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Efficiency comparison of different powertrain structures intended for a hybrid skidder by utilizing a novel cascade optimization algorithm

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e-Prime - Advances in Electrical Engineering, Electronics and Energy 2022年 2卷

作者： Karlušić, Juraj Cipek, Mihael Pavković, Danijel Šitum, Željko Benić, Juraj Department of Robotics and Production System Automation University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb Croatia

Hybrid powertrain presents a viable solution for reducing fuel consumption through powertrain electrification while simultaneously being independent from the electric grid or a charging station. Due to the fact that articulated forestry tractors (skidders) belong to the class of forestry machinery which is intended for field use, this operating independence is of high importance. A simple backward-looking model of a series hybrid powertrain skidder is developed and presented in this paper. The model is then optimized over a number of previously-defined operating missions which include realistic track slopes and variable loads. The results are compared with the results of conventional and parallel hybrid powertrains proposed in previous works. Optimization results show that total fuel consumption obtainable with the proposed series configuration over the parallel one is slightly higher (the total efficiency of series structure is slightly lower) when compared to the parallel structure. Therefore parallel configuration can be considered as optimal soulution. © 2022

关键词： Cascade optimization Efficiency Forestry tractor Fuel consumption Series hybrid skidder

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Mobile Wall-Climbing Robot for NDT inspection of vertical concrete structures

e-Journal of Nondestructive Testing

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e-Journal of Nondestructive Testing 2022年第9期27卷

作者： Božić, Matej Ćaran, Branimir Švaco, Marko Jerbić, Bojan Serdar, Marijana Department of Robotics and Production System Automation University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb Croatia Department of Materials University of Zagreb Faculty of Civil Engineering Zagreb Croatia

Concrete structures, such as bridges or viaducts, play an important role in global road infrastructure. These types of structures are relatively expensive to build and they are susceptible to outer external influences, which in time deteriorate and lead to the reduction of their structural resistance. To reduce this effect, regular inspection is needed, which is often done manually by using specialized equipment to reach certain parts of bridges and viaducts. This process is both expensive and dangerous for the inspectors to conduct. Within the research project ASAP (Autonomous system for Assessment and Prediction of Infrastructure Integrity) in order to overcome these challenges, we have developed a prototype of a wall-climbing robot (WCR) for nondestructive testing (NDT). In this paper, different iterations of the developed WCR prototypes are presented. In four consecutive prototype designs, we have evaluated and upgraded the adhesion and locomotion system. Finally, a fifth prototype that carries the NDT equipment is presented. The final version of the WCR is equipped with robust and flexible adhesion that enables the robot to adhere to different types of surfaces. We have also addressed the challenges of integrating NDT equipment into the robot. To successfully conduct an inspection, besides the WCR, a safety system, control, and power systems are needed, which are further presented and discussed. © 2022 The Authors.

关键词： Mobile robots

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Grapevine Winter pruning automation: On potential pruning points detection through 2D plant modeling using grapevine segmentation

arXiv

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arXiv 2021年

作者： Fernandes, Miguel Scaldaferri, Antonello Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Informatics Bioengineering Robotics and System Engineering Università di Genoa Viale Causa 13 Genova16145 Italy Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy lab Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute Chinese University of Hong Kong Chung Chi Rd Ma Liu Shui Hong Kong

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be completed, and therefore is even more crucial in large-size vineyards, an automated system can help to speed up the process. To this end, this paper presents a novel multidisciplinary approach that tackles this challenging task by performing object segmentation on grapevine images, used to create a representative model of the grapevine plants. Second, a set of potential pruning points is generated from this plant representation. We will describe (a) a methodology for data acquisition and annotation, (b) a neural network fine-tuning for grapevine segmentation, (c) an image processing based method for creating the representative model of grapevines, starting from the inferred segmentation and (d) potential pruning points detection and localization, based on the plant model which is a simplification of the grapevine structure. With this approach, we are able to identify a significant set of potential pruning points on the canes, that can be used, with further selection, to derive the final set of the real pruning points. © 2021, CC BY.

