Pub Date : 2024-07-11DOI: 10.3390/robotics13070102
Dimitrios Katsatos, P. Charalampous, Patrick Schmidt, Ioannis Kostavelis, Dimitrios Giakoumis, Lazaros Nalpantidis, Dimitrios Tzovaras
The appearance of construction defects in buildings can arise from a variety of factors, ranging from issues during the design and construction phases to problems that develop over time with the lifecycle of a building. These defects require repairs, often in the context of a significant shortage of skilled labor. In addition, such work is often physically demanding and carried out in hazardous environments. Consequently, adopting autonomous robotic systems in the construction industry becomes essential, as they can relieve labor shortages, promote safety, and enhance the quality and efficiency of repair and maintenance tasks. Hereupon, the present study introduces an end-to-end framework towards the automation of shotcreting tasks in cases where construction or repair actions are required. The proposed system can scan a construction scene using a stereo-vision camera mounted on a robotic platform, identify regions of defects, and reconstruct a 3D model of these areas. Furthermore, it automatically calculates the required 3D volumes to be constructed to treat a detected defect. To achieve all of the above-mentioned technological tools, the developed software framework employs semantic segmentation and 3D reconstruction modules based on YOLOv8m-seg, SiamMask, InfiniTAM, and RTAB-Map, respectively. In addition, the segmented 3D regions are processed by the volumetric modeling component, which determines the amount of concrete needed to fill the defects. It generates the exact 3D model that can repair the investigated defect. Finally, the precision and effectiveness of the proposed pipeline are evaluated in actual construction site scenarios, featuring reinforcement bars as defective areas.
建筑物出现建筑缺陷的原因多种多样，既有设计和施工阶段的问题，也有随着建筑物生命周期的推移而产生的问题。这些缺陷需要维修，通常是在熟练劳动力严重短缺的情况下进行的。此外，这类工作往往需要大量体力，而且是在危险的环境中进行。因此，在建筑行业采用自主机器人系统变得至关重要，因为它们可以缓解劳动力短缺问题，促进安全，并提高维修和维护任务的质量和效率。因此，本研究介绍了一种端到端框架，用于在需要进行施工或维修的情况下实现滚筒任务的自动化。拟议的系统可使用安装在机器人平台上的立体视觉相机扫描施工场景，识别缺陷区域，并重建这些区域的三维模型。此外，该系统还能自动计算处理检测到的缺陷所需的 3D 体积。为了实现上述所有技术手段，开发的软件框架采用了分别基于 YOLOv8m-seg、SiamMask、InfiniTAM 和 RTAB-Map 的语义分割和三维重建模块。此外，体积建模组件会对分割后的三维区域进行处理，以确定填补缺陷所需的混凝土量。它生成的精确三维模型可以修复所调查的缺陷。最后，在以钢筋为缺陷区域的实际施工现场场景中，对拟议管道的精度和有效性进行了评估。
{"title":"Semantic 3D Reconstruction for Volumetric Modeling of Defects in Construction Sites","authors":"Dimitrios Katsatos, P. Charalampous, Patrick Schmidt, Ioannis Kostavelis, Dimitrios Giakoumis, Lazaros Nalpantidis, Dimitrios Tzovaras","doi":"10.3390/robotics13070102","DOIUrl":"https://doi.org/10.3390/robotics13070102","url":null,"abstract":"The appearance of construction defects in buildings can arise from a variety of factors, ranging from issues during the design and construction phases to problems that develop over time with the lifecycle of a building. These defects require repairs, often in the context of a significant shortage of skilled labor. In addition, such work is often physically demanding and carried out in hazardous environments. Consequently, adopting autonomous robotic systems in the construction industry becomes essential, as they can relieve labor shortages, promote safety, and enhance the quality and efficiency of repair and maintenance tasks. Hereupon, the present study introduces an end-to-end framework towards the automation of shotcreting tasks in cases where construction or repair actions are required. The proposed system can scan a construction scene using a stereo-vision camera mounted on a robotic platform, identify regions of defects, and reconstruct a 3D model of these areas. Furthermore, it automatically calculates the required 3D volumes to be constructed to treat a detected defect. To achieve all of the above-mentioned technological tools, the developed software framework employs semantic segmentation and 3D reconstruction modules based on YOLOv8m-seg, SiamMask, InfiniTAM, and RTAB-Map, respectively. In addition, the segmented 3D regions are processed by the volumetric modeling component, which determines the amount of concrete needed to fill the defects. It generates the exact 3D model that can repair the investigated defect. Finally, the precision and effectiveness of the proposed pipeline are evaluated in actual construction site scenarios, featuring reinforcement bars as defective areas.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141656272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-10DOI: 10.3390/robotics13070101
E. Basan, Alexander Basan, Alexey Mushenko, A. Nekrasov, Colin J. Fidge, Alexandr Lesnikov
