Interactive Programming System Research Articles

Development of Standalone Extended-Reality-Supported Interactive Industrial Robot Programming System

Extended reality (XR) is one of the most important technologies in developing a new generation of human–machine interfaces (HMIs). In this study, the design and implementation of a standalone interactive XR-supported industrial robot programming system using the Unity game engine is presented. The presented research aims to achieve a cross-platform solution that enables novel tools for robot programming, trajectory validation, and robot programming debugging within an extended reality environment. From a robotics perspective, key design tasks include modeling in the Unity environment based on robot CAD models and control design, which include inverse kinematics solution, trajectory planner development, and motion controller set-up. Furthermore, the integration of real-time vision, touchscreen interaction, and AR/VR headset interaction are involved within the overall system development. A comprehensive approach to integrating Unity with established industrial robot modeling conventions and control strategies is presented. The proposed modeling, control, and programming concepts, procedures, and algorithms are verified using a 6DoF robot with revolute joints. The benefits and challenges of using a standalone XR-supported interactive industrial robot programming system compared to integrated Unity–robotics development frameworks are discussed.

A virtual-physical collision detection interface for AR-based interactive teaching of robot

Abstract At present, online lead-through and offline programming methods are widely used in programming of industrial robots. However, both methods have some drawbacks for unskilled shopworkers. This paper presents an Augmented Reality (AR)-based interactive robot teaching programming system, which virtually projected the robot onto the physical industrial environment. The unskilled shopworkers can use Handheld Teaching Device (HTD) to move end-effector of virtual robot to follow endpoint of the HTD. In this way, the path of the virtual robot can be planned or tested interactively. In addition, collisions detection between virtual robot and physical environment is key to test the feasibility of robot path. So, a method for detecting virtual-physical collisions is presented in this paper by comparing the depth values of corresponding pixels in depth image acquired by Kinect and computer-generated image in order to get collision-free paths of the virtual robot. The Quadtree model is used to accelerate the collision detection process and get distance between virtual model and physical environment. Using the AR-based interactive robot teaching programming system presented in this paper, all workers even unskilled ones in robot programming, can quickly and effectively get the collision-free robot path.

Study on the critical speeds of car’s movement with low and ultra-low profile tires in a turn

This work proposes an improved algorithm for determining the critical speeds of car’s movement with low and ultra-low profile tires in a turn, where sliding of its axles occurs and overturning. The critical speeds are determined by the characteristics of the lateral slipping calculated for their critical normal loading. On the basis of the algorithm an interactive programming system in the MATLAB environment is developed. Graphic dependencies for the radius of the turn are presented, taking into account the slip of the tires with different speeds of a car Honda Civic Aerodeck 1.5iLS with low profile tires of size185/60R14. Results have been obtained on critical speeds against sliding in the front and rear axles and against the car’s overturning. Critical speed against overturning are determined in the absence of normal reactions for the inner steered wheels in a turn. The critical speeds of sliding are found to be lower than the overturning, and thus appear to be decisive.

Parametric Programming of Multi-Type Holes Using the Improved Genetic Algorithm

For path planning and program generation of multi-type holes, this paper presents a method of the path planning, by using the improved genetic algorithm based on chaos algorithm, and develops an interactive programming system for multi-type holes. Users can choose regular holes, and input the parameters and the necessary information, according to their needs. Then the system will combine holes automatically, and calculate the position coordinates of each hole. After that the path planning is carried out by using the improved genetic algorithm. Finally, the system carries out the simulation experiment of the path planning, and outputs NC program. Experiment shows the system can realize the path planning of multi-type holes by a combination of regular holes and generate the NC code after path planning. The optimization of path is better and the operation is more convenient than UG and other professional CAM software.

An approach to creation of a unified system of programming CNC machines in the dialog mode

The tendencies in the development of part programs for CNC machine tools are considered, the used programming methods are analysed, and the compatibility problem of interactive programming systems is proved. An approach is proposed with the use of canned cycles, which allows to unify the process of dialog programming for machines with CNC systems from different manufacturers. Practical aspects of creating part programs in dialog mode for machines equipped with CNC systems Siemens, Fanuc, Heidenhain, AxiOMA Control and Balt-Systems are presented.