关键词： automation

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Towards precise pruning points detection using semantic-instance-aware plant models for grapevine winter pruning automation

arXiv

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arXiv 2021年

作者： Fernandes, Miguel Scaldaferri, Antonello Guadagna, Paolo Fiameni, Giuseppe Teng, Tao Gatti, Matteo Poni, Stefano Semini, Claudio Caldwell, Darwin Chen, Fei Active Perception and Robot Interactive Learning Laboratory Department of Advanced Robotics Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Informatics Bioengineering Robotics and System Engineering Università di Genoa Viale Causa 13 Genova16145 Italy Department of Sustainable Crop Production Università Cattolica del Sacro Cuore Via Emilia Parmense 84 Piacenza29122 Italy Italy lab Istituto Italiano di Tecnologia Via Morego 30 Genova16163 Italy Department of Mechanical and Automation Engineering T-Stone Robotics Institute The Chinese University of Hong Kong Chung Chi Rd Ma Liu Shui Hong Kong

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity makes it time consuming. It is an operation that requires about 80-120 hours per hectare annually, making an automated robotic system that helps in speeding up the process a crucial tool in large-size vineyards. We will describe (a) a novel expert annotated dataset for grapevine segmentation, (b) a state of the art neural network implementation and (c) generation of pruning points following agronomic rules, leveraging the simplified structure of the plant. With this approach, we are able to generate a set of pruning points on the canes, paving the way towards a correct automation of grapevine winter pruning. © 2021, CC BY.

关键词： automation

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Robot Assisted 3D Point Cloud Object Registration

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Procedia Engineering 2015年 100卷 847-852页

作者： Bojan Jerbić Filip Šuligoj Marko Švaco Bojan Šekoranja University of Zagreb Faculty of Mechanical Enigineering and Naval Arhitecture Department of Robotics and Production System Automation Ivana Lučića 5 10000 Zageb Croatia

In this paper we describe a method for registration of 3D point clouds that represent objects of interest. A stereovision system is used to capture point clouds of a static environment, robot arm and an unknown object. By moving the robot arm in the environment the proposed system defines known occupied zones and is able to identify the robot arm. In order to identify a complete point cloud presentation of the robot gripper it is rotated in front of a stereovision camera and its geometry is captured from different angles. Iterative closest point algorithm is used to determine a rigid transformation between every new robot pose so the original point cloud can be appended with the transformed one. When the robot is holding a new object the registration procedure is repeated and known elements (environment, robot arm and gripper) are removed so that the object can be identified.

关键词： Point cloud data position estimation object recognition machine learning stereovision

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Medical applicability of a low-cost industrial robot arm guided with an optical tracking system

Medical applicability of a low-cost industrial robot arm gui...

引用

2015 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Filip Šuligoj Bojan Jerbić Marko Švaco Bojan Šekoranja Dominik Mihalinec Josip Vidaković Department of Robotics and Production System Automation University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Zagreb Croatia

Robot systems used in surgical procedures can autonomously position tools at points correlated with preoperative imaging techniques such as magnetic resonance (MR) and computed tomography (CT). The aim of this paper is to measure and assess medical applicability of a low-cost, lightweight industrial robot arm (Universal robot UR5) guided with the medically certified optical tracking system (Polaris Vicra) to positions registered from a CT scan. Technical setup, measurement equipment, device communication and robot control based on OTS feedback are described. Robot intrinsic accuracy, CT scan accuracy and two methods of robot tool positioning with aid of the optical tracking system (OTS) are measured. Measurements show RMS error of the robot (0.669 mm) is decreased 55.4% when guided with OTS using a single marker probe (0.29 mm) and 40.5% when using OTS with relative referencing (0.39 mm). RMS error of the CT scan readings is 0.46 mm.

关键词： Robot kinematics Service robots Optical variables measurement Calibration Robot sensing systems Computed tomography

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GPU implementation of the feedforward neural network with modified Levenberg-Marquardt algorithm

GPU implementation of the feedforward neural network with mo...

引用

International Joint Conference on Neural Networks (IJCNN)

作者： Bacek Tomislav Dubravko Majetic Danko Brezak Department of Robotics and Production System Automation University of Zagreb Croatia

In this paper, an improved Levenberg-Marquardt-based feedforward neural network, with variable weight decay, is suggested. Furthermore, parallel implementation of the network on graphics processing unit is presented. Parallelization of the network is achieved on two different levels. First level of parallelism is data set level, where parallelization is possible due to inherently parallel structure of the feedforward neural networks. Second level of parallelism is Jacobian computation level. Third level of parallelism, i.e. parallelization of optimization search steps, is not implemented due to the variable weight decay, which makes third level of parallelism redundant. Suggested weight decay variation enables the compromise between higher accuracy with oscillations on one side and stable, but slower convergence on the other. To improve learning speed and efficiency, modification of random weight initialization is included. Testing of proposed algorithm is performed on two real domain benchmark problems. The results obtained and presented in this paper show effectiveness of proposed algorithm implementation.

