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robotics and automation Roadmap: Thailand Perspectives

INTERNATIONAL JOURNAL OF automation TECHNOLOGY 2024年第6期18卷 754-763页

作者： Gerdsri, Nathasit Suksiri, Phoemsak Somjaitaweeporn, Tunyawat Sapsaman, Temsiri Mahidol Univ Coll Management 69 Vipavadi Rangsit Rd Bangkok 10400 Thailand Thai German Inst Mfg Automat & Robot Ctr Klongtamru Thailand Panyapiwat Inst Management Engn & Technol Pakkred Thailand King Mongkuts Univ Technol North Bangkok Prod & Robot Engn Dept Bangkok Thailand

robotics and automation are the key industries supporting Thailand's strategic initiatives toward Thailand 4.0. This paper presents the development of an industry roadmap guiding the future research and development of related technologies in Thailand. The roadmap project was recently conducted during 2021-2022. The strategic targets for the future development of robotics and automation in Thailand were set to increase productivity and reduce adoption cost for the short term (2022-2023);create market opportunities for AI and industrial IoT technologies with data platform for the medium term (2024-2026);and prepare the Industry 5.0 system supporting emerging applications of digital twins and metaverse for the long term (2027-2030).

关键词： robotics and automation technology roadmap roadmapping Thailand Industry 4.0

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A Suite of Ontologies for robotics and automation

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IEEE robotics & automation MAGAZINE 2017年第1期24卷 8-11页

作者： Fiorini, Sandro Rama Bermejo-Alonso, Julita Goncalves, Paulo de Freitas, Edison Pignaton Alarcos, Alberto Olivares Olszewska, Joanna Isabelle Prestes, Edson Schlenoff, Craig Ragavan, S. Veera Redfield, Signe Spencer, Bruce Li, Howard Russian Federal Nuclear Center (RFNC-VNIITF) 456770 Snezhinsk Chelyabinsk region

Reports on the formation and activities undertaken by the Ontologies for robotics and automation (ORA) Working Group. ORA was established in 2011 by the IEEE Standard Association's robotics Society. The goal of the group is to develop a standard to provide an overall ontology and associated methodology for knowledge representation and reasoning in robotics and automation together with the representation of concepts in an initial set of application domains. The standard provides a unified way of representing knowledge and provides a common set of terms and definitions, allowing for unambiguous knowledge transfer among any group of human, robots, and other artificial systems.

关键词： Ontologies robotics and automation Vocabulary Standards development Terminology

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Special Issue on Systems-Related Topics in robotics and automation for Human Health

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IEEE SYSTEMS JOURNAL 2016年第3期10卷 901-902页

作者： Azorin, Jose M. Agrawal, Sunil K. Shimoda, Shingo Miguel Hernandez Univ Elche Brain Machine Interface Syst Lab Elche Spain IEEE Robot & Automat Soc Publicat Board Piscataway NJ USA IEEE Syst Council Advisory Comm Edinburgh Midlothian Scotland Columbia Univ Dept Mech Engn & Rehabil Med New York NY USA ASME New York NY USA RIKEN Biomimet Control Res Ctr Saitama Japan RIKEN Brain Res Inst Intelligent Behav Control Unit TOYOTA Collaborat Ctr Saitama Japan

The papers in this special issue focus on systems-related applications in robotics and automation that deal with human health and services. These technologies were introduced with the goal to supplement human workers in manufacturing processes. However, these technologies are rapidly transitioning from the industrial workplace toward increasing interaction with the humans. Currently, in fact, there are many applications of robotics and automation focused on improving the human health. These technologies and systems are applied to develop, e.g., wearable robots to improve the rehabilitation of people or to augment human functions. In addition, novel human-machine interfaces are being designed to allow disabled people to interact with their environment. Computer-assisted tools are being used to plan and perform more accurate surgeries. This issue focuses on systems incorporating sensors and actuators that operate autonomously or semiautonomously in cooperation with humans. Both technologies include many aspects and attributes of complex systems and systems-of-systems.

关键词： Special issues and sections Medical services Medical robots Robots Human factors Wearable computing robotics and automation Human computer interaction

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Fatigue Life Modeling of Linear Actuators in robotics and automation

Fatigue Life Modeling of Linear Actuators in Robotics and Au...

