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2023 International Conference on Frontiers of robotics and Software Engineering, FRSE 2023

作者： Wang, Yingxu Schulich School of Engineering and Hotchkiss Brain Institute University of Calgary 2500 University Drive NW CalgaryABT2N 1N4 Canada

ISBN: (纸本)9798350301113

Breakthroughs of basic research in Intelligence Science (IS) [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], Cognitive Computing (CC) [14], [15], [16], [17], [18], [19], [20], [21], [22], [22], [23], [24], [25], [26], and Cognitive Informatics (CI) [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], have triggered the emergence of Cognitive robots (CR) [39], [40], [41], [42], [43], [44], [45], [46], [47], [48], [49] towards software science (SS) [50], [51], [52], [53], [54], [55] and autonomous software engineering (SE) [56], [57], [58], [59], [60], [61], [62], [63], [64], [65], [66]. These latest advances have enabled the synergy of classical pre-programmed software engineering and pre-trained AI to an unprecedented platform of training-free machine intelligence generation mimicking human brains and Brain-Inspired Systems (BIS) [67], [68], [69], [70], [71], [72], [73], [74]. It is discovered in IS and CC in general, as well as in CR and SE in particular, that the target entities across these contemporary fields had already out of the denotational power of the classic mathematical domains of real (R) and binary (B) numbers [76]. This leads to the latest discovery that the basic unit of human knowledge as a hyperstructure [50] is a binary relation (bir) [74]. Therefore, a new framework of Intelligence Mathematics (IM) [75], [76], [77], [78], [79], [80], [81], [82], [83], [84], [85], [86], [87], [88], [89], [90], [91], [92], [93], [94], [95], [96], [97], [98], [99], [100] has been created for rigorously manipulating the cognitive entities in the brain and CRs spanning from formal concepts, semantics, knowledge, causalities, inferences, and consciousness by contemporary IMs for advancing both AI [1], [2], [3] and SE [56], [58]. This keynote lecture presents fundamental theories and ground-breaking technologies for designing and implementing cognitive robots based on AI programming (AIP) [101], [102], [103], [104], and Autonomous

关键词： robot programming

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Planning and Control for robot-Assisted Feeding System Towards the Disabled

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Journal of Shanghai Jiaotong University (Science) 2024年 1-11页

作者： Dai, Feifan Pei, Zijun Wang, Pu Chen, Weidong Institute of Medical Robotics Department of Automation Shanghai Jiao Tong University Shanghai200240 China The Seventh Affiliated Hospital Sun Yat-sen University Shenzhen Guangdong518107 China

Eating is an essential activity for the disabled with upper limb impairments, and therefore numerous feeding robots are born. However, safety and reliability are two basic elements to build trust in assistive robots. Thus, planning and control methods for a safe and reliable robot-assisted feeding system are developed. Firstly, the feeding task is expanded to include both pre-meal preparation and eating. The feeding task is then divided into five subtasks including door opening, bowl grasping and transferring, utensil fetching, food skewering, and food transferring. Meanwhile, the system is built from five levels, i.e., user interface, task planning, motion planning, control, and perception. Secondly, the feeding task is decomposed into a series of motion primitives based on a motion-centric taxonomy. Then a set of states utilizing those primitives is constructed and then a finite state machine is employed as the task manager which can regulate the workflow during the feeding task. Thirdly, a safety-oriented motion planner, a food item selector, an admittance controller, and a collision detector are depicted. Finally, experiments in the laboratory and further in a rehabilitation hospital with stroke patients are conducted. The experimental results indicate that the system is safe and reliable. (Figure presented.) © Shanghai Jiao Tong University 2024.

