Article
Construction & Building Technology
Ming-Gin Lee, Yi-Shuo Huang, Yu-Cheng Kan, Wei-Chien Wang, Yung-Chih Wang, Chien-Hsing Wu
Summary: The purpose of this research is to study the experimental and theoretical calculation of flexural strengthening of concrete beams. The test results showed that both RPC and CFRP have excellent repair and retrofit potential. It was found that an RPC reinforcement material with a thickness of 2 cm and a steel fiber content of 1.0% is approximately equal to the reinforcement effect of three layers of CFRP.
Review
Polymer Science
Sayan Ganguly, Shlomo Margel
Summary: Magnetic hydrogels and soft composites have played a crucial role in the development of biomimetic soft robotics. By trapping magnetic nanoparticles inside polymeric matrices, precise control and non-cytotoxicity can be achieved. These polymeric magnetic soft materials also respond to external magnetic fields, enabling clinical applications and shape morphing behaviors.
PROGRESS IN POLYMER SCIENCE
(2022)
Article
Computer Science, Artificial Intelligence
Abtin Djavadifar, John Brandon Graham-Knight, Marian Korber, Patricia Lasserre, Homayoun Najjaran
Summary: The paper discusses the evaluation of four deep convolutional neural network models for the detection of fiber composite material boundaries and defects in the aviation industry. While good detection accuracy is achieved for gripper and fabric based on IoU scores, wrinkle detection shows lower accuracy due to geometrical ambiguities. The model is found to outperform a human operator in certain aspects and new approaches are introduced for wrinkle detection.
JOURNAL OF INTELLIGENT MANUFACTURING
(2022)
Article
Robotics
Ajinkya Bhat, Jonathan William Ambrose, Raye Chen-Hua Yeow
Summary: The development of soft robotics has led to the exploration of new techniques to manufacture soft actuators. This manuscript explores a composite design scheme using silicone polymers and 3D printed TPU to create soft pneumatic actuators. The composite actuators have the advantage of withstanding higher stress and generating high deformations at modest pressures.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Computer Science, Interdisciplinary Applications
Guangxi Wan, Xiaoting Dong, Qingwei Dong, Yunpeng He, Peng Zeng
Summary: The article shares the experience and lessons learned from participating in ARIAC 2021, where the team won 1st place in the finals. They attribute their success to an agent-based architecture, task assignment strategy, and modular software programming design method based on the Unified Modeling Language.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2022)
Review
Agriculture, Multidisciplinary
Xu Ren, Bo Huang, Hesheng Yin
Summary: With the disappearance of the demographic dividend and labor shortage due to aging population, achieving high automation in agricultural scenarios is necessary and urgent. The development of science and technology has made certain progress, with autonomous mobility platforms playing a crucial role.
COMPUTERS AND ELECTRONICS IN AGRICULTURE
(2023)
Article
Construction & Building Technology
Kathrin Dorfler, Gido Dielemans, Lukas Lachmayer, Tobias Recker, Annika Raatz, Dirk Lowke, Markus Gerke
Summary: In situ Additive Manufacturing (AM) has gained attention due to the need for productive and sustainable methods in the concrete construction industry. Mobile Additive Manufacturing (MAM) systems show potential for scalability in construction sites through the cooperation of multiple mobile robots.
CEMENT AND CONCRETE RESEARCH
(2022)
Article
Robotics
L-P Ellekilde, J. Wilm, O. W. Nielsen, C. Krogh, E. Kristiansen, G. G. Gunnarsson, T. S. Stenvang, J. Jakobsen, M. Kristiansen, J. A. Glud, M. Hannemose, H. Aanaes, J. de Kruijk, I Sveidahl, A. Ikram, H. G. Petersen
Summary: This paper presents a novel solution for precision draping of prepreg composite fabrics onto double curved molds. The contributions relate to system design, including hardware and software components, and to system integration. The essential system's components were verified individually and the entire integrated system was successfully validated through Proof-of-Concept experiments.
Article
Materials Science, Characterization & Testing
Amirreza Ardebili, Mohammadreza Farahani
Summary: This study investigated the effects of depth and dimension of separation defects on the intensity of thermal effect in carbon fiber reinforced polymer composites (CFRPs) used as repairing patches. The results showed that there is a minor difference between results obtained by thermal images and plots for both defect size and the thermal intensity in the 4 layer patch sample. As for the 8 layer sample, the defect size differences % and the thermal intensity in the interfacial layer between Al-CFRP and sixth layer in the CFRP were higher.