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IEEE International Conference on Information and automation (ICIA)

作者： Meruva, Krishna Bi, Zhuming Indiana Univ Purdue Univ Dept Civil & Mech Engn Ft Wayne IN 46805 USA

ISBN: (纸本)9781509041022

The wear and fatigue life of actuators is a topic of great interest in the field of Industrial automation since linear actuators are essential components to many machine tools and robots. The fatigue life of a linear actuator closely relates to many factors such as loads lubrication, material properties, surface properties, pressure, and temperature. Therefore, the fatigue life cannot be modeled without a simultaneous consideration of solid mechanics, fluid dynamics, contact mechanics, and thermal dynamics. Despite of numerous publications in past 50 years, research is in a great demand in predicting fatigue life of linear actuators. We are motived to model and validate the fatigue life of lead screw actuators. Firstly, the theory of asperity contact and the Archard's model of sliding wear are applied to estimate the amount of wear under given circumstances. Secondly, a test platform is developed based on a standard ASTM test protocol, and the wear phenomenon at the ball-on-flat sliding is measured to validate the developed wear model. Thirdly, the finite element analysis is conducted to assess the contact stresses in the assembly model of actuators. The estimated data from three sources are merged to formulate a mathematical model in predicting the fatigue life of lead-screw actuators.

关键词： robotics and automation linear actuators fatigue life finite element analysis wear modelling

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automation of Humanitarian Demining: The 2016 Humanitarian robotics and automation Technology Challenge

Automation of Humanitarian Demining: The 2016 Humanitarian R...

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International Conference on robotics and automation for Humanitarian Applications

作者： Lino Marques Edson Prestes Sedat Dogru Jose Prado Joao Pedro Macedo Renata Neuland Mathias Mantelli Renan Maffei Raj Madhavan Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Informatics Institute Federal University of Rio Grande do Sul Humanitarian Robotics Technologies (HRT) LLC

ISBN: (纸本)9781509052042

This paper introduces the problem of detection of landmines and unexploded ordnances. This is a serious humanitarian problem affecting dozens of countries across the world. A solution using robots for cleaning affected areas would have a huge positive impact for the life of persons living there and has for long been foreseen, but this approach has its own difficulties. The paper presents a Challenge aiming to engage researchers across the world into this problem and helping to improve robotics demining. The different phases of the Humanitarian robotics and automation Technology Challenge (HRATC) are described and the progresses achieved after three years of running the Challenge are analyzed and discussed.

关键词： robotics and automation automation Humanitarian demining ANTITANK MINES robotics Robot Developing Countries Persons Demining

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Toward Generality of a Framework for Quantifying Biomechanical Stability: Demonstration on the Ankle

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IEEE ACCESS 2025年 13卷 21723-21733页

作者： Skrede, Aleksander Dalen, Andreas Fagerhaug Hellevik, Alf Inge Stavdahl, Oyvind Bye, Robin T. Norwegian Univ Sci & Technol NTNU Dept ICT & Nat Sci N-6002 Alesund Norway Alesund Hosp Trust Dept Res & Innovat N-6017 Alesund Norway Norwegian Univ Sci & Technol NTNU Dept Engn Cybernet N-7034 Trondheim Norway

This paper presents a mathematical description and experimental investigation of using an industrial robot to evaluate biomechanical stability in human cadaveric ankle specimens. We previously proposed a methodology and parameterizable task-space motion framework for biomechanical investigations of shoulders. The present study aimed to demonstrate the generality and application of our framework to replicate an ankle test protocol from the literature, and to experimentally evaluate the replicated test protocol. Stability tests in cadaveric studies can be performed by applying a known force or torque to the joint, and measuring the resulting linear or angular motion. The relative stability between joint states can be determined by comparing the magnitude of motion, for example, between the intact, injured, or surgically repaired states. Increased joint motion between states can be interpreted as decreased stability, whereas decreased joint motion can be interpreted as increased stability. Comparing the motion between different states can be used to investigate the effects of soft tissue or bony structures on stability. The replicated protocol was tested in a technical pilot study using a fresh frozen human cadaveric ankle specimen. The specimen was tested in the intact state and in three subsequent injury states. This pilot study demonstrated that the framework could successfully be parameterized to conduct tests on the ankle joint. The expected trend for subsequent injury states was progressive instability, and the observed trends from experimental testing aligned with this prior expectation. However, additional work on the framework is necessary to make it truly generalized.