THE TIBIAL APERTURE SURFACE ANALYSIS IN ANTERIOR CRUCIATE LIGAMENT RECONSTRUCTION PROCESS.

The tibial tunnel aperture in the anterior cruciate ligament reconstruction is usually analyzed as an ellipse, generated as an intersection between a tibial plateau and a tibial bone tunnel. The aim of this study is to show that the tibial tunnel aperture, which utilizes 3D tibial surface bone model, differs significantly from common computations which present the tibial tunnel anterior cruciate ligament aperture surface as an ellipse. An interactive program system was developed for the tibial tunnel aperture analysis which included the real tibia 3D surface bone model generated from a series of computed tomography images of ten male patients, their mean age being 25 years. In aperture calculation, the transverse drill angle of 10 degrees was used, whereas sagittal drill angles of 40 degrees, 50 degrees and 60 degrees were used with the drill-bit diameter set to 10 mm. The real 3D and 2D tibial tunnel aperture surface projection was calculated and compared with an ellipse. According to the calculations, generated 3D aperture surfaces were different for every patient even though the same drill parameters were used. For the sagittal drill angles of 40 degrees, 50 degrees and 60 degrees, the mean difference between the projected 3D and 2D area on the tibial plateau was 19.6 +/- 5.4%, 21.1 +/- 8.0% and 21.3 +/- 9.6%, respectively. The difference between the projected 3D area on the tibial plateau and ellipse surface was 54.8 +/- 16.3%, 39.6 +/- 10.4% and 25.0 +/- 8.0% for sagittal drill angles of 40 degrees, 50 degrees and 60 degrees, respectively. The tibial tunnel aperture surface area differs significantly from the ellipse surface area, which is commonly used in the anterior cruciate ligament reconstruction analysis. Inclusion of the 3D shape of the tibial attachment site in the preoperative anterior cruciate ligament reconstruction planning process can lead to a more precise individual anatomic anterior cruciate ligament reconstruction on the tibial bone. Both tibial aperture area generated in 3D and its projection on a tibial plateau are larger than the ellipse surface; therefore, individual characteristics of each patient have to be taken into consideration.

Application of Paraphrasing to Programming with Linguistic Expressions

This paper describes an interactive programming system that generates computer programs with Japanese linguistic expressions. The system is based on the idea ofprogramming by paraphrasing, which enables users with little knowledge on computer programming to make computer programs with linguistic expressions since paraphrasing is usually done in human everyday language communication. The case-based reasoning method is used for paraphrasing so that the system can obtain the meanings of unknown linguistic expressions used by users. The usefulness of the present system is confirmed by subject experiments on two text editing tasks: a bibliography formatting task and a text-to-HTML conversion task.

A compact and flexible CCD readout-system

A compact and flexible low noise control- and readout-system has been developed for a X-ray pnCCD operation. The pnCCD is a new type of CCD originally developed for applications in space for X-ray astronomy. It is designed to perform extremely fast, high resolution spectroscopy of photons in the soft X-ray and infrared region with high efficiency. All interesting parameters of the new readout system like pulse-sequencing and power-up and -down are completely controlled by a front-end system with the help of hardwired interpreters getting their programs from a supervising PC. For adaptation of other CCD devices and optimisation, these parameters can be changed interactively by the PC operator. Coupling of the front-end system to the computer is done via a fiber optic link with PCI bus-interface. A menu driven, interactive program system under Linux serves for generation of timing sequences, experiment setup, visualisation and data storage. The system allows an image repetition rate of up to 220 frames/s which is limited only by the pnCCD readout speed.