关键词： Artificial neural networks Linear programming Graphics processing units Jacobian matrices Accuracy Convergence Oscillators

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Object Tracking with a Multiagent Robot system and a Stereo Vision Camera

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Procedia Engineering 2014年 69卷 968-973页

作者： Filip Šuligoj Bojan Šekoranja Marko Švaco Bojan Jerbić University of Zagreb Faculty of Mechanical Enigineering and Naval Arhitecture Department of Robotics and Production System Automation Ivana Lučića 5 10000 Zageb Croatia

When working with a robot in terms of object manipulation the essential information is relative position between robot's tool center point (TCP) and the object of interest. This paper proposes a method of frame relative displacement and describes a working multiagent robot application that can be used for tracking, tooling or handling operations with the use of stereo vision in unstructured laboratory environment. Robot system is composed of two Fanuc robot arms, one of which carries a stereo vision camera system and the other which is guided in relation to object of interest. The latter robot has a marker that is used for navigation between the robot and the object of interest. Image processing, marker detection, 3-D coordinates extraction, coordinate system transformations, offset coordinates calculation and communication are handled using c++ multithread program and TCP/IP protocol.

关键词： object tracking robotic manipulation stereo vision image processing object recognition

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Human-Robot Interaction Based on Use of Capacitive Sensors

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Procedia Engineering 2014年 69卷 464-468页

作者： Bojan Šekoranja Denis Bašić Marko Švaco Filip Šuligoj Bojan Jerbić University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Department of Robotics and Production System Automation Ivana Lučića 5 10000 Zagreb Croatia

In industrial assembly processes nowadays there is a trend of incorporating robotics and automation in more fields of human activity. The objective is to alleviate the work process for human operators and improve operations with the ultimate goal of increasing precision, shortening the cycle time and reducing risks. However current limitations of technical systems still dictate that human operator takes part in the process and also provides necessary support to the system. Development of advanced interaction models could simplify the role of human operators mainly in complex tasks. Robotic assistants, in form of an industrial robot, completely replace human operators in processes they are fit to perform or assist and hand items to them when they are not. When working together the robot’ priority is not to harm the human. Also it is important the human can convey desired actions of the robot in an intuitive manner. The goal is to apply human robot interaction models based on tactile stimulus. A simple capacitive sensor field has been developed for aiding the human-robot interaction in industrial applications. The sensor is connected to Arduino controller and mounted on the robot. When the human operator is in contact with the robot the change of capacitance is detected. The robot responses appropriately based on the input.

关键词： robotics human-robot interaction haptics

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Calibration of an Industrial Robot Using a Stereo Vision system

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Procedia Engineering 2014年 69卷 459-463页

作者： Marko Švaco Bojan Šekoranja Filip Šuligoj Bojan Jerbić University of Zagreb Faculty of Mechanical Engineering and Naval Architecture Department of Robotics and Production System Automation Ivana Lučića 5 10000 Zagreb Croatia

Industrial robots have very good repeatability but still lack good absolute accuracy. The main reason is difference between the ideal robot kinematic model integrated in the robot controller and actual robot parameters. A method for identifying certain parameters of the robot model has been proposed. A noncontact method using a stereovision system attached to the robot arm is utilized for providing measurements of calibration points in space. Points are represented as spheres which localized by the stereo vision system project a circle in two image capture planes independent of the viewing angle. Spatial coordinates of each sphere center are acquired in different robot configurations. From these readings errors of robot absolute positioning are measured. The standard Denavit-Hartenberg (DH) notation is used when the modified model parameters containing joint encoder offset values are directly input to the robot controller. Calibration experiments carried out on a KUKA KR 6 R900 industrial robot show improved accuracy results. The maximum positioning error around calibration points was decreased from 3.63 mm prior to calibration, to 1.29 mm after the calibration procedure.

关键词： Robot calibration absolute accuracy

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