关键词： Biomechanics Ankle Protocols Robots Robot kinematics Stability criteria Service robots Planning Loading Industrial robots foot force control gradient methods medical robotics orthopedic procedures robotics and automation robot kinematics robot motion torque control

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GCBF plus : A Neural Graph Control Barrier Function Framework for Distributed Safe Multiagent Control

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IEEE TRANSACTIONS ON robotics 2025年 41卷 1533-1552页

作者： Zhang, Songyuan So, Oswin Garg, Kunal Fan, Chuchu MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

Distributed, scalable, and safe control of large-scale multiagent systems is a challenging problem. In this article, we design a distributed framework for safe multiagent control in large-scale environments with obstacles, where a large number of agents are required to maintain safety using only local information and reach their goal locations. We introduce a new class of certificates, termed graph control barrier function (GCBF), which are based on the well-established control barrier function theory for safety guarantees and utilize a graph structure for scalable and generalizable distributed control of MAS. We develop a novel theoretical framework to prove the safety of an arbitrary-sized MAS with a single GCBF. We propose a new training framework GCBF+ that uses graph neural networks to parameterize a candidate GCBF and a distributed control policy. The proposed framework is distributed and is capable of taking point clouds from LiDAR, instead of actual state information, for real-world robotic applications. We illustrate the efficacy of the proposed method through various hardware experiments on a swarm of drones with objectives ranging from exchanging positions to docking on a moving target without collision. In addition, we perform extensive numerical experiments, where the number and density of agents, as well as the number of obstacles, increase. Empirical results show that in complex environments with agents with nonlinear dynamics (e.g., Crazyflie drones), GCBF+ outperforms the hand-crafted CBF-based method with the best performance by up to 20% for relatively small-scale MAS with up to 256 agents, and leading reinforcement learning (RL) methods by up to 40% for MAS with 1024 agents. Furthermore, the proposed method does not compromise on the performance, in terms of goal reaching, for achieving high safety rates, which is a common tradeoff in RL-based methods.

关键词： Safety Planning Drones Training Hardware Nonlinear dynamical systems Topology Multi-agent systems Heuristic algorithms Decentralized control Machine learning multi-agent systems neural certificates robotics and automation robot safety

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Teleoperation With Haptic Sensor-Aided Variable Impedance Control Based on Environment and Human Stiffness Estimation

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IEEE SENSORS JOURNAL 2024年第14期24卷 22168-22177页

作者： Wang, Zican Xu, Xiao Yang, Dong Guelecyuez, Basak Meng, Fanle Steinbach, Eckehard Tech Univ Munich Munich Inst Robot & Machine Intelligence MIRMI Sch Computat Informat & Technol Dept Comp EngnChair Media Technol D-80333 Munich Germany Tech Univ Dresden Ctr Tactile Internet Human In The Loop CeTI D-01187 Dresden Germany China Elect Technol Grp Corp Informat Sci Acad Beijing 100846 Peoples R China

This article proposes a novel haptic-sensor-assisted variable impedance controller (VIC) for the position-force teleoperation architecture, which measures both the environment and human operating stiffness for controller design. The VIC is widely studied and used in human-in-the-loop (HITL) applications to increase control transparency and flexibility. The stiffness adaptation strategy of the traditional VIC estimates human endpoint stiffness during task demonstrations using wearable electromyography (EMG) sensors on the operator and uses the learned stiffness profile to adjust the controller. The extra sensor complicates scalability for both experimental setups and real-world applications. In this article, we improve the performance of the teleoperation with VIC, using learning from demonstration (LfD) to generate the control strategy with human stiffness. We introduce a human stiffness estimation model that incorporates data from both haptic and robot sensors. This model generates a stiffness profile using the Gaussian mixture model (GMM) combined with Gaussian mixture regression (GMR), ensuring a comprehensive and precise representation of stiffness characteristics. To stabilize the system against the energy introduced by time-delayed communication and the VIC, time-domain passivity control (TDPA)-energy reflection (ER) is adopted to passivate the control system. For validation, vertical contact experiments with both high- and low-stiffness environments are conducted with or without time delay. The results indicate that our haptic-sensor-assisted stiffness profile successfully modifies the controller stiffness to adapt to the environments and the working situation. In addition, objective metrics such as root mean square error (RMSE) and peak signal-noise ratio (PSNR) also show that the haptic-sensor-assisted VIC improves both the signal feedback quality and the user's experience compared with traditional constant stiffness teleoperation controllers.