Autonomous mobile robots (AMRs) combine a remarkable combination of mobility, adaptability, and an innate capacity for obstacle avoidance. They are exceptionally well-suited for a wide range of applications but usually operate in uncontrolled, non-deterministic environments, so the analysis and classification of security events are very important for their safe operation. In this regard, we considered the influence of different types of attacks on AMR navigation systems to subdivide them into classes and unified the effect of attacks on the system through their level of consequences and impact. Then, we built a model of an attack on a system, taking into account five methods of attack implementation and identified the unified response thresholds valid for any type of parameter, which allows for creating universal correlation rules and simplifies this process, as the trigger threshold is related to the degree of impact that the attack has on the finite subsystem. Also, we developed a methodology for classifying incidents and identifying key components of the system based on ontological models, which makes it possible to predict risks and select the optimal system configuration. The obtained results are important in the context of separating different types of destructive effects based on attack classes. Our study showed that it is sometimes difficult to divide spoofing attacks into classes by assessing only one parameter since the attacker can use a complex attack scenario, mixing the stages of the scenarios. We then showed how adding an attack intensity factor can make classification more flexible. The connections between subsystems and parameters, as well as the attack impact patterns, were determined. Finally, a set of unique rules was developed to classify destructive effects with uniform response thresholds for each parameter. In this case, we can increase the number of parameters as well as the type of parameter value.
自主移动机器人（AMR）集出色的移动性、适应性和与生俱来的避障能力于一身。它们非常适合广泛的应用，但通常在不受控制的非确定性环境中运行，因此安全事件的分析和分类对其安全运行非常重要。为此，我们考虑了不同类型的攻击对 AMR 导航系统的影响，将其细分为不同类别，并通过其后果和影响程度统一了攻击对系统的影响。然后，我们建立了一个攻击系统的模型，考虑了五种攻击实施方法，并确定了适用于任何类型参数的统一响应阈值，这样就可以创建通用的相关规则并简化这一过程，因为触发阈值与攻击对有限子系统的影响程度相关。此外，我们还根据本体论模型开发了一种对事件进行分类和识别系统关键组件的方法，从而可以预测风险并选择最佳系统配置。在根据攻击类别区分不同类型的破坏性影响方面，所获得的结果非常重要。我们的研究表明，只评估一个参数有时很难将欺骗性攻击划分为不同的类别，因为攻击者可以使用复杂的攻击场景，混合场景的各个阶段。我们随后展示了添加攻击强度因子如何使分类更加灵活。我们确定了子系统和参数之间的联系以及攻击影响模式。最后，我们制定了一套独特的规则，用于对破坏性影响进行分类，每个参数都有统一的响应阈值。在这种情况下，我们可以增加参数的数量以及参数值的类型。
{"title":"Analysis of Attack Intensity on Autonomous Mobile Robots","authors":"E. Basan, Alexander Basan, Alexey Mushenko, A. Nekrasov, Colin J. Fidge, Alexandr Lesnikov","doi":"10.3390/robotics13070101","DOIUrl":"https://doi.org/10.3390/robotics13070101","url":null,"abstract":"Autonomous mobile robots (AMRs) combine a remarkable combination of mobility, adaptability, and an innate capacity for obstacle avoidance. They are exceptionally well-suited for a wide range of applications but usually operate in uncontrolled, non-deterministic environments, so the analysis and classification of security events are very important for their safe operation. In this regard, we considered the influence of different types of attacks on AMR navigation systems to subdivide them into classes and unified the effect of attacks on the system through their level of consequences and impact. Then, we built a model of an attack on a system, taking into account five methods of attack implementation and identified the unified response thresholds valid for any type of parameter, which allows for creating universal correlation rules and simplifies this process, as the trigger threshold is related to the degree of impact that the attack has on the finite subsystem. Also, we developed a methodology for classifying incidents and identifying key components of the system based on ontological models, which makes it possible to predict risks and select the optimal system configuration. The obtained results are important in the context of separating different types of destructive effects based on attack classes. Our study showed that it is sometimes difficult to divide spoofing attacks into classes by assessing only one parameter since the attacker can use a complex attack scenario, mixing the stages of the scenarios. We then showed how adding an attack intensity factor can make classification more flexible. The connections between subsystems and parameters, as well as the attack impact patterns, were determined. Finally, a set of unique rules was developed to classify destructive effects with uniform response thresholds for each parameter. In this case, we can increase the number of parameters as well as the type of parameter value.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141659551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-14DOI: 10.3390/robotics13060092