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Spatial-Temporal Load Balancing and Coordination of Multi-robot Stations

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2023年第4期20卷 2203-2214页

作者： Ablad, Edvin Spensieri, Domenico Bohlin, Robert Carlson, Johan S. Stromberg, Ann-Brith Fraunhofer Chalmers Res Ctr Ind Math Geometry & Mot Planning Grp S-41288 Gothenburg Sweden Chalmers Univ Technol Dept Math Sci S-41258 Gothenburg Sweden Univ Gothenburg S-41258 Gothenburg Sweden

Cycle time minimization in multi-robot manufacturing stations is computationally challenging. This is due to the many aspects that need to be accounted for, including assigning process tasks to robots, specifying robot configurations at tasks, sequencing, planning motions, and coordinating the robots to avoid collisions. Hence, to find good solutions, often some assumptions are made and/or the problem is divided into subproblems-often limiting the set of solutions with the risk of excluding the best ones. In this study, we generalize the completely disjoint solution method that challenges the so-called shortest path assumption, i.e., to let each robot use its shortest collision-free motion between any two configurations, regardless of the other robots. We devise a generalized method called spatial-temporal load balancing and coordination, which prevents robot-robot collisions by a sequence of disjoint solutions, guiding task assignments, sequences, and robot motions (path and velocity). We study both artificial and industrial instances. For some of them, our suggested method is superior to methods based on the shortest path assumption, with as much as a 28% reduction in cycle time. Moreover, for problem instances with no special structure, we establish that the shortest path assumption is often reasonable. Note to Practitioners-This work is motivated by a particular industrial problem instance of a spot-welding station with two robots and where welds are placed along the edge of a workpiece. Due to the special geometry of the instance one robot can only perform welds in the middle of the edge and the other only at the ends. As a result, if the robots use their shortest motions between welds, then waiting times are required to prevent collisions. Moreover, the tasks are too close to each other to allow for a completely disjoint solution. Hence, we suggest a method based on sequence of disjoint solutions.

关键词： robotic assembly automotive manufacturing robot programming discrete optimization generalized Voronoi diagram path planning coordination

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A framework for robotic grasping of 3D objects in a tabletop environment

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Multimedia Tools and Applications 2024年 1-30页

作者： Ansary, Sainul Islam Mishra, Atul Deb, Sankha Deb, Alok Kanti Advanced Technology Development Centre IIT Kharagpur721302 India Mechanical Mechatronics Engineering Department LNMIIT Jaipur302031 India Mechanical Engineering Department IIT Kharagpur721302 India Electrical Engineering Department IIT Kharagpur721302 India

Automatic grasping of unknown 3D objects is still a very challenging problem in robotics. Such challenges mainly originate from the limitations of perception systems and implementations of the grasp planning methods for handling arbitrary 3D objects on real robot platforms. This paper presents a complete framework for robotic grasping of unknown 3D objects in a tabletop environment. The framework comprises of a 3D perception system for obtaining the complete point cloud of the objects, followed by a module for finding the best grasp by an object-slicing based grasp planner, a module for trajectory generation for pick and place operations, and finally performing the planned grasps on a real robot platform. The proposed 3D object perception captures the complete geometry information of the target object using two depth cameras placed at different locations. A hole-filling algorithm is also proposed to quickly fill the missing data points in the captured point cloud of target object. The object-slicing based grasp planner is extended to handle the obstacles posed by the neighbouring objects on a tabletop environment. Then, the proposed framework is tested on common household objects by performing pick and place operations on a real robot fitted with an adaptive gripper. Moreover, finding the best feasible grasp in the presence of neighbouring objects is also demonstrated such as avoiding the table-top and surrounding objects. © The Author(s), under exclusive licence to Springer Science+Business Media, LLC, part of Springer Nature 2024.

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Weld Seam Recognition and Tracking with Omnidirectional Wall-Climbing robot for Spherical Tank Inspection

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Journal of Autonomous Vehicles and Systems 2025年第1期5卷 011002页

作者： Li, Jie Tu, Chunlei Xu, Fengyu Wang, Xingsong College of Automation Nanjing University of Posts and Telecommunications Nanjing210003 China Southeast University Special Equipment Safety Supervision Inspection Institute of Jiangsu Province Nanjing210036 China School of Mechanical Engineering Southeast University Jiangsu Nanjing211189 China

