Robotics最新文献_第2页

Semantic 3D Reconstruction for Volumetric Modeling of Defects in Construction Sites 用于建筑工地缺陷体积建模的语义 3D 重建技术

Robotics Pub Date : 2024-07-11 DOI: 10.3390/robotics13070102

Dimitrios Katsatos, P. Charalampous, Patrick Schmidt, Ioannis Kostavelis, Dimitrios Giakoumis, Lazaros Nalpantidis, Dimitrios Tzovaras

{"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}

引用次数: 0

Analysis of Attack Intensity on Autonomous Mobile Robots 自主移动机器人攻击强度分析

Robotics Pub Date : 2024-07-10 DOI: 10.3390/robotics13070101

E. Basan, Alexander Basan, Alexey Mushenko, A. Nekrasov, Colin J. Fidge, Alexandr Lesnikov

{"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}

引用次数: 0

Robotic Animal Use among Older Adults Enrolled in Palliative or Hospice Care: A Scoping Review and Framework for Future Research 接受姑息治疗或安宁疗护的老年人使用机器人动物：范围综述与未来研究框架

Robotics Pub Date : 2024-06-14 DOI: 10.3390/robotics13060092

Allyson Miles, Noelle L. Fields, Michael Bennett, Ling Xu, Karen J. Magruder, M. K. Stringfellow, Benjamin J. Sesay, Swasati Handique

{"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}

引用次数: 0

Geometric Approach for Inverse Kinematics of the FANUC CRX Collaborative Robot FANUC CRX 协作机器人逆运动学的几何方法

Robotics Pub Date : 2024-06-14 DOI: 10.3390/robotics13060091

Manel Abbes, Gérard Poisson

{"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}

引用次数: 0

Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination 基于离散状态判别的接触传感集装箱姿态估计

Robotics Pub Date : 2024-06-13 DOI: 10.3390/robotics13060090

Daisuke Kato, Yuichi Kobayashi, Daiki Takamori, Noritsugu Miyazawa, Kosuke Hara, Dotaro Usui

引用次数: 0

Robust Adaptive-Sliding-Mode Control for Teleoperation Systems with Time-Varying Delays and Uncertainties 具有时变延迟和不确定性的远程操纵系统的鲁棒自适应滑模控制

Robotics Pub Date : 2024-06-13 DOI: 10.3390/robotics13060089

Yeong-Hwa Chang, Cheng-Yuan Yang, Hung-Wei Lin

引用次数: 0

Image-to-Image Translation-Based Deep Learning Application for Object Identification in Industrial Robot Systems 基于图像到图像平移的深度学习应用于工业机器人系统中的目标识别

Robotics Pub Date : 2024-06-02 DOI: 10.3390/robotics13060088

T. I. Erdei, Tibor Péter Kapusi, András Hajdu, G. Husi

{"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}

引用次数: 0

Robotics and AI for Precision Agriculture 机器人技术和人工智能在精准农业中的应用

Robotics Pub Date : 2024-04-20 DOI: 10.3390/robotics13040064

Giulio Reina

引用次数: 0

Safe Reinforcement Learning for Arm Manipulation with Constrained Markov Decision Process 利用受限马尔可夫决策过程进行手臂操纵的安全强化学习

Robotics Pub Date : 2024-04-18 DOI: 10.3390/robotics13040063

Patrick Adjei, Norman L. Tasfi, Santiago Gomez-Rosero, Miriam A. M. Capretz

{"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}

引用次数: 0

Designing Digital Twins of Robots Using Simscape Multibody 使用 Simscape 多体软件设计机器人数字孪生体

Robotics Pub Date : 2024-04-14 DOI: 10.3390/robotics13040062

Giovanni Boschetti, Teresa Sinico

引用次数: 0