Allyson Miles, Noelle L. Fields, Michael Bennett, Ling Xu, Karen J. Magruder, M. K. Stringfellow, Benjamin J. Sesay, Swasati Handique
As the population of older adults increases, there is an anticipated rise in the utilization of hospice and palliative care. Many significant advancements in technology have been used to address the unique needs of this demographic; however, an unexplored area of research is the use of robotic animals as part of end-of-life care. The purpose of this scoping review was to examine the state of the literature on robotic animal use among older adults enrolled in palliative or hospice care and to offer a framework for future research. Following a guide for scoping reviews, we identified relevant studies and then charted, collated, summarized, and reported the data. Two articles were selected for final review. The results found that decreased medication use, behavior change, and emotional benefits were potential outcomes of robotic animal use in hospice and palliative care. Perceptions of the robot and ethical considerations were also discussed. Overall, the study findings point toward the potential uses of robotic animals as part of end-of-life care, however, more empirical research is critically needed.
{"title":"Robotic Animal Use among Older Adults Enrolled in Palliative or Hospice Care: A Scoping Review and Framework for Future Research","authors":"Allyson Miles, Noelle L. Fields, Michael Bennett, Ling Xu, Karen J. Magruder, M. K. Stringfellow, Benjamin J. Sesay, Swasati Handique","doi":"10.3390/robotics13060092","DOIUrl":"https://doi.org/10.3390/robotics13060092","url":null,"abstract":"As the population of older adults increases, there is an anticipated rise in the utilization of hospice and palliative care. Many significant advancements in technology have been used to address the unique needs of this demographic; however, an unexplored area of research is the use of robotic animals as part of end-of-life care. The purpose of this scoping review was to examine the state of the literature on robotic animal use among older adults enrolled in palliative or hospice care and to offer a framework for future research. Following a guide for scoping reviews, we identified relevant studies and then charted, collated, summarized, and reported the data. Two articles were selected for final review. The results found that decreased medication use, behavior change, and emotional benefits were potential outcomes of robotic animal use in hospice and palliative care. Perceptions of the robot and ethical considerations were also discussed. Overall, the study findings point toward the potential uses of robotic animals as part of end-of-life care, however, more empirical research is critically needed.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141340439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-14DOI: 10.3390/robotics13060091
Manel Abbes, Gérard Poisson
Because they are safe and easy to use, collaborative robots are revolutionizing many sectors, including industry, medicine, and agriculture. Controlling their dynamics, movements, and postures are key points in this evolution. Inverse kinematics is then crucial for robot motion planning. In 6R serial robots, achieving a desired pose is possible with different joint combinations. In this paper, our focus lies in studying forward and, mainly, inverse kinematics of the FANUC CRX-10iA cobot, a 6R cobotic arm with a non-spherical wrist. Its specific structural parameters implies that no analytical solutions exist except for some particular situations. FANUC does not provide the complete set of inverse kinematic solutions, even when 16 solutions are possible, only 8 of them are provided in Roboguide software. Furthermore, the existing literature on joints-to-workspace mapping for CRX cobots is currently very limited. It either lacks or provides partial or inconsistent inverse kinematics analysis. We present and detail a novel fully geometric method for numerically solving inverse kinematics meeting the requirement of high precision and a fast response. This approach provides both the exact number of inverse kinematics solutions and the sets of joint angles even for singular configuration. Its effectiveness was verified through simulations using the Roboguide Software and experimentation on the actual CRX-10iA cobot. Several examples (8, 12, or 16 inverse kinematic solutions) have enabled us to validate and prove the robustness and reliability of this geometric approach.