JOURNAL OF NONDESTRUCTIVE EVALUATION
(2022)
Article
Chemistry, Multidisciplinary
Marco Ojer, Xiao Lin, Antonio Tammaro, Jairo R. Sanchez
Summary: This paper presents an industrial bin-picking framework called PickingDK, which utilizes a plugin-based architecture to integrate various sensors, robots, tools, software, and methods. It standardizes the bin-picking process and offers different levels of control. The provided use cases demonstrate the flexibility and convenience of the PickingDK framework.
APPLIED SCIENCES-BASEL
(2022)
Article
Construction & Building Technology
Rami H. Haddad, Ali N. Harb
Summary: The study experimentally investigated the contribution of fiber reinforced polymer (CFRP) ropes to recovering mechanical performance of post-heated reinforced concrete beams. It was found that using parabolic and trapezoidal profiles resulted in the best mechanical performance, while higher damage extent had a more negative impact on repair efficiency. All beams, except those repaired with a straight profile, showed sudden shear failure upon the rupture of the CFRP ropes near their anchorage ends.
JOURNAL OF BUILDING ENGINEERING
(2021)
Article
Mechanics
Yingbo Zhu, Kongjian Shen, Alessandro Fascetti, Shui Wan, John C. Brigham, Jundong Fu
Summary: In this study, a rational rotating-angle model is proposed to predict the torsional response of damaged SBMC-CBGCSWs repaired with FRP, and the theoretical predictions are compared with experimental results. The results indicate that the proposed model accurately predicts the nonlinear behavior of the damaged structure and provides a theoretical basis for the optimal repair scheme.
COMPOSITE STRUCTURES
(2022)
Article
Mechanics
Yingbo Zhu, Kongjian Shen, Shui Wan, John C. Brigham, Alessandro Fascetti, Peng Zhou
Summary: This paper presents an externally-bonded Carbon Fiber-Reinforced Polymers (CFRP) retrofitting technique to repair the damage caused by torsion in SBMC-CBGCSWs. The experimental results show that CFRP can significantly improve the torsional performance of damaged specimens, and the torsional capacity of CFRP-repaired SBMC-CBGCSWs can be restored to 86-92% of the original specimens.
COMPOSITE STRUCTURES
(2022)
Article
Engineering, Manufacturing
Jinho Lee, Taehwa Hong, Chang-Hoon Seo, Yong Ho Jeon, Moon Gu Lee, Hyo-Young Kim
Summary: This paper discusses the application of flexible machining systems in the aircraft and automotive industries, focusing on the issues with industrial robots in terms of drilling, such as production defects caused by low stiffness.
JOURNAL OF MANUFACTURING PROCESSES
(2021)
Review
Chemistry, Multidisciplinary
Ellen Roels, Seppe Terryn, Fumiya Iida, Anton W. Bosman, Sophie Norvez, Frank Clemens, Guy Van Assche, Bram Vanderborght, Joost Brancart
Summary: Self-healing soft robots can recover completely from damage and have an extended lifetime, with various techniques used to shape complex structures. Reversible covalent and chemical cross-links provide healing abilities to soft robotic components, addressing current obstacles in soft robotics.
ADVANCED MATERIALS
(2022)
Article
Materials Science, Multidisciplinary
Claudia Pagano, Lara Rebaioli, Francesco Baldi, Irene Fassi
Summary: The study shows that the size of scaffold-like structures can significantly affect their basic mechanical properties, while the strength of the structure is primarily intrinsic.