Internet tools supporting creation and management of technological environment of CAD/CAM systems

As a rule CAM systems usage requires a number of catalogues, especially in process planning. Machine tools, cutting tools, inserts and tooling catalogues are sources of data which are necessary in cutting process planning. However, the traditional form of these catalogues is not convenient any longer, when using a CAD/CAM system. Research and development works carried out in the Institute of Metal Cutting, Cracow, Poland, on a new generation of interactive part programming system KSP-OSN/WIN drew attention on the lack of technological environment, which was a significant limitation in efficient exploitation of the system. This fact became an inspiration in searching for new solutions of databases establishment by means of network-based concept. Catalogue data are divided into groups and presented in the form of HTML documents in logical sequence. These documents are reviewed by KSP-OSN user with any web browser. Technological data (tools, cutting inserts etc.) found while searching HTML documents, are available from MS Access database by KSP-OSN user.

CyberMol-A Molecular Graphics Program System on the World Wide Web Using the Common Gateway Interface.

CyberMol, an interactive molecular graphics program system on the World Wide Web (WWW) using the Common Gateway Interface (CGI) is presented. The molecular coordinates which are inputted from the WWW browser can be transferred to the Virtual Reality Modeling Language (VRML) format file and viewed as a molecular model by using a VRML viewer on the WWW. The vibrational modes calculated by the ab initio molecular orbital program GAUSSIAN 94 can be visualized. The organic molecular structure database and the search engine for displaying molecular models by using the VRML viewer are also provided.

Computer-aided selection of optimum machining parameters in multipass turning

In this paper a model and the interactive program system MECCANO2 for multiple criteria selection of optimal machining conditions in multipass turning is presented. Optimisation is done for the most important machining conditions: cutting speed, feed and depth of cut, with respect to combinations of the criteria, minimum unit production cost, minimum unit production time and minimum number of passes. The user can specify values of model parameters, criterion weights and desired tool life. MECCANO2 provides graphical presentation of results which makes it very suitable for application in an educational environment.

Special-purpose interactive programming shell for the “pole” system

The development of the theory of R-functions has stimulated the emergence of efficient numerical-analytical methods for a wide class of problems associated with physico-mechanical fields. R-functions are the basis for computer-aided level source language, which is sufficiently close to an ordinary mathematical language. Despite the powerful capabilities of the POLE family systems and the extensive support for the analysis of computation results, these systems are still not widely used in practice, as they assume a user with special mathematical qualifications. It is therefore necessary to develop special-purpose systems that do not require the user to be proficient in mathematical physics, the theory of R-functions, variational methods, etc. In other words, we need systems that are oriented toward technical-profile engineers specializing in design and calculations. In this article, we propose some principles for the construction of a special-purpose interactive programming system POLE-PLAST capable of solving problems in the mechanics of deformable solids of complex shape. As the specific application domain for the description of the system we have chosen problems that deal with bending, stability, and vibration of elements of thin-walled constructions modeled by thin plates.

An interactive programming system for milling contours and pockets

The programming system discussed here is similar to APT in the definitions it uses. It can automatically generate CNC blocks for the machining of contours and pockets, bounded by linear and circular segments. The system uses simple trigonometry to analyse lines, circles and their intersections. This paper explains a number of algorithms for geometric definitions, elimination of redundant surfaces (thereby optimising the tool path), tool-path generation, etc. A new approach proposed in the present work, based on the construction of a triangle, has simplified the geometry for the case of a circle tangential to two other circles. A number of geometric construction methods and the selection of the milling process (climb versus conventional) for tool-path generation are explained. The system has been modified to machine tapered contour surfaces with a required draft angle.

NRCVAX – an interactive program system for structure analysis

NRCVAX is a complete system of programs, covering all aspects of crystal structure analysis from data reduction to the presentation of results. The system, which is written in a `neutral' Fortran 77, presently exists in two forms. The first runs on a VAX computer under VMS, on an 80386 PC under UNIX and under IBM VM/CMS and MVS/TSO. The second is an adaptation which runs on PC-XT, AT, PS/2 and comparable microcomputers under MS-DOS. The two versions differ somewhat in structure, but very little in code, operation or functionality except for the graphics. The many options of the programs can be selected in a highly interactive manner and because of this the system is very flexible. Most options are assigned default values, however, and it is usually safe to run the routines with a minimum of user input using the defaults. The system will accept data from a wide variety of sources and has interface routines for several other systems. Graphics in the VAX/UNIX version are based on the widely available Tektronix 4000 series protocol, while the microcomputer version supports most common display adapters. It is also possible to prepare files for a variety of plotters, dot-matrix printers and laser printers. Source code is distributed and it should not be difficult to adapt the system to any computer with virtual memory and a Fortran 77 compiler.