{"title":"Geometric Approach for Inverse Kinematics of the FANUC CRX Collaborative Robot","authors":"Manel Abbes, Gérard Poisson","doi":"10.3390/robotics13060091","DOIUrl":"https://doi.org/10.3390/robotics13060091","url":null,"abstract":"Because they are safe and easy to use, collaborative robots are revolutionizing many sectors, including industry, medicine, and agriculture. Controlling their dynamics, movements, and postures are key points in this evolution. Inverse kinematics is then crucial for robot motion planning. In 6R serial robots, achieving a desired pose is possible with different joint combinations. In this paper, our focus lies in studying forward and, mainly, inverse kinematics of the FANUC CRX-10iA cobot, a 6R cobotic arm with a non-spherical wrist. Its specific structural parameters implies that no analytical solutions exist except for some particular situations. FANUC does not provide the complete set of inverse kinematic solutions, even when 16 solutions are possible, only 8 of them are provided in Roboguide software. Furthermore, the existing literature on joints-to-workspace mapping for CRX cobots is currently very limited. It either lacks or provides partial or inconsistent inverse kinematics analysis. We present and detail a novel fully geometric method for numerically solving inverse kinematics meeting the requirement of high precision and a fast response. This approach provides both the exact number of inverse kinematics solutions and the sets of joint angles even for singular configuration. Its effectiveness was verified through simulations using the Roboguide Software and experimentation on the actual CRX-10iA cobot. Several examples (8, 12, or 16 inverse kinematic solutions) have enabled us to validate and prove the robustness and reliability of this geometric approach.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141340907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In cases where vision is not sufficiently reliable for robots to recognize an object, tactile sensing can be a promising alternative for estimating the object’s pose. In this paper, we consider the task of a robot estimating the pose of a container aperture in order to select an object. In such a task, if the robot can determine whether its hand with equipped contact sensor is inside or outside the container, estimation of the object’s pose can be improved by reflecting the discrimination to the robotic hand’s exploration strategy. We propose an exploration strategy and an estimation method using discrete state recognition on the basis of a particle filter. The proposed method achieves superior estimation in terms of the number of contact actions, operation time, and stability of estimation efficiency. The pose is estimated with sufficient accuracy that the hand can be inserted into the container.
{"title":"Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination","authors":"Daisuke Kato, Yuichi Kobayashi, Daiki Takamori, Noritsugu Miyazawa, Kosuke Hara, Dotaro Usui","doi":"10.3390/robotics13060090","DOIUrl":"https://doi.org/10.3390/robotics13060090","url":null,"abstract":"In cases where vision is not sufficiently reliable for robots to recognize an object, tactile sensing can be a promising alternative for estimating the object’s pose. In this paper, we consider the task of a robot estimating the pose of a container aperture in order to select an object. In such a task, if the robot can determine whether its hand with equipped contact sensor is inside or outside the container, estimation of the object’s pose can be improved by reflecting the discrimination to the robotic hand’s exploration strategy. We propose an exploration strategy and an estimation method using discrete state recognition on the basis of a particle filter. The proposed method achieves superior estimation in terms of the number of contact actions, operation time, and stability of estimation efficiency. The pose is estimated with sufficient accuracy that the hand can be inserted into the container.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141348070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-13DOI: 10.3390/robotics13060089
Yeong-Hwa Chang, Cheng-Yuan Yang, Hung-Wei Lin
Master–slave teleoperation systems with haptic feedback enable human operators to interact with objects or perform tasks in remote environments. This paper presents a sliding-mode control scheme tailored for bilateral teleoperation systems operating in the presence of unknown uncertainties and time-varying delays. To address unknown but bounded uncertainties, adaptive laws are derived alongside controller design. Additionally, a linear matrix inequality is solved to determine the allowable bound of delays. Stability of the closed-loop system is ensured through Lyapunov–Krasovskii functional analysis. Two-degree-of-freedom mechanisms are self-built as haptic devices. Free-motion and force-perception scenarios are examined, with experimental results validating and comparing performances. The proposed adaptive-sliding-control method increases the position performance from 58.48% to 82.55% and the force performance from 83.48% to 99.77%. The proposed control scheme demonstrates enhanced position tracking and force perception in bilateral teleoperation systems.