关键词： Sensors Robot sensing systems Haptic interfaces Robots Task analysis Electromyography Manipulators Haptic technology robotics and automation sensor applications sensor data fusion

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Development and trends of chicken farming robots in chicken farming tasks: A review

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COMPUTERS AND ELECTRONICS IN AGRICULTURE 2024年 221卷

作者： Yang, Donger Cui, Di Ying, Yibin Zhejiang Univ Coll Biosyst Engn & Food Sci Hangzhou 310058 Zhejiang Peoples R China Sci Technol Dept Zhejiang Prov Key Lab Intelligent Equipment & Robot Agr Zhejiang Hangzhou Peoples R China Minist Agr & Rural Affairs Key Lab Site Proc Equipment Agr Prod Beijing Peoples R China

Chicken farming plays a crucial role in the chicken industry. As the market demand for chicken products continues to grow, chicken farming is expanding on a larger scale to meet production needs. To address the challenges posed by the increased workload and labor shortages in chicken farming, chicken farming is transitioning towards standardization, automation, and intelligence. The rapid development of mobile robot technology offers solutions for the automated and intelligent execution of tasks in various scenarios. The automated and intelligent execution of farming tasks by robots holds significant importance in terms of liberating labor, implementing standardization and stable production, ensuring animal welfare, and enhancing production efficiency. In this review, the current situation in the chicken industry and the challenges encountered in implementing automation and intelligence in chicken farming tasks have been summarized to fully illustrate the important role of robots in the automation and intelligence of chicken farming. Based on the proposed categorization that considers the generality of robot technology, we review the application of general-purpose robotic technologies in chicken farming, such as localization, mapping, path planning, control, and interaction technology. Additionally, we explore the development of task-specific robotic technologies for various chicken farming tasks, including inspection, dead chicken picking, chicken house cleaning, and floor egg picking. Some tables are used to record and summarize certain technologies. We have identified that there are still many challenges to overcome in order to achieve mature and stable operation of robots in chicken farming. These challenges include significant technology homogeneity and a lack of attention to the characteristics of scenes and objects in chicken farming environments. To ultimately achieve the goal of an intelligent unmanned chicken farming system, future research priorities and

关键词： Agricultural robots Chicken farming tasks Chicken-robot interaction robotics and automation Smart farming

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Quantifying Passive Biomechanical Stability Using an Industrial Robot: Development and Experimental Validation of a Task Space Motion Framework

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IEEE ACCESS 2024年 12卷 29397-29413页

This paper presents a methodology and generalized motion framework for quantifying passive biomechanical stability and Range of Motion of human cadaveric specimens, using a position-controlled industrial robot and a wrist-mounted force/torque sensor. Many biomechanical studies on diarthrodial joints using human cadaveric specimens are published in the literature, using various test protocols and machines to apply the loading conditions. In these studies, laxity or mobility of the joints are quantified by measuring the magnitude of translations and rotations with respect to force and torque. The protocols and anatomical motions of the specimens are usually described high-level, textually, and from a medical perspective to a broad audience. The present paper aims to describe, from a technical perspective to a robotics audience, our method to perform biomechanical studies and how existing protocols can be replicated through parameterization using the existing textual descriptions. To accomplish this, we propose a generalized task space motion framework for performing biomechanical studies on diarthrodial joints. The generalization is made by defining the robot Tool Center Point at the cadaveric joint rotation center and aligning the specimen so the anatomical motions can be modeled in world frame or tool frame. The framework was successfully evaluated in a technical pilot study on the shoulder, using one cadaveric shoulder specimen and an established protocol from the literature. The specimen was tested in the intact state and in an injury state, with increased passive instability observed for the injury state compared to intact state.

关键词： Biomechanics Protocols Shoulder Service robots Robot kinematics Industrial robots Force control Gradient methods Medical robotics Orthopedic procedures Robot motion Torque control gradient methods medical robotics orthopedic procedures robotics and automation robot kinematics robot motion shoulder torque control

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