MECHANICS OF ADVANCED MATERIALS AND STRUCTURES
(2021)
Article
Mechanics
A. Abba, C. Accorsi, P. Agnes, E. Alessi, P. Amaudruz, A. Annovi, F. Ardellier Desages, S. Back, C. Badia, J. Bagger, V. Basile, G. Batignani, A. Bayo, B. Bell, M. Beschi, D. Biagini, G. Bianchi, S. Bicelli, D. Bishop, T. Boccali, A. Bombarda, S. Bonfanti, W. M. Bonivento, M. Bouchard, M. Breviario, S. Brice, R. Brown, J. M. Calvo-Mozota, L. Camozzi, M. Camozzi, A. Capra, M. Caravati, M. Carlini, A. Ceccanti, B. Celano, J. M. Cela Ruiz, C. Charette, G. Cogliati, M. Constable, C. Crippa, G. Croci, S. Cudmore, C. E. Dahl, A. Dal Molin, M. Daley, C. Di Guardo, G. D'Avenio, O. Davignon, M. Del Tutto, J. De Ruiter, A. Devoto, P. Diaz Gomez Maqueo, F. Di Francesco, M. Dossi, E. Druszkiewicz, C. Duma, E. Elliott, D. Farina, C. Fernandes, F. Ferroni, G. Finocchiaro, G. Fiorillo, R. Ford, G. Foti, R. D. Fournier, D. Franco, C. Fricbergs, F. Gabriele, C. Galbiati, P. Garcia Abia, A. Gargantini, L. Giacomelli, F. Giacomini, F. Giacomini, L. S. Giarratana, S. Gillespie, D. Giorgi, T. Girma, R. Gobui, D. Goeldi, F. Golf, P. Gorel, G. Gorini, E. Gramellini, G. Grosso, F. Guescini, E. Guetre, G. Hackman, T. Hadden, W. Hawkins, K. Hayashi, A. Heavey, G. Hersak, N. Hessey, G. Hockin, K. Hudson, A. Ianni, C. Ienzi, V. Ippolito, C. C. James, C. Jillings, C. Kendziora, S. Khan, E. Kim, M. King, S. King, A. Kittmer, I. Kochanek, J. Kowalkowski, R. Kruecken, M. Kushoro, S. Kuula, M. Laclaustra, G. Leblond, L. Lee, A. Lennarz, M. Leyton, X. Li, P. Liimatainen, C. Lim, T. Lindner, T. Lomonaco, P. Lu, R. Lubna, G. A. Lukhanin, G. Luzon, M. MacDonald, G. Magni, R. Maharaj, S. Manni, C. Mapelli, P. Margetak, L. Martin, S. Martin, M. Martinez, N. Massacret, P. McClurg, A. B. McDonald, E. Meazzi, R. Migalla, T. Mohayai, L. M. Tosatti, G. Monzani, C. Moretti, B. Morrison, M. Mountaniol, A. Muraro, P. Napoli, F. Nati, C. R. Natzke, A. J. Noble, A. Norrick, K. Olchanski, A. Ortiz de Solorzano, F. Padula, M. Pallavicini, I. Palumbo, E. Panontin, N. Papini, L. Parmeggiano, S. Parmeggiano, K. Patel, A. Patel, M. Paterno, C. Pellegrino, P. Pelliccione, V. Pesudo, A. Pocar, A. Pope, S. Pordes, F. Prelz, O. Putignano, J. L. Raaf, C. Ratti, M. Razeti, A. Razeto, D. Reed, J. Refsgaard, T. Reilly, A. Renshaw, F. Retriere, E. Riccobene, D. Rigamonti, A. Rizzi, J. Rode, J. Romualdez, L. Russel, D. Sablone, S. Sala, D. Salomoni, P. Salvo, A. Sandoval, E. Sansoucy, R. Santorelli, C. Savarese, E. Scapparone, T. Schaubel, S. Scorza, M. Settimo, B. Shaw, S. Shawyer, A. Sher, A. Shi, P. Skensved, A. Slutsky, B. Smith, N. J. T. Smith, A. Stenzler, C. Straubel, P. Stringari, M. Suchenek, B. Sur, S. Tacchino, L. Takeuchi, M. Tardocchi, R. Tartaglia, E. Thomas, D. Trask, J. Tseng, L. Tseng, L. VanPagee, V. Vedia, B. Velghe, S. Viel, A. Visioli, L. Viviani, D. Vonica, M. Wada, D. Walter, H. Wang, M. H. L. S. Wang, S. Westerdale, D. Wood, D. Yates, S. Yue, V. Zambrano
Summary: The Mechanical Ventilator Milano (MVM) is a novel mechanical ventilator designed for the COVID-19 pandemic, operating without moving mechanical parts and only requiring compressed oxygen and medical air. It supports long-term invasive ventilation, minimizes the risk of lung trauma, and has passed extensive testing against ISO standards in the laboratory.
Article
Polymer Science
Rossella Surace, Vito Basile, Vincenzo Bellantone, Francesco Modica, Irene Fassi
Summary: This study evaluated the feasibility of an AM/mu-IM process chain by designing and fabricating mold inserts using SLA technology, which were experimentally tested. The results confirm that producing mu-IM parts with an SLA fabricated mold insert is feasible, but requires high accuracy in material selection, mold design, fabrication, and assembly.