{"title":"Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties","authors":"Yeong-Hwa Chang, Cheng-Yuan Yang, Hung-Wei Lin","doi":"10.3390/robotics13060089","DOIUrl":"https://doi.org/10.3390/robotics13060089","url":null,"abstract":"Master–slave teleoperation systems with haptic feedback enable human operators to interact with objects or perform tasks in remote environments. This paper presents a sliding-mode control scheme tailored for bilateral teleoperation systems operating in the presence of unknown uncertainties and time-varying delays. To address unknown but bounded uncertainties, adaptive laws are derived alongside controller design. Additionally, a linear matrix inequality is solved to determine the allowable bound of delays. Stability of the closed-loop system is ensured through Lyapunov–Krasovskii functional analysis. Two-degree-of-freedom mechanisms are self-built as haptic devices. Free-motion and force-perception scenarios are examined, with experimental results validating and comparing performances. The proposed adaptive-sliding-control method increases the position performance from 58.48% to 82.55% and the force performance from 83.48% to 99.77%. The proposed control scheme demonstrates enhanced position tracking and force perception in bilateral teleoperation systems.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141349364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-06-02DOI: 10.3390/robotics13060088
T. I. Erdei, Tibor Péter Kapusi, András Hajdu, G. Husi
Industry 4.0 has become one of the most dominant research areas in industrial science today. Many industrial machinery units do not have modern standards that allow for the use of image analysis techniques in their commissioning. Intelligent material handling, sorting, and object recognition are not possible with the machinery we have. We therefore propose a novel deep learning approach for existing robotic devices that can be applied to future robots without modification. In the implementation, 3D CAD models of the PCB relay modules to be recognized are also designed for the implantation machine. Alternatively, we developed and manufactured parts for the assembly of aluminum profiles using FDM 3D printing technology, specifically for sorting purposes. We also apply deep learning algorithms based on the 3D CAD models to generate a dataset of objects for categorization using CGI rendering. We generate two datasets and apply image-to-image translation techniques to train deep learning algorithms. The synthesis achieved sufficient information content and quality in the synthesized images to train deep learning algorithms efficiently with them. As a result, we propose a dataset translation method that is suitable for situations in which regenerating the original dataset can be challenging. The results obtained are analyzed and evaluated for the dataset.
工业 4.0 已成为当今工业科学最主要的研究领域之一。许多工业机械装置在调试过程中并不具备使用图像分析技术的现代标准。我们现有的机械设备无法实现智能材料处理、分拣和物体识别。因此，我们为现有的机器人设备提出了一种新颖的深度学习方法，无需修改即可应用于未来的机器人。在实施过程中，我们还为植入机器设计了需要识别的 PCB 继电器模块的 3D CAD 模型。此外，我们还利用 FDM 3D 打印技术开发并制造了用于组装铝型材的部件，专门用于分拣目的。我们还在三维 CAD 模型的基础上应用深度学习算法，利用 CGI 渲染技术生成用于分类的对象数据集。我们生成了两个数据集，并应用图像到图像的转换技术来训练深度学习算法。合成后的图像具有足够的信息含量和质量，可以有效地训练深度学习算法。因此，我们提出了一种数据集翻译方法，适用于重新生成原始数据集可能具有挑战性的情况。我们对获得的数据集结果进行了分析和评估。
{"title":"Image-to-Image Translation-Based Deep Learning Application for Object Identification in Industrial Robot Systems","authors":"T. I. Erdei, Tibor Péter Kapusi, András Hajdu, G. Husi","doi":"10.3390/robotics13060088","DOIUrl":"https://doi.org/10.3390/robotics13060088","url":null,"abstract":"Industry 4.0 has become one of the most dominant research areas in industrial science today. Many industrial machinery units do not have modern standards that allow for the use of image analysis techniques in their commissioning. Intelligent material handling, sorting, and object recognition are not possible with the machinery we have. We therefore propose a novel deep learning approach for existing robotic devices that can be applied to future robots without modification. In the implementation, 3D CAD models of the PCB relay modules to be recognized are also designed for the implantation machine. Alternatively, we developed and manufactured parts for the assembly of aluminum profiles using FDM 3D printing technology, specifically for sorting purposes. We also apply deep learning algorithms based on the 3D CAD models to generate a dataset of objects for categorization using CGI rendering. We generate two datasets and apply image-to-image translation techniques to train deep learning algorithms. The synthesis achieved sufficient information content and quality in the synthesized images to train deep learning algorithms efficiently with them. As a result, we propose a dataset translation method that is suitable for situations in which regenerating the original dataset can be challenging. The results obtained are analyzed and evaluated for the dataset.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141272812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Robotics and AI for Precision Agriculture","authors":"Giulio Reina","doi":"10.3390/robotics13040064","DOIUrl":"https://doi.org/10.3390/robotics13040064","url":null,"abstract":"To meet the rising food demand of a world population predicted to reach 9 [...]","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140679371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-18DOI: 10.3390/robotics13040063
