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International Conference on Control, Automation and Systems ( ICCAS)

作者： Tomáš Jochman Václav Voltr Ondřej Švec Václav Kubáček Pavel Burget Václav Hlaváč Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9788993215380

ISBN: (纸本)9798331517939

In robotic multi-axis additive manufacturing, achieving high precision and consistency is crucial. This paper presents a comprehensive calibration procedure and optimization strategy for process parameters in a filament-based extruder mounted on an industrial robot. A digital twin of the manufacturing setup is utilized to simulate and validate the process, enabling precise adjustments and automation of code generation for robotic operations. Experimental calibration artifacts are produced and measured to verify the effectiveness of the proposed approach, highlighting the impact of variables such as hot-end temperature, layer height, and tool center point velocity on print quality. A laser tracker is employed to ensure precise measurement of calibration artifacts, enhancing the accuracy of the calibration process. The results highlight the potential for advancements in the precision and reliability of multi-axis additive manufacturing processes through systematic calibration and optimization, enabling the stable production of complex 3D-printed structures and reduced production waste.

关键词： Temperature measurement Accuracy Systematics Service robots Production Three-dimensional printing Calibration Manufacturing Robots Optimization

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Integrating Augmented Reality within Digital Twins for Smart Robotic Manufacturing Systems

Integrating Augmented Reality within Digital Twins for Smart...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Toméš Jochman Václav Voltr Václav Kubáček Ondřej Švec Pavel Burget Václav Hlaváč Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

This paper explores the integration of augmented reality into robotic manufacturing systems, emphasizing the enhancement of connectivity, real-time data processing, and interactive visual interfaces. Utilizing Hololens 2 headsets equipped with OPC UA clients, the system establishes a direct interface between operators and the digital and physical components of the manufacturing environment. The architecture employs augmented reality to facilitate sophisticated operational control and visualization, ranging from robotic additive manufacturing to complex tasks like robotic sanding and screwing with integrated camera systems. This integration showcases significant advancements in manufacturing processes, allowing operators to engage interactively with the systems, optimize workflows, and improve overall precision and efficiency in a smart factory setting.

关键词： Visualization Manufacturing processes Robot vision systems Cameras Real-time systems User experience Manufacturing Workstations Robots Augmented reality

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Camera Pose Estimation from Bounding Boxes

Camera Pose Estimation from Bounding Boxes

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Vaclav Vavra Torsten Sattler Zuzana Kukelova FEE CTU Visual Recognition Group Prague CTU Czech Institute of Informatics Robotics and Cybernetics Prague

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Visual localization is an important part of many interesting applications, including robotics. The dominant localization strategy is to estimate the camera pose from 2D-3D matches between 2D pixel positions and 3D points. Yet, such approaches can be quite memory intensive and can lead to privacy risks. An interesting alternative to point-based matches is to use higher-level primitives for pose estimation. Consequently, this work investigates using correspondences between 2D and 3D bounding boxes for camera pose estimation. The resulting scene representation is compact and poses fewer privacy risks. In this setting, there are typically orders of magnitude fewer matches available compared to classical feature-based methods. In addition, the available correspondences are significantly more noisy. We investigate multiple strategies based on converting bounding box correspondences to point correspondences and propose a novel and simple 2-point camera absolute pose solver (DP2P) that exploits the fact that the depths of the objects can be approximated from the sizes of their bounding boxes.

关键词： Location awareness Privacy Visualization Solid modeling Three-dimensional displays Pose estimation Robot vision systems Cameras Noise measurement Intelligent robots

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Planning Domain Model Acquisition from State Traces without Action Parameters 21

Planning Domain Model Acquisition from State Traces without ...