Article
Engineering, Manufacturing
Marcello Valori, Lara Rebaioli, Valeria Marrocco, Francesco Modica, Francesco Bonelli, Giuseppe Pascazio, Vincenza Portosi, Francesco Prudenzano, Antonella Fasano, Vito Lampignano, Irene Fassi
Summary: This paper addresses the manufacturing challenges and technological solutions for prototyping microwave ablation (MWA) probes. A case study of a 14G MWA probe prototype, working at a frequency of 2.45GHz, is presented to demonstrate the design efforts and the use of rapid prototyping technologies. The experimental results show that the prototype exhibits satisfactory performance and structural reliability.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART B-JOURNAL OF ENGINEERING MANUFACTURE
(2023)
Article
Clinical Neurology
Marco Caimmi, Chiara Giovanzana, Giulio Gasperini, Franco Molteni, Lorenzo Molinari Tosatti
Summary: This study tested the immediate and sustained effects of an intervention based on robot-assisted upper-limb functional movements in reducing impairment in chronic stroke patients and preliminarily verified its effects on activity. The results showed motor benefits immediately after the intervention and at a 6-month follow-up. These encouraging findings lay the foundation for future studies to confirm the results and determine the optimal dose-response curve.
FRONTIERS IN NEUROLOGY
(2022)
Review
Biotechnology & Applied Microbiology
Giulia Beltrame, Alessandro Scano, Giorgia Marino, Andrea Peccati, Lorenzo Molinari Tosatti, Nicola Portinaro
Summary: The central nervous system simplifies motor control by sending motor commands activating groups of muscles, known as synergies. Physiological locomotion can be described as a coordinated recruitment of four to five muscle synergies. Muscle synergy analysis has been applied to developmental diseases such as cerebral palsy (CP) and Duchenne muscular dystrophy (DMD), and the findings suggest that the number and composition of synergies vary in affected individuals compared to healthy controls.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Rehabilitation
Alessandro Scano, Eleonora Guanziroli, Robert M. Mira, Cristina Brambilla, Lorenzo Molinari Tosatti, Franco Molteni
Summary: This study aimed to investigate the motor control and functional recovery mechanisms of the ipsilesional limb in hemiplegic stroke patients. The ipsilesional limb showed motor deficits, with slower movements and reduced range of motion compared to healthy controls. The energy and power outputs in the shoulder and elbow joints were also lower. Motor deficits were more severe in the acute phase and in patients with a more severe contralesional limb impairment.
FRONTIERS IN REHABILITATION SCIENCES
(2022)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Lorenzo Agostini, Marco Caselli, Giulia Avallone, Marco Fontana, Irene Fassi, Lorenzo Molinari Tosatti, Rocco Vertechy
Summary: This paper introduces a class of fully elastomeric capacitive sensors for measuring the bending angle of flexible structures. Two sensing architectures are proposed, manufactured, and tested for repeatability. The results are reported and the sensing strategies are compared and discussed.
PROCEEDINGS OF ASME 2021 CONFERENCE ON SMART MATERIALS, ADAPTIVE STRUCTURES AND INTELLIGENT SYSTEMS (SMASIS2021)
(2021)
Proceedings Paper
Computer Science, Cybernetics
Jose Saenz, Irene Fassi, Gerdienke B. Prange-Lasonder, Marcello Valori, Catherine Bidard, Aske B. Lassen, Jule Bessler-Etten
Summary: Collaborative robots are being used in various new domains beyond manufacturing, such as healthcare, rehabilitation, agriculture, and logistics, which poses challenges for cobot stakeholders in terms of expertise and safety. The EU-funded project COVR has developed a free web-based Toolkit to support cobot stakeholders in understanding how to ensure the safety of collaborative robot applications.
PROCEEDINGS OF THE 2021 IEEE INTERNATIONAL CONFERENCE ON HUMAN-MACHINE SYSTEMS (ICHMS)
(2021)
Proceedings Paper
Computer Science, Artificial Intelligence
Marcello Valori, Vito Basile, Serena Ruggeri, Gianmauro Fontana, Simone Pio Negri, Jose A. Mulet Alberola, Irene Fassi
Summary: Despite the widespread use of electronic devices and consumer products integrating flexible electronics, the manual assembly process of film-based coverlays in industrial practice can affect process accuracy and cause stress and fatigue for workers. This paper proposes a vacuum-based gripper architecture for a completely automated film-coverlay assembly process, providing a detailed description of the feasible automated assembly process.
