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ACM/IEEE International Conference on Human-Robot Interaction (HRI)

作者： Sebastian Blankemeyer David Wendorff Annika Raatz Institute of Assembly Technology and Robotics Leibniz University Hannover Hannover Germany

ISBN: (数字)9798350378931

ISBN: (纸本)9798350378948

Augmented Reality (AR)-based programming approaches hold great promise for addressing the challenges of flexible automation by facilitating fast and intuitive programming processes. Pose estimation of novel objects enhances the program-ming experience by bridging the real and virtual environments. However, a prerequisite for pose estimation is to perform a 2D segmentation to determine the region of interest (ROI). In this work, we present an AR-based approach that enables point-and-click ROI detection through human interaction. Our proof of concept investigates how the achievable accuracy varies with the quality of the user input. The results show that the accuracy of the ROI estimation has a minimal impact on the overall accuracy. Existing limitations can be addressed by other approaches presented.

关键词： Accuracy Automation Service robots Pose estimation Human-robot interaction Virtual environments Resists Reliability Augmented reality Robot programming

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Design and control of flexible handling systems based on mobile cooperative multi-robot-systems

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CIRP Annals 2025年

作者： Recker, Tobias Raatz, Annika Leibniz University Hannover Institute of Assembly Technology and Robotics An der Universität 2 Garbsen30823 Germany

This study introduces a scalable control framework for Cooperative Multi-Robot Systems (cMRS), enhancing flexibility in manufacturing by adapting single-robot motion sequences to multi-robot setups. The framework addresses kinematic overdetermination via a Virtual Robot Model (VRM), which centralizes motion specification without straining computational resources, allowing seamless scaling. Experimental results demonstrate that cMRS configurations with varying robot numbers can achieve object transport and handling with accuracy comparable to single-robot systems under admittance control. Although larger configurations show increased maximum tracking errors, average accuracy remains stable, demonstrating the framework's effectiveness for scalable cooperative robotics. © 2025 The Author(s)

关键词： Multipurpose robots

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Development and characterization of starch bioplastics as a sustainable alternative for packaging

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Scientific Reports 2025年第1期15卷 1-17页

作者： Gurunathan, Manoj Kumar Navasingh, Rajesh Jesudoss Hynes Selvam, Jebaraj David Raja Čep, Robert Department of Mechanical Engineering Mepco Schlenk Engineering College Tamil Nadu Sivakasi 626005 India Faculty of Mechanical Engineering Opole University of Technology Proszkowska 76 Opole 45-758 Poland Department of Robotics Engineering Karunya Institute of Technology and Sciences Coimbatore India Department of Machining Assembly and Engineering Metrology Mechanical Engineering Faculty VŠB-Technical University of Ostrava 17. listopadu 2172/15 Ostrava 708 00 Czech Republic

Due to the growing environmental concerns of petroleum-based plastics, there has been a surge of interest in biodegradable alternatives. In this study, starch-based bioplastic was prepared using biopolymers extracted from corn and potato and the biopolymer was mixed with calcium carbonate (filler) and plasticizers (glycerol-sorbitol) and evaluated. For the fabricated formulation, Taguchi analysis gave an optimal formulation of 9 g corn starch, 9 mL glycerol, and 2.5 g calcium carbonate, having a well-balanced mechanical strength, flexibility, and biodegradability. The results showed a major improvement in tensile strength of 22.5% (6.08 MPa) and a 31.7% increase in Young’s modulus (0.103 GPa), compared to the least effective sample. In biodegradation tests, the degradation rate of C1 (66.68%) was the fastest, while C3 had a slower rate (29.08%). Moisture absorption varied considerably, with sample COM3 absorbing 25.92% compared to just 4.35% for P3, while P3 absorbed only 4.35%. Among compounds, the higher and lower percentage for water solubility were for P1 (20.50%) and C3 (49.04%) respectively. These results underscore the potential of starch-based bioplastics for sustainable packaging, offering an environmentally friendly option compared to traditional plastics. © The Author(s) 2025.

关键词： Biodegradable alternatives Biodegradation Environmental impact Petroleum-based plastics Starch-based bioplastics

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Inline image-based reinforcement detection for concrete additive manufacturing processes using a convolutional neural network 41

Inline image-based reinforcement detection for concrete addi...

