Recent advances in robotics have enabled robots to collaborate with workers in shared, fenceless workplaces in construction and civil engineering, which can improve productivity and address labor shortages. However, t...
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Recent advances in robotics have enabled robots to collaborate with workers in shared, fenceless workplaces in construction and civil engineering, which can improve productivity and address labor shortages. However, this collaboration may lead to collisions between workers and robots. Targeting safe collaboration, this study proposes an intention-aware motion planning method for robots to avoid collisions. This method involves two novel deep networks that allow robots to anticipate the motions of workers based on inferences about workers' motion intentions. Then, a probabilistic collision-checking mechanism is developed that enables robots to estimate the collision probability with the motions of workers and generate collision-free adjustments. The results verify that the method enables robots to predict workers' intended motions 1 s in advance and generate adjustments with a collision probability of less than 5.0% during collaborative masonry tasks. This study facilitates the safe implementation of collaborative robots in construction and civil engineering.
The purpose of this WIP research paper is to explore high school STEM teachers' perspectives on teaching computer programming through games and robotics in their classes. In response to high demands for software e...
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Due to the strive towards miniaturized systems and the growing field of optical technologies, micro-assembly is becoming increasingly important. Micro-assembly is characterized by challenging processes that require su...
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This study examines the transformative potential of robotics education, specifically utilizing the open-source Arduino platform, within mechatronic engineering education. It assesses the influence of an Arduino roboti...
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Generating executable code through natural language instructions to drive robotic movements is considered a crucial step towards achieving embodied intelligence. However, in the robotics domain, the scarcity of progra...
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This Research Full paper explores teachers' perceptions of how VEX robotics programming courses influence secondary education students' programming learning motivation. Educational robotics is increasingly rec...
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The kinematic analysis of the patrol robot is based on Ackermann theory to derive the relationship between front wheel deflection angle, rear wheel speed and robot target speed. The fitted curve is obtained by plottin...
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Collaborative robots (cobots) have seen widespread adoption in industrial applications over the last decade. Cobots can be placed outside protective cages and are generally regarded as much more intuitive and easy to ...
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Collaborative robots (cobots) have seen widespread adoption in industrial applications over the last decade. Cobots can be placed outside protective cages and are generally regarded as much more intuitive and easy to program compared to larger classical industrial robots. However, despite the cobots' widespread adoption, their collaborative potential and opportunity to aid flexible production processes seem hindered by a lack of training and understanding from shop floor workers. Researchers have focused on technical solutions, which allow novice robot users to more easily train collaborative robots. However, most of this work has yet to leave research labs. Therefore, training methods are needed with the goal of transferring skills and knowledge to shop floor workers about how to program collaborative robots. We identify general basic knowledge and skills that a novice must master to program a collaborative robot. We present how to structure and facilitate cobot training based on cognitive apprenticeship and test the training framework on a total of 20 participants using a UR10e and UR3e robot. We considered two conditions: adaptive and self-regulated training. We found that the facilitation was effective in transferring knowledge and skills to novices, however, found no conclusive difference between the adaptive or self-regulated approach. The results demonstrate that, thanks to the proposed training method, both groups are able to significantly reduce task time, achieving a reduction of 40%, while maintaining the same level of performance in terms of position error. Note to Practitioners-This paper was motivated by the fact that the adoption of smaller, so-called collaborative robots is increasing within manufacturing but the potential for a single robot to be used flexibly in multiple places of a production seems unfulfilled. If more unskilled workers understood the collaborative robots and received structured training, they would be capable of programming the r
This paper focuses on the development of learning methods for achieving effective collaborative transportation by multiple robots in a warehouse environment. In large-scale and complex environments, it is necessary fo...
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The robot operating system 2 (ROS 2) is a widely used collection of tools and libraries for building robot applications. It is designed to be flexible and easy to use when creating complex robot systems with many inte...
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The robot operating system 2 (ROS 2) is a widely used collection of tools and libraries for building robot applications. It is designed to be flexible and easy to use when creating complex robot systems with many interacting *** its alpha version release in 2015, ROS 2 provides two options in a multithreading operating system, namely the single-threaded executor and the multithreaded executor. The single-threaded executor is starvation-free by design (i.e., every task is eventually executed) even in over-utilized systems, since the set of eligible task instances (called wait set) is only refilled once all the task instances in the wait set are executed. The multithreaded executor extends this mechanism to multiple threads that manage the wait set collaboratively. While intuitively this extension preserves the starvation-free property, and analyses for the multithreaded executor even build upon this assumption, the multithreaded executor has not been shown to be *** this work, we examine the mechanism of the multithreaded executor in ROS 2 and demonstrate that it is prone to starvation, i.e., some tasks may never be executed even in under-utilized systems. This indicates risks for multithreaded executors in the current ROS 2 design and further leads to counterexamples to the state-of-the-art response-time analyses by Jiang et al. (RTSS 2022) and Sobhani et al. (RTAS 2023). We propose a minimal change in the software architecture of the ROS 2 multithreaded executor to enable starvation- and deadlock-free behavior. We empirically test that we prevent starvation in concrete ROS 2 system configurations, and show that our solution incurs a negligible overhead using the autoware reference benchmark. Moreover, we prove that our solution is starvation- and deadlock-free using formal proofs and model checking.
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