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21st International Conference on Principles of Knowledge Representation and Reasoning, KR 2024

作者： Balyo, Tomáš Suda, Martin Chrpa, Lukáš Šafránek, Dominik Gocht, Stephan Dvořák, Filip Barták, Roman Youngblood, G. Michael Filuta AI Inc. 1606 Headway Cir STE 9145 AustinTX78754 United States Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic Center for Theoretical Physics of Complex Systems Institute for Basic Science Daejeon Korea Republic of Faculty of Mathematics and Physics Charles University Prague Czech Republic

ISBN: (纸本)9781956792058

Existing planning action domain model acquisition approaches consider different types of state traces from which they learn. The differences in state traces refer to the level of observability of state changes (from full to none) and whether the observations have some noise (the state changes might be inaccurately logged). However, to the best of our knowledge, all the existing approaches consider state traces in which each state change corresponds to an action specified by its name and all its parameters (all objects that are relevant to the action). Furthermore, the names and types of all the parameters of the actions to be learned are given. These assumptions are too strong. In this paper, we propose a method that learns action schema from state traces with fully observable state changes but without the parameters of actions responsible for the state changes (only action names are part of the state traces). Although we can easily deduce the number (and names) of the actions that will be in the learned domain model, we still need to deduce the number and types of the parameters of each action alongside its precondition and effects. We show that this task is at least as hard as graph isomorphism. However, our experimental evaluation on a large collection of IPC benchmarks shows that our approach is still practical as the number of required parameters is usually small. Compared to the state-of-the-art learning tools SAM and Extended SAM our new algorithm can provide better results in terms of learning action models more similar to reference models, even though it uses less information and has fewer restrictions on the input traces. © 2024 Proceedings of the International Conference on Knowledge Representation and Reasoning. All rights reserved.

关键词： Knowledge representation

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Bridging the Gap: Digital Twin Integration and Evaluation in Robotic Multi-Axis Additive Manufacturing

Bridging the Gap: Digital Twin Integration and Evaluation in...

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IEEE International Conference on Industrial informatics (INDIN)

作者： Tomáš Jochman Václav Voltr Václav Kubáček Ondřej Švec Pavel Burget Václav Hlaváč Department of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague Czech Republic

ISBN: (数字)9798331527471

ISBN: (纸本)9798331527488

This study aims to integrate and evaluate digital twin technology with robotic multi-axis additive manufacturing to bridge the gap between virtual planning and physical execution, enhancing the precision and efficiency of manufacturing processes. A laser tracker is employed to calibrate the machine workspace and tools and introduce a comprehensive system involving an industrial robot with a filament extruder head and a rotary-tilt positioner. The digital twin not only encapsulates the geometric and operational intricacies of the multi-axis additive manufacturing process but also automates code generation for robotic operations. The application of this methodology is demonstrated through the production of two complex parts, where their dimensional fidelity is assessed to evaluate the precision limits and potential of digital twin technology in multi-axis additive manufacturing. The findings reveal significant advancements in the alignment of virtual models and physical objects, confirming the potential of digital twins to minimize deviations common in traditional manufacturing setups.

关键词： Laser theory Adaptation models Service robots Biological system modeling Scalability Production Three-dimensional printing Laser modes Digital twins Planning

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Embedded Hierarchical MPC for Autonomous Navigation

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IEEE Transactions on robotics 2025年

作者： Benders, Dennis Kohler, Johannes Niesten, Thijs Babuska, Robert Alonso-Mora, Javier Ferranti, Laura Delft University of Technology department of Cognitive Robotics CD Delft2628 Netherlands ETH Zürich Institute for Dynamic Systems and Control CH 8092 Switzerland Czech Technical University in Prague Czech Institute of Informatics Robotics and Cybernetics Czech Republic

To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory through the environment without colliding with nearby obstacles. However, the limited computation power available on typical embedded robotic systems, such as quadrotors, poses a challenge to running MPC in real time, including its most expensive tasks: constraints generation and optimization. To address this problem, we propose a novel hierarchical MPC scheme that consists of a planning and a tracking layer. The planner constructs a trajectory with a long prediction horizon at a slow rate, while the tracker ensures trajectory tracking at a relatively fast rate. We prove that the proposed framework avoids collisions and is recursively feasible. Furthermore, we demonstrate its effectiveness in simulations and lab experiments with a quadrotor that needs to reach a goal position in a complex static environment. The code is efficiently implemented on the quadrotor's embedded computer to ensure real-time feasibility. Compared to a state-of-the-art single-layer MPC formulation, this allows us to increase the planning horizon by a factor of 5, which results in significantly better performance. © 2004-2012 IEEE.