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41st International Symposium on Automation and robotics in Construction, ISARC 2024

作者： Lachmayer, Lukas Dittrich, Lars Recker, Tobias Dörrie, Robin Kloft, Harald Raatz, Annika Institute of Assembly Technology and Robotics Leibniz University Hannover Germany Institute of Structural Design Technische Universität Braunschweig Germany

ISBN: (纸本)9780645832211

Within the scope of additive manufacturing of structural concrete components, the integration of reinforcement provides an inevitable opportunity to enhance the load bearing capacity of the components. Besides the rebar integration itself, ensuring as-planned concrete cover is key to achieve a stable and long-term legally permissible integration. The thickness of the as-built concrete cover however is unpredictably altered during printing by the varying material behaviour of the printed concrete. In addition, the lack of opportunities to anchor reinforcement elements before printing can lead to a displacement of reinforcement during printing. In this publication, we present an approach for determining the position of reinforcement elements within additively manufactured components without post-process measurement steps. During the printing process, RGB images and depth camera data are recorded by a camera mounted to the print head. Subsequently, a neural network is employed to distinguish between reinforcement structures and the deposited material within the coloured image. By overlaying the colour image data with the depth information a 3D point cloud is generated, within which the reinforcement is marked. © 2024 ISARC. All Rights Reserved.

关键词： 3D printing

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Development and Validation of a Model for Operationally Seized Bolted Joints for the Research on Gentle Bolt Disassembly 31

Development and Validation of a Model for Operationally Seiz...

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31st CIRP Conference on Life Cycle Engineering, LCE 2024

作者： Blümel, Richard Raatz, Annika Leibniz University Hannover Institute of Assembly Technology and Robotics An der Universität 2 Garbsen30823 Germany

Thread galling and seizure is a major impediment to the disassembly of bolted joints. The near-locking of the joint can result in damage to or even breakage of parts of the bolt when a seized bolt is unscrewed. In maintenance, repair, and overhaul (MRO) of complex capital goods such as aircraft engines, seized bolts result in additional disassembly and repair work. Especially in the aircraft engine's hot-section, joints are vulnerable to seizure and galling due to material pairing and thermal conditions. Extensive investigation of the disassembly of joints seized during operation may not be implemented during maintenance orders. The manufacturer's specifications and aviation safety authorities only permit predetermined tools. Therefore, artificial samples are needed to perform fundamental experiments. In this article, a model for artificially and reproducibly replicating seized bolted joints is presented. By adding and adjusting an external clamping force on the thread, the loosening torque can be adjusted as a function of the additional forces. The statistical evaluation of performed experiments will validate the assumed relationship between clamping force and loosening torque. Therefore, this model provides the basis for further disassembly studies by providing artificial and reproducible samples. © 2024 Elsevier B.V.. All rights reserved.

关键词： Aircraft engines

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Concept for a disassembly tool for adaptable and gentle disassembly of seized threaded fasteners 34

Concept for a disassembly tool for adaptable and gentle disa...

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34th CIRP Design Conference, CIRP 2024

作者： Blümel, Richard Raatz, Annika Institute of Assembly Technology and Robotics Leibniz University Hannover An der Universität 2 Garbsen30823 Germany

Disassembly is the first step in maintenance and servicing of products as well as their remanufacturing or recycling to recover valuable resources. Gentle disassembly increases the percentage of reusable parts. It also reduces the amount of scrap due to damage caused by improper or inappropriate disassembly strategies. In aircraft engine maintenance, for example, gentle disassembly is crucial because damage can result in longer maintenance times or additional work, such as further disassembly or reworking tasks. An application example is the disassembly of seized screws, which can break due to improper loosening strategies and require further unplanned processing steps. This article presents a concept for a novel disassembly tool that enables adaptable and gentle disassembly. The tool is equipped with an actuator system that supports the disassembly process by inducing superimposed vibrations. By monitoring the torque that is manually applied during unscrewing, an integrated control system featuring a pre-taught learning model automatically and actively controls the actuator system. Based on operational data such as operating hours or engine type and the measured torque variables, it calculates optimized setting parameters for the actuators while giving visual signals as feedback on the current disassembly process. The data on each unscrewing process is stored to constantly improve the disassembly task. © 2024 The Authors. Published by Elsevier B.V.