Interactive program system for integration of reaction rate equations

93. The authors describe here a Pascal-language kinetics rate law integration package for the desktop microcomputer.

Multiprocessor Smalltalk: a case study of a multiprocessor-based programming environment

We have adapted an interactive programming system (Smalltalk) to a multiprocessor (the Firefly). The task was not as difficult as might be expected, thanks to the application of three basic strategies: serialization, replication, and reorganization. Serialization of access to resources disallows concurrent access. Replication provides multiple instances of resources when they cannot or should not be serialized. Reorganization allows us to restructure part of the system when the other two strategies cannot be applied. We serialized I/O, memory allocation, garbage collection, and scheduling, we replicated the interpreter process, software caches, and a free-list, and we reorganized portions of the scheduling system to deal with some deep-seated assumptions. Our changes yielded a fairly low static overhead. We attribute our success to the choice of a small, flexible operating system, a set of constraints which simplified the problem, and the versality of the three strategies for dealing with concurrency. The current system has a moderate amount of overhead when parallelism is being used—25% to 65%. It is acceptable, but we believe it can be improved.

Man-machine theorem proving in graph theory

The interactive programming system GRAPH for the classification and extension of knowledge in the field of graph theory has been implemented during the period 1980–1984 at the University of Belgrade, Faculty of Electrical Engineering. The system consists of a computerized graph theory bibliography, a system for graph theoretic algorithms and a mechanical theorem prover. This paper describes the theorem prover of the system at a conceptual level and reports first experiences with this system. Important characteristics of the prover are: a special formalization of graph theory, a new way of handling definition instantiations and rewriting by lemmas, and the possibility of using graph theoretic algorithms to test the validity of subgoals on concrete graphs. A complexity measure of a formula is introduced to help the selection of a proper definition or lemma.

A Generator for Syntax‐Directed Programming Systems

AbstractThis paper describes a syntax‐directed programming system SPSG. SPSG generates automatically the interactive programming system from the formal specifications. The programming system provides an integrated programming environment, including the syntax‐directed editor, the interpreter with debugging functions and the compiler, utilizing the syntax structure of the programming language. A new parsing method XLALR(1) (and XSLR(1)) is proposed in SPSG to reconstruct the syntax tree efficiently during text‐editing. By utilizing this method, the syntax‐directed editing and the text‐based editing of the syntax editor can be performed simultaneously, which has been considered as difficult. Using SPSG, a PL/O‐like small‐scale language and a programming system for Pascal were generated, used and evaluated. The results indicated that the method adopted in the proposed system is useful and practical.

Analysis of computer-simulated tilted-beam images of grain boundaries

It is well known for perfect crystals, that tilting the beam can lead to an improvement in resolution, over axial illumination lattice images, particularly when the direct and diffracted beam are equally inclined to the microscope optical axis. The origin of the fringe structures observed in tilted beam electron micrographs of amorphous materials can also be explained in terms of phase contrast imaging theory which likewise applies to tilted beam images of crystalline materials. The present author has described a system of interactive computer programs used in conjunction with a digital television frame store which can, amongst other capabilities, compute tilted beam electron micrographs of any structure model seen in projection, i.e. weak phase objects. Separate multislice computations of (001) tilt boundaries for the Σ = 41, (910) and Σ = 5, (210) misorientations in Au have also been presented where the resolution required to form good lattice images was dealt with for both 200 and 400 keV microscopes under axial illumination conditions.

An interactive fuzzy programming system

An interactive system is introduced which supports a decision maker in solving programming models with crisp or fuzzy constraints and crisp or fuzzy goals. One part of the system is the determination of membership functions representing goals. To this purpose fuzzy extreme solutions are computed and are presented to the decision maker. These and each of the proposed compromise solutions are fuzzy-efficient.