Article
Computer Science, Information Systems
Adriano Scibilia, Marcello Valori, Nicola Pedrocchi, Irene Fassi, Sebastian Herbster, Roland Behrens, Jose Saenz, Alice Magisson, Catherine Bidard, Morten Kuehnrich, Aske Bach Lassen, Kurt Nielsen
Summary: The use of collaborative robots in the industrial domain has grown significantly in recent years, raising concerns about the safety of human operators. The power and force limited modality of robots is crucial for bounding energy in collisions with humans. However, the specific procedures and measures for assessing this interaction are still unclear, leading to variability in safety assessments.
Article
Engineering, Electrical & Electronic
Vincenza Portosi, Antonella Maria Loconsole, Marcello Valori, Valeria Marrocco, Irene Fassi, Francesco Bonelli, Giuseppe Pascazio, Vito Lampignano, Antonella Fasano, Francesco Prudenzano
Summary: The study focused on designing and characterizing a low-cost mini-invasive needle applicator for hyperthermia therapy of cancer, which operates as a coaxial antenna at 2.45 GHz. Different simulations were conducted to explore various geometries, impedance matching techniques, 3D-printing materials, and radiating configurations for 14G and 16G hypodermic tube sizes. Additionally, a cooling circuit was examined to maintain healthy tissues during the ablation session, and prototypes of 14G and 16G applicators were successfully constructed.
IEEE SENSORS JOURNAL
(2021)
Article
Robotics
Marcello Valori, Adriano Scibilia, Irene Fassi, Jose Saenz, Roland Behrens, Sebastian Herbster, Catherine Bidard, Eric Lucet, Alice Magisson, Leendert Schaake, Jule Bessler, Gerdienke B. Prange-Lasonder, Morten Kuhnrich, Aske B. Lassen, Kurt Nielsen
Summary: This paper discusses a cross-domain approach towards the definition of step-by-step validation procedures for collaborative robotic applications, emphasizing the importance of safety assessment and testing in this process, and introduces some testing procedures based on safety skills developed within the framework of the European project COVR.
Review
Robotics
Jule Bessler, Gerdienke B. Prange-Lasonder, Leendert Schaake, Jose F. Saenz, Catherine Bidard, Irene Fassi, Marcello Valori, Aske Bach Lassen, Jaap H. Buurke
Summary: The assessment of rehabilitation robot safety is crucial yet challenging, with gaps in knowledge and practices. This article explores early safety assessment methods for rehabilitation robots, proposing a uniform approach based on safety skills and validation protocols. By identifying relevant hazards and linking them to safety skills, it provides a concrete starting point for safety assessment of rehabilitation robots.
FRONTIERS IN ROBOTICS AND AI
(2021)
Article
Computer Science, Interdisciplinary Applications
Shenglin Wang, Jingqiong Zhang, Peng Wang, James Law, Radu Calinescu, Lyudmila Mihaylova
Summary: In Industry 5.0, Digital Twins provide flexibility and efficiency for smart manufacturing. Deep learning techniques are used to enhance the Digital Twin framework, enabling the detection and classification of human operators and robots during the manufacturing process. The framework shows promising results in accurately detecting and classifying actions of human operators and robots in various scenarios.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yi Liu, Junpeng Qiu, Jincheng Wang, Junhe Lian, Zeran Hou, Junying Min
Summary: In this study, a double-sided robotic roller forming process was developed to form ultrahigh strength steels to thin-walled profiles. Synchronized laser heating and iterative path compensation method were used to reduce forming forces and achieve high-precision forming.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zequn Zhang, Yuchen Ji, Dunbing Tang, Jie Chen, Changchun Liu
Summary: This paper proposes a digital twin system for human-robot collaboration (HRC) that overcomes the limitations of current methods and improves the overall performance. The system includes a human mesh recovery algorithm and uncertainty estimation to enhance the system's capabilities. Experimental results demonstrate the superiority of the proposed methods over baseline methods. The feasibility and effectiveness of the HRC system are validated through a case study involving component assembly.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Junmin Park, Taehoon Kim, Chengyan Gu, Yun Kang, Joono Cheong
Summary: This paper proposes a highly reliable and accurate collision estimator for robot manipulators in human-robot collaborative environments using the Bayesian approach. By assuming robot collisions as dynamic Markov processes, the estimator can integrate prior beliefs and measurements to produce current beliefs in a recursive form. The method achieves compelling performance in collision estimation with high accuracy and no false alarms.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Meng Wang, Kaixuan Chen, Panfeng Wang, Yimin Song, Tao Sun