关键词： Design for manufacturability

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A WORKCELL BASED ROBOT DESIGN PROGRAM

A WORKCELL BASED ROBOT DESIGN PROGRAM

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880357

This paper discusses a computer graphics program that helps to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. Program implementation is detailed. © 1998 by ASME.

关键词： Robots

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Workcell based robot design methodologies

Workcell based robot design methodologies

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ASME 1998 Design Engineering Technical Conferences, DETC 1998

作者： Derby, Stephen Director Mechatronics and Assembly Lab New York State Center for Advanced Technology in Automation Robotics and Manufacturing Rensselaer Polytechnic Institute TroyNY12180 United States

ISBN: (纸本)9780791880319

This paper details a set of methodologies to design a robot based on an existing workcell that would be difficult or costly to modify. Standard robot bases, as well as tracked robots, are located to minimize the error of the desired taught robot gripper positions. Error levels are established based on the angle of the misalignment and the length of the required loading or unloading motion. A computer program was written to implement these methods. © 1998 by ASME.

关键词： Robots

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Large Language Model for Intuitive Control of Robots in Micro-assembly

Large Language Model for Intuitive Control of Robots in Micr...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Rolf Wiemann Niklas Terei Annika Raatz Institute of Assembly Technology and Robotics Leibniz University Hannover Garbsen Germany

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

In an era of rapid technological advances in microdevices and photonics, the importance of efficient automation solutions is becoming increasingly evident. In particular, the automation of assembly processes is gaining importance as a significant portion of costs is incurred in this phase. Programming robots, especially in micro-assembly, requires a high level of expertise due to the complex assembly systems and processes. With the rapid development of increasingly powerful Large Language Models (LLMs), their use for programming and controlling robots is becoming more and more prevalent. However, previous approaches have been limited to the field of service robots. In this paper, we present a framework that uses an LLM as an intuitive user interface for robot control in the field of micro-assembly. We integrate an LLM into a framework based on ROS2 (Robot Operation System 2), which enables skill-based control and programming of the micro-assembly robot. LLMs offer an intuitive access to the robot skills, thus facilitating robot control for users without knowledge of programming and robots. We demonstrate how an advanced LLM functions as an efficient interface, interpreting user instructions in context and initiating corresponding actions. Using a use case with exemplary user queries, we evaluate the performance of the implemented framework. Finally, we highlight further improvements and application possibilities.

关键词： Solid modeling Automation Service robots Large language models Robot control Virtual reality User interfaces Planning Robots Robot programming

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Accelerating Micro-assembly Process Implementation by a CAD-Based Control Interface

Accelerating Micro-Assembly Process Implementation by a CAD-...

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IEEE International Conference on Automation Science and Engineering (CASE)

作者： Niklas Terei Rolf Wiemann Annika Raatz Institute of Assembly Technology and Robotics Leibniz University Hannover Garbsen Germany

ISBN: (数字)9798350358513

ISBN: (纸本)9798350358520

Given the strive towards miniaturised systems and the continual advancements in optical technologies, the importance of micro-assembly is steadily increasing. However, achieving assembly accuracy at the micrometer to sub-micron level demands specialised assembly strategies, hardware, and a specific knowledge base in engineering. This is why we are working on a holistic framework for intuitive microassembly programming to speed up process development and setup. Perceiving already existing solutions for intuitive and autonomous programming of industrial robots, the transferability of concepts is limited due to the specific boundary conditions in micro-assembly processes. While solutions have been presented for industrial robots that use an integration of CAD data for assembly process planning, these are not suitable for microassembly due to the influences of geometry tolerances of the involved components. As micro-assembly processes typically rely heavily on the utilisation of reference points and sensor-guided strategies, the robot trajectories/transformations have to be re-calculated for each individual assembly, which is not taken into account in current approaches. In this paper, we present a solution that enables an intuitive definition of teach-points and assembly mates with seamless information flow from CAD software (SolidWorks) to robot operating interface (ROS2), accelerating rapid prototyping in micro-assembly. As the assembly mates are known to the robot’s operating interface, our solution enables an automatic calculation of the assembly transformations, taking into account the geometrical tolerance of the components.

关键词： Service robots Process planning Process control Programming Robot sensing systems Industrial robots Rapid prototyping Software Optical sensors Microassembly

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