robotic library for offsite shelving facility

Submitted by Irfan adil 1DA07IT006:

Submitted by Irfan adil 1DA07IT006 An Enhanced Robotic Library System for an Off-Site Shelving Facility

Overview:

Overview As libraries provide a growing array of digital library services and resources, they continue to acquire large quantities of printed material. This combined pressure of providing electronic and print-based resources and services has led to severe space constraints for many libraries, especially academic research libraries. Consequently, many libraries have built or plan to build off-site shelving facilities to accommodate printed materials. However, given that these locations are not usually within walking distance of the main library, access to these materials, specifically the ability to browse, is greatly reduced.

Overview contd..:

Overview contd .. Libraries with such facilities offer extensive physical delivery options from these facilities, sometimes offering multiple deliveries per day. Even with such delivery options, the ability to browse in real-time remains absent.

Introduction:

Introduction The goal of the CAPM Project is to build a robotic, on demand and batch scanning system that will allow for real-time browsing of printed materials through a web interface. The user will engage the CAPM system that, in turn, will initiate a robot that will retrieve the requested item. The robot will deliver this item to another robotic system that will open the item and turn the pages automatically.

Introduction contd…:

Introduction contd … By using existing scanners, optical character recognition (OCR) software, the CAPM system will not only allow for browsing of images of text, but also for searching and analyzing of full-text generated from the images. The robot is equipped with a database system of book locations and a global map of the off-site shelving facility. After receiving a request, the robot will autonomously run along a known path to the book location and retrieve the requested item from the shelf. Then, the robot will carry the item back to the scanning station and then return to the docking station.

Robotic librarian:

Robotic librarian Front view of a column of shelf holding books A robot in the process of returning a book to the shelves

Hardware of the Robotic System:

Hardware of the Robotic System Mechanical Structure 1) Manipulator Arm System 2) l ocomotion device Navigation System

Manipulator arm system:

Manipulator arm system The manipulator arm system is used to retrieve books from bookshelf and carry them to scanning stations. VTS (vertical translation system) is used. Passive gripper is connected to the end effector of the robot manipulator. A barcode scanner is installed inside the gripper in order to recognize and ensure the precision of picking a requested item.

Motion planning of robotic arm system:

Motion planning of robotic arm system

Manipulator arm system:

Manipulator arm system Fig. showing robots manipulator arm system in action.

Robotic library:

Robotic library Bar codes are usually used to identify bookcase and some times the handling units.

Locomotion device:

Locomotion device The locomotion device is responsible for the gross motion of the robot Mobile platform: used as base to manipulator arm system. Sensors are attached to improve navigation system. Cart: attached to mobile platform. used to store the robot manipulator controller and power source.

Fig. showing locomotion device:

Fig. showing locomotion device

Navigation system:

Navigation system The robots will follow paths based on global map. The main locations are 1) Docking area 2)paths to bookshelves. 3)book destination Sensors are installed to oppose deviation from program route. Infrared sensors and sonar sensors of range 10-1067cm

Control and Software:

Control and Software Control of the VTS. Control of the Robot Manipulator Control of Mobile Platform Control Software

Control architecture:

Control architecture Figure showing Control architecture

Control architecture contd..:

Control architecture contd.. Diagram of the library robot control s.

Slide 18:

the software structure of the robot

Robots in action:

Robots in action A robotic arm retrieving an item from the shelf A stacker crane within an aisle of pallet racking

conclusion:

conclusion As robotics have provided great impact and utility within manufacturing and, increasingly, computer-assisted surgery, it is possible that similar gains will be achieved in developing digital libraries. CAPM as the best option for digitizing the vast amounts of knowledge retained in print format. Additionally, through batch scanning, CAPM will produce automatically and systematically preserved copies of printed materials.

References:

References [1] Suthakorn , J., Lee, S., Zhou, Y., Thomas, R., Choudhury , S., Chirikjian , G.S., “A Robotic Library System for an Off-Site Shelving Facility,” Proceedings of the IEEE International Conference On Robotics and Automation (ICRA) 2002 , Washington DC May 2002. [2] Hansson R., “Industrial robot lends a hand in a Swedish library”, ABB Review, No. 3, 1995, pp.16- 18. [3] Safaric , R., Jezernik , K., Calkin D.W., Parkin , R.M., “ Telerobot control via Internet,” Proceedings of the IEEE International Symposium on Industrial Electronics 1999, Vol. 1, 1999. pp. 298-303. [4] Byrd, J.S., “ARIES: A Mobile Robot Inspector,” Proc. of ANS 6th Topical on Robotics & Remote Systems , Monterey, CA, Feb. 1995. [5] http://library.csun.edu/

THANK YOU:

THANK YOU