redundant Hydraulic Shoulder
• Forward Kinematics of a Redundant Parallel Manipulator.
• Optimal Redundancy Resolution Techniques.
• Stiffness and Singularity analysis.
• Dynamic Analysis and Graphical Simulations.
• Robust Position Control.
• Impedance Control.
R&D Projects
4/3/2007 Research Profile ٥٨
ARAS Research Group
• Flexible Joint Manipulator (FJR)• Harmonic Drive
R&D Projects
4/3/2007 Research Profile ٥٩
ARAS Research Group
• Flexible Joint Manipulator (FJR)• Harmonic Drive
• Intelligent Torque Sensor: Rosette Strain Gauges and Kalman Filter
R&D Projects
4/3/2007 Research Profile ٦٠
ARAS Research Group
• Flexible Joint Manipulator (FJR)• Impedance Control of a Flight Simulator Yoke: CAE
R&D Projects
4/3/2007 Research Profile ٦١
ARAS Research Group
• Flexible Joint Manipulator (FJR)
• 2DOF FJR Robot
R&D Projects
4/3/2007 Research Profile ٦٢
ARAS Research Group
• Flexible Joint Manipulator (FJR)
• Modeling: Singular Perturbation
• Robust Composite PID Control
• Composite-H∞ Control.
• H2/H∞ Control.
• Composite-QFT Control.
• Nonlinear H∞ Control.
• Actuator saturation avoidance: Fuzzy Supervisory Loop.
• Experimental Verification.
R&D Projects
• More experiments on the way …
4/3/2007 Research Profile ٦٣
ARAS Research Group
• Flexible Joint Manipulator (FJR)• 2DOF FJR Robot
• Robust Control of flexible-joint manipulator; singular perturbation model of fast and slow dynamics, robust composite control synthesis and stability analysis of the system.
• Composite-H∞ Controller Synthesis for Flexible Joint Robots.
• Composite-QFT Controller Synthesis for Flexible Joint Robots.
• Nonlinear H∞ Controller Synthesis for Flexible Joint Robots.
• A survey on flexible joint robot modeling and controller design methods.
• Supervisory control loop to avoid actuator saturation in flexible joint manipulators.
R&D Projects
4/3/2007 Research Profile ٦٤
ARAS Research Group
R&D Projects
Hard Disk Drive – Adaptive Robust ControlHard Disk Drive Structure
4/3/2007 Research Profile ٦٥
ARAS Research Group
R&D Projects
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eter
time ms
Hard Disk Drive – Adaptive Robust ControlHDD Performance Requirement
4/3/2007 Research Profile ٦٦
ARAS Research Group
R&D Projects
4/3/2007 Research Profile ٦٧
ARAS Research Group
R&D Projects
4/3/2007 Research Profile ٦٨
ARAS Research Group
R&D Projects
4/3/2007 Research Profile ٦٩
ARAS Research Group
0 5 10 15 20 25 30-200
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icro
met
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time ms
8 10 12 14 16 18 20 22
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eter
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R&D Projects
Hard Disk Drive – ARC Performace
4/3/2007 Research Profile ٧٠
ARAS Research Group
R&D Projects
DUAL Hard Disk Drive – ARCVoice Coil Motor
Piezzo Actuator MEMS
ARC Implementation
Promising Results
4/3/2007 Research Profile ٧١
ARAS Research Group
R&D Projects
Mobile Robots:Simultaneous Localization and Mapping (SLAM)
Extended Kalman Filter
Particle Filter
Image processing
Data association
SLAM for guidance and controlResquake Robot (3 years)
Currently 1 M.Sc. Theses
More B.Sc., M.Sc. And Ph.D. Thesis to come!
Avril
Silver
4/3/2007 Research Profile ٧٢
ARAS Research Group
R&D ProjectsCable Driven Redundant Parallel Robots
Next Generation Giant Telescopes: LAR
4/3/2007 Research Profile ٧٣
ARAS Research Group
R&D Projects
Cable Driven Redundant Parallel RobotsNext Generation Giant Telescopes: LAR
4/3/2007 Research Profile ٧٤
ARAS Research Group
R&D Projects
Cable Driven Redundant Parallel RobotsNext Generation Giant Telescopes: LAR
4/3/2007 Research Profile ٧٥
ARAS Research Group
R&D Projects
Cable Driven Redundant Parallel RobotsNext Generation Giant Telescopes: LAR
4/3/2007 Research Profile ٧٦
ARAS Research Group
R&D Projects
Cable Driven Redundant Parallel RobotsNext Generation Giant Telescopes: LAR
Eight tether redundant parallel manipulatorMacro/micro structureKinematics analysis and optimal geometry designJacobian analysisRedundancy resolution Position controller design
4/3/2007 Research Profile ٧٧
ARAS Research Group
R&D Projects
Cable Driven Redundant Parallel Robots
KNTU 6DOF CDRP Robot
Eight tether redundant parallel
manipulator
Potential industrial project:
Ultra precise 5-axis Laser trimming
machine
Currently 1 B.Sc. And 1 M.Sc. Theses
More B.Sc., M.Sc. And Ph.D. Theses to come!
4/3/2007 Research Profile ٧٨
ARAS Research Group
• For more topics and information please see
http://saba.kntu.ac.ir/eecd/taghirad
Thank You
R&D Projects
4/3/2007 Research Profile ٧٩
ARAS Research Group
:لويي پاستور گفته است
ده شويد و در هر حرفه اي که هستيد نه اجازه دهيد که به بدبينيهاي بي حاصل آلو را به يأس نه بگذاريد که برخي لحظات تأسف بار که براي هر ملتي پيش مي آيد شما
. و نااميدي بکشاند نخست از خود . در آرامش حاکم بر آزمايشگاهها و کتابخانه هايتان زندگي کنيد
سپس همچنانکه پيش مي رويد . بپرسيد که براي يادگيري و خود آموزي چه کرده ام د تا به اين بپرسيد که من براي کشورم چه کرده ام و اين پرسش را آنقدر ادامه دهي
احساس شادي بخش و هيجان انگيز برسيد که شايد سهم کوچکي در پيشرفت و . اعتالي بشريت داشته ايد
يان تالشهايمان اما هر پاداشي که زندگي به تالشهايمان بدهد يا ندهد هنگاميکه به پا : د بگوئيم نزديک مي شويم هر کداممان بايد حق آنرا داشته باشيم که با صداي بلن
.من آنچه در توان داشته ام انجام داده ام
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