Summary: In this study, a novel teleoperation machining mode and control strategy were proposed to improve efficiency and accuracy in small batch production of large casting parts. By using variable motion mapping and elastic compensation, constant cutting force was achieved, and the workpiece was protected by employing forbidden virtual fixtures and movement constraints on the slave robot.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zhaoyu Li, Dong He, Xiangyu Li, Xiaoke Deng, Pengcheng Hu, Jiancheng Hao, Yue Hou, Hongyu Yu, Kai Tang
Summary: This paper presents a novel algorithm for planning a five-axis inspection path for arbitrary freeform surfaces. By converting the inspection path planning problem into a set-covering problem, the algorithm generates a near-minimum set of inspection paths that satisfy necessary constraints. Both computer simulation and physical inspection experiments confirm the effectiveness and advantages of the proposed method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hang Zhang, Wenhu Wang, Shusheng Zhang, Yajun Zhang, Jingtao Zhou, Zhen Wang, Bo Huang, Rui Huang
Summary: This paper introduces a novel framework based on deep reinforcement learning for generating machining process routes for designated parts. The framework utilizes graph representations of parts and employs convolutional graph neural networks for effective processing. Experimental results demonstrate the ability of the proposed method to generate efficient machining process routes and overcome limitations of traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Regina Kyung-Jin Lee, Hao Zheng, Yuqian Lu
Summary: Future manufacturing will witness a shift towards collaboration and compassion in human-robot relationships. To enable seamless knowledge transfer, a unified knowledge representation system that can be shared by humans and robots is essential. The Human-Robot Shared Assembly Taxonomy (HR-SAT) proposed in this study allows comprehensive assembly tasks to be represented as a knowledge graph that is understandable by both humans and robots. HR-SAT incorporates rich assembly information and has diverse applications in process planning, quality checking, and human-robot collaboration.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Jianhui He, Lefeng Gu, Guilin Yang, Yiyang Feng, Silu Chen, Zaojun Fang
Summary: This paper presents a new modular kinematic error model for collaborative robots and proposes a portable self-calibration device to improve their positioning accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hongwei Sun, Jixiang Yang, Han Ding
Summary: This paper proposes an asymmetrical FIR filter-based tool path smoothing algorithm to fully utilize the joint drive capability of robot manipulators. The algorithm considers the pose-dependent dynamics and constraints of the robot and improves motion efficiency by over 10% compared to traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Dongsheng Ge, Huan Zhao, Yiwei Wang, Dianxi Li, Xiangfei Li, Han Ding
Summary: This paper focuses on learning a stable force control policy from human demonstration during contact transients. Based on the analysis of human demonstration data, a novel human-inspired force control strategy called compliant dynamical system (CDS) is proposed. The effectiveness of the proposed method is validated through simulation and real-world experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Xuepeng Huang, Zhenzhong Wang, Lucheng Li, Qi Luo
Summary: This study models the stiffness of a robot and modifies the tool influence function (TIF) with the Preston equation in order to achieve uniform surface quality in robotic bonnet polishing (RBP) of optical components. Experimental results validate the accuracy of the modified model.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Mario D. Fiore, Felix Allmendinger, Ciro Natale
Summary: This paper presents a constraint-based programming framework for task specification and motion optimization. The framework can handle constraints on robot joint and Cartesian coordinates, as well as time dependency. It also compares with existing methods and provides numerical support through illustrative examples and case studies.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yongxue Chen, Yaoan Lu, Ye Ding
Summary: This paper presents an optimization method for directly generating a six-degree-of-freedom toolpath for robotic flank milling. By optimizing the smoothness of the toolpath and the stiffness of the robot, the efficiency, accuracy, and finish of the machining are improved.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Chungang Zhuang, Haoyu Wang, Han Ding
Summary: This article proposes an end-to-end pipeline for synchronously regressing potential object poses from an unsegmented point cloud. It extracts point pair features and uses a voting architecture for instance feature extraction, along with a 3D heatmap for clustering votes and generating center seeds. An attention voting module is also employed to adaptively fuse point-wise features into instance-wise features. The network demonstrates robustness and improved performance in pose estimation.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)