Weld seams of in-service pressure storage equipment, such as spherical tanks, require regular inspection to ensure safe operation. Wall-climbing robots can replace manual operations, increasing inspection efficiency and reducing maintenance costs. High precision and fast weld seam identification and tracking are beneficial for improving the automated navigation and spatial positioning of wall-climbing robots. This study proposes a weld seam recognition and tracking method with the omnidirectional wall-climbing robot for spherical tank inspection. Based on deep learning networks, the robot has a front-mounted camera to recognize weld seams and extract weld paths. Weld seam deviation data (drift angle and offset distance) were used in real time to provide feedback on the robot's relative position. For the robot to quickly correct deviations and track weld seams, a seam path-tracking controller based on sliding mode control was designed and simulated. Weld recognition experiments revealed that the robot can accurately recognize and extract weld paths, and the recognition time for each image was approximately 0.25 s. In the weld seam tracking experiments, the robot could successfully track longitudinal and transverse weld seams at different speeds (from 0.05 to 0.2 m/s). During the process of weld seam tracking, the robot angle error was kept within ±3 deg, and the maximum offset distance was less than ±35 mm. Field tests on a 3000-m3 spherical tank were conducted to verify the practicability and effectiveness of the weld seam tracking system. This robotic system can autonomously complete weld seam identification and tracking, which promotes the automation of spherical tank inspection and maintenance. Copyright © 2024 by ASME.

关键词： robot programming

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Educational robotics in Teaching programming in Primary School 5th

Educational Robotics in Teaching Programming in Primary Scho...

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5th International Conference on Recent Innovations in Computing, ICRIC 2022

作者： Stoffová, Veronika Zboran, Martin Faculty of Education of Trnava University in Trnava Trnava Slovakia Faculty of Mathematics Physics and Informatics Comenius University in Bratislava Bratislava Slovakia

ISBN: (纸本)9789811998751

Learning at Slovak primary schools in the last school years takes place in a combined form due to the COVID-19 pandemic. With the distance form of teaching, it was possible to reduce the teaching hours and omit some parts of the study plan. Parts of the subjects often omitted were tied to practical lessons in special facilities, possibly to the use of specific equipment or tools, such as laboratory exercises and experiments, building and construction of robots, programming and physical education. Teachers opted the path of least resistance and often preferred to skip such topics. According to the state educational program in elementary school, it is necessary to develop algorithmic and programming thinking. For this purpose, thematic units focused on algorithmic problem solving and programming are used. The article brings the experience of the authors from the programming of robots in elementary school, which can be equally successfully implemented face-to-face as well as remotely using real or virtual robots. To revive learning and increase its effectiveness, the authors used modern teaching aid and digital educational technologies, which have also proven themselves in the distance form of education. We used virtual and augmented reality, worked in remote laboratories and used implementation of laboratory experiments using visualized simulation models and environments and emulation techniques. The authors report on their experience of teaching programming in primary schools using programmable toys, robots and microcontrollers. Simple tools (buttons marked with symbols) and an interactive environment that offers block or icon programming are used to program the movement and control the activities of such objects—robot toys and own constructed robots. Compiling a functional program does not require high analytical and abstract thinking. The program can be easily and interactively assembled from the offered building elements. This method makes programming more fun for

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Optimizing parameters of robotic task-oriented programming via a multiphysics simulation 28

Optimizing parameters of robotic task-oriented programming v...

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28th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2023

作者： Delledonne, Michele Villagrossi, Enrico Beschi, Manuel University of Brescia Department of Mechanical and Industrial Engineering via Branze 38 Brescia25123 Italy National Research Council of Italy Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing via A. Corti 12 Milan20133 Italy

ISBN: (纸本)9798350339918

The programming complexity of industrial robots significantly limits their expansion in complex industrial applications. Consequently, research has focused extensively on the development of intuitive programming *** article proposes a framework for task-oriented programming introducing an intuitive and modular task structure. The framework provides an algorithm able to optimize the execution parameter of the tasks. A physical simulation environment allows accurate parameter optimization in a virtual environment providing feasible and safe results. Efficiency tests demonstrated the method's effectiveness, and a comparison with genetic and Bayesian -based ones have been conducted. © 2023 IEEE.