Patrick Adjei, Norman L. Tasfi, Santiago Gomez-Rosero, Miriam A. M. Capretz
In the world of human–robot coexistence, ensuring safe interactions is crucial. Traditional logic-based methods often lack the intuition required for robots, particularly in complex environments where these methods fail to account for all possible scenarios. Reinforcement learning has shown promise in robotics due to its superior adaptability over traditional logic. However, the exploratory nature of reinforcement learning can jeopardize safety. This paper addresses the challenges in planning trajectories for robotic arm manipulators in dynamic environments. In addition, this paper highlights the pitfalls of multiple reward compositions that are susceptible to reward hacking. A novel method with a simplified reward and constraint formulation is proposed. This enables the robot arm to avoid a nonstationary obstacle that never resets, enhancing operational safety. The proposed approach combines scalarized expected returns with a constrained Markov decision process through a Lagrange multiplier, resulting in better performance. The scalarization component uses the indicator cost function value, directly sampled from the replay buffer, as an additional scaling factor. This method is particularly effective in dynamic environments where conditions change continually, as opposed to approaches relying solely on the expected cost scaled by a Lagrange multiplier.
{"title":"Safe Reinforcement Learning for Arm Manipulation with Constrained Markov Decision Process","authors":"Patrick Adjei, Norman L. Tasfi, Santiago Gomez-Rosero, Miriam A. M. Capretz","doi":"10.3390/robotics13040063","DOIUrl":"https://doi.org/10.3390/robotics13040063","url":null,"abstract":"In the world of human–robot coexistence, ensuring safe interactions is crucial. Traditional logic-based methods often lack the intuition required for robots, particularly in complex environments where these methods fail to account for all possible scenarios. Reinforcement learning has shown promise in robotics due to its superior adaptability over traditional logic. However, the exploratory nature of reinforcement learning can jeopardize safety. This paper addresses the challenges in planning trajectories for robotic arm manipulators in dynamic environments. In addition, this paper highlights the pitfalls of multiple reward compositions that are susceptible to reward hacking. A novel method with a simplified reward and constraint formulation is proposed. This enables the robot arm to avoid a nonstationary obstacle that never resets, enhancing operational safety. The proposed approach combines scalarized expected returns with a constrained Markov decision process through a Lagrange multiplier, resulting in better performance. The scalarization component uses the indicator cost function value, directly sampled from the replay buffer, as an additional scaling factor. This method is particularly effective in dynamic environments where conditions change continually, as opposed to approaches relying solely on the expected cost scaled by a Lagrange multiplier.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140688337","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-14DOI: 10.3390/robotics13040062
Giovanni Boschetti, Teresa Sinico
Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.
{"title":"Designing Digital Twins of Robots Using Simscape Multibody","authors":"Giovanni Boschetti, Teresa Sinico","doi":"10.3390/robotics13040062","DOIUrl":"https://doi.org/10.3390/robotics13040062","url":null,"abstract":"Digital twins of industrial and collaborative robots are widely used to evaluate and predict the behavior of manipulators under different control strategies. However, these digital twins often employ simplified mathematical models that do not fully describe their dynamics. In this paper, we present the design of a high-fidelity digital twin of a six degrees-of-freedom articulated robot using Simscape Multibody, a Matlab toolbox that allows the design of robotic manipulators in a rather intuitive and user-friendly manner. This robot digital twin includes joint friction, transmission gears, and electric actuators dynamics. After assessing the dynamic accuracy of the Simscape model, we used it to test a computed torque control scheme, proving that this model can be reliably used in simulations with different aims, such as validating control schemes, evaluating collaborative functions or minimizing power consumption.","PeriodicalId":506759,"journal":{"name":"Robotics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2024-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140706796","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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