相关论文: Defect Mitigation for Robot Arm-based Additive Man…
In additive manufacturing (AM), particularly for laser-based metal AM, process optimization is crucial to the quality of products and the efficiency of production. The identification of optimal process parameters out of a vast parameter…
In robotic navigation, maintaining precise pose estimation and navigation in complex and dynamic environments is crucial. However, environmental challenges such as smoke, tunnels, and adverse weather can significantly degrade the…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…
Multi-robot system for manufacturing is an Industry Internet of Things (IIoT) paradigm with significant operational cost savings and productivity improvement, where Unmanned Aerial Vehicles (UAVs) are employed to control and implement…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
We propose a system solution to achieve data-efficient, decentralized state estimation for a team of flying robots using thermal images and inertial measurements. Each robot can fly independently, and exchange data when possible to refine…
In recent years, the advancement of AI technologies has accelerated the development of smart factories. In particular, the automatic monitoring of product assembly progress is crucial for improving operational efficiency, minimizing the…
This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…
This paper presents a visual-inertial odometry (VIO) method using long-tracked features. Long-tracked features can constrain more visual frames, reducing localization drift. However, they may also lead to accumulated matching errors and…
This paper presents a novel approach to real-time safety monitoring in human-robot collaborative manufacturing environments through a wrist-mounted Inertial Measurement Unit (IMU) system integrated with a Predictive Safety Model (PSM). The…
The rapid growth of industrial automation has highlighted the need for precise and efficient defect detection in large-scale machinery. Traditional inspection techniques, involving manual procedures such as scaling tall structures for…
Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…
The widespread application of industrial robots in fields such as cutting and welding has imposed increasingly stringent requirements on the trajectory accuracy of end-effectors. However, current error compensation methods face several…
In-situ monitoring system can be used to monitor the quality of additive manufacturing (AM) processes. In the case of digital image correlation (DIC) based in-situ monitoring systems, high-speed cameras were used to capture images of high…
Adaptive control can be applied to robotic systems with parameter uncertainties, but improving its performance is usually difficult, especially under discontinuous friction. Inspired by the human motor learning control mechanism, an…
This paper presents the integration of a feedback control loop during the printing of a plastic object using additive manufacturing. The printed object is a leaf spring made of several parts of different infill density values, which are the…
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to…
Quality control in additive manufacturing (AM) is vital for industrial applications in areas such as the automotive, medical and aerospace sectors. Geometric inaccuracies caused by shrinkage and deformations can compromise the life and…
Fused deposition modeling (FDM) using mobile robots instead of the gantry-based 3D printer enables additive manufacturing at a larger scale with higher speed. This introduces challenges including accurate localization, control of the…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…