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Construction of 3D Visual Offline programming System Based on Artificial Intelligence

Construction of 3D Visual Offline Programming System Based o...

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2023 International Conference on Networking, Informatics and Computing, ICNETIC 2023

作者： Song, Meng Qin, Kunwen Song, Xuan Weifang Engineering Vocational College Shandong Weifang262500 China

ISBN: (纸本)9798350313314

AI (artificial intelligence) is an intelligent machine that is similar to human intelligence and responds accordingly. It has important application value in robotics, language recognition and image recognition, expert systems and other fields. This paper studies the development of 3D visualization OPS (Offline programming system) based on AI. The main components of the system are: geometric modeling of robot and environment, motion simulation of task, trajectory planning, program module, state detection module, user interface and communication interface, and auxiliary module. By solving the motion equation and some planning algorithms, the trajectory planning of robot joint space and Cartesian space is realized. Finally, the executable code of the robot system that has passed the program verification state detection is transmitted to the robot control system to control the movement of the industrial robot system and complete the given task. The simulation analysis shows that the algorithm of the real controller is used in the virtual controller, and the robot itself has no load, so the data of physical experiment and simulation are very close and basically consistent. The feasibility of this system can be proved by editing the robot program, executing the program and completing the simulation of the operation. © 2023 IEEE.

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Task-Level programming by Demonstration for Mobile robotic Manipulators through Human Demonstrations based on Semantic Skill Recognition 56

Task-Level Programming by Demonstration for Mobile Robotic M...

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56th International Symposium on robotics, ISR Europe 2023

作者： Mayershofer, Luisa Lehner, Peter Leidner, Daniel Albu-Schäffer, Alin XITASO GmbH Augsburg Germany Wessling Germany

ISBN: (纸本)9783800761418

The community has developed many concepts to facilitate the programming of industrial and service robots for non-expert users. Despite the increasing popularity of mobile robotic manipulators in various industries, most of the intuitive programming concepts are tailored to static manipulators. We developed a concept for novice user programming of mobile manipulators based on the Task-Level programming by Demonstration (TLPbD) approach. To transfer the approach onto the mobile system, we integrate an interface for programming tasks through human demonstration by extracting the observed skills from the camera stream of the robotic system. Our approach allows the user to adapt and parameterize the created program after the demonstration as well as to integrate the demonstrated task into a sequence of tasks. We evaluated our approach in a user study with ten participants in comparison to a standard Task-Level programming (TLP) method. With our approach, the users were on average four to five times faster in programming the specified task. In addition, we assessed the mental workload and the perceived usability and can show a significant advantage in comparison to the original TLP method. © VDE VERLAG GMBH Berlin Offenbach.

关键词： Human-robot-Interaction Mobile manipulator robot programming

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Overview of Tools for programming and Virtual Simulation of robots Within the STEM Teaching Process 1

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1st International Conference on Digital Transformation in Education and Artificial Intelligence Applications, MoStart 2023

作者： Crnokić, Boris Topić, Perica Divković, Marko Prgić, Emanuel Faculty of Mechanical Engineering Computing and Electrical Engineering University of Mostar Matice hrvatske b.b. Mostar88000 Bosnia and Herzegovina Faculty of Science and Education University of Mostar Matice hrvatske b.b. Mostar88000 Bosnia and Herzegovina

ISBN: (数字)9783031368332

ISBN: (纸本)9783031368325

robotics has proven to be a powerful learning tool, not only as a subject of study and an engineering branch, but also for general aspects of studying STEM disciplines. There are numerous areas of engineering technique and science that are included in the STEM concepts of education based on the application of robotics, such as: sensors and actuators, voice recognition, image processing, new technologies in general, the Internet of Things, smart devices, the digital world as a whole, Industry 4.0/5.0, etc. The inclusion of virtual programming environments and simulators in the teaching of robotics can eliminate many limitations, and enable a larger number of students to simultaneously have access to quality teaching at the same level. This paper presents an overview of several robotics programming environments and simulators, which can be an excellent tool for teaching STEM disciplines through programming, modeling and simulating different robots. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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