关键词： Mobile robots

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Description and evaluation of production goals

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IFAC-PapersOnLine 2023年第2期56卷 2982-2988页

作者： Pavel Hradecky Vojtech Janu Pavel Burget Tomas Jochman Tilman Becker Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Deutsches Forschungszentrum für Künstliche Intelligenz Germany

Robotic cells in industrial automation use different programming and description languages, which are typically almost hard-wired in the program solutions and do not allow a goal product to be changed easily. Using a unification description language allows focusing on the solution itself. An independent description of capabilities and intentions offers a way to allow for changing the goal and also for distributing the process to different locations. Moreover, based on the description, a knowledge model can be created to check if a solution exists for the defined goal and resource capabilities. If the knowledge model is implemented in a database, the check can be performed in a very Efficient way, which allows it to be used in real-life production scenarios. A reasoner tries to reach the solution-defined goal based on an initial state and actions following the predicates’ rules. Using the database to search only for the first possible solution, it can be checked if the defined domain model can be realized. The check can be done automatically and much faster than using a planner. In an implementation in our Testbed for Industry 4.0 at CIIRC/CTU Prague, we employ a scalable system based on a PDDL description and an automated translation to TypeDB to efficiently compute production plans for changing goals, tools and resources.

关键词： Multi-agent systems applied to industrial systems Smart factory Industry 4.0

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Towards Resilient and Sustainable Global Industrial Systems: An Evolutionary-Based Approach

arXiv

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arXiv 2025年

作者： Jirkovský, Václav Kubalík, Jiří Kadera, Petr Schirrmann, Arnd Mitschke, Andreas Zindel, Andreas Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague16000 Czech Republic Airbus Central R&T Germany

This paper presents a new complex optimization problem in the field of automatic design of advanced industrial systems and proposes a hybrid optimization approach to solve the problem. The problem is multi-objective as it aims at finding solutions that minimize CO2 emissions, transportation time, and costs. The optimization approach combines an evolutionary algorithm and classical mathematical programming to design resilient and sustainable global manufacturing networks. Further, it makes use of the OWL ontology for data consistency and constraint management. The experimental validation demonstrates the effectiveness of the approach in both single and double sourcing scenarios. The proposed methodology, in general, can be applied to any industry case with complex manufacturing and supply chain challenges. © 2025, CC BY.

关键词： Smart manufacturing

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MinBackProp - Backpropagating through Minimal Solvers

arXiv

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arXiv 2024年

作者： Sungatullina, Diana Pajdla, Tomas Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

We present an approach to backpropagating through minimal problem solvers in end-to-end neural network training. Traditional methods relying on manually constructed formulas, finite differences, and autograd are laborious, approximate, and unstable for complex minimal problem solvers. We show that using the Implicit function theorem (IFT) to calculate derivatives to backpropagate through the solution of a minimal problem solver is simple, fast, and stable. We compare our approach to (i) using the standard autograd on minimal problem solvers and relate it to existing backpropagation formulas through SVD-based and Eig-based solvers and (ii) implementing the backprop with an existing PyTorch Deep Declarative Networks (DDN) framework [15]. We demonstrate our technique on a toy example of training outlier-rejection weights for 3D point registration and on a real application of training an outlier-rejection and RANSAC sampling network in image matching. Our method provides 100% stability and is 10 times faster compared to autograd, which is unstable and slow, and compared to DDN, which is stable but also slow. © 2024, CC BY-NC-ND.

关键词： Toys

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Making a Complete Mess and Getting Away with it: Traveling Salesperson Problems with Circle Placement Variants

arXiv

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arXiv 2024年

作者： Woller, David Mansouri, Masoumeh Kulich, Miroslav Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic School of Computer Science University of Birmingham United Kingdom

This paper explores a variation of the Traveling Salesperson Problem, where the agent places a circular obstacle next to each node once it visits it. Referred to as the Traveling Salesperson Problem with Circle Placement (TSP-CP), the aim is to maximize the obstacle radius for which a valid closed tour exists and then minimize the tour cost. The TSP-CP finds relevance in various real-world applications, such as harvesting, quarrying, and open-pit mining. We propose several novel solvers to address the TSP-CP, its variant tailored for Dubins vehicles, and a crucial subproblem known as the Traveling Salesperson Problem on self-deleting graphs (TSP-SD). Our extensive experimental results show that the proposed solvers outperform the current state-of-the-art on related problems in solution quality. © 2024, CC BY.

关键词： Open pit mining

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