Article
Computer Science, Interdisciplinary Applications
Wenjia Peng, Hongzhi Xie, Shuyang Zhang, Lixu Gu
Summary: This paper presents a magnetic actuation system that uses the rotation of a single permanent magnet to steer an intravascular catheter. The main contribution is the proposal of an inverse kinematic (IK) modeling method that establishes a relationship between the catheter's deflection angle and the rotation angle of the driving magnet (DM). The proposed method effectively estimates the position of the catheter's tip based on the desired deflection angle, achieving a good balance between accuracy and efficiency. The performance of the magnetic actuation system has been evaluated and proven in experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hongjin Wu, Ruoshan Lei, Yibing Peng, Liang Gao
Summary: Machining feature recognition (MFR) is an important step in computer-aided process planning that infers manufacturing semantics from CAD models. Deep learning methods like AAGNet overcome the limitations of traditional rule-based methods by learning from data and preserving geometric and topological information with a novel representation. AAGNet outperforms other state-of-the-art methods in accuracy and complexity, showing potential as a flexible solution for MFR in CAPP.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Fan Mo, Jack C. Chaplin, David Sanderson, Giovanna Martinez-Arellano, Svetan Ratchev
Summary: This paper introduces a unified model using semantic modeling to delineate the capabilities, capacity, and reconfiguration potential of the manufacturing sector for efficient system reconfiguration. The paper also presents use cases to validate the proposed model and provides a thorough explanation of the methodology and outcomes.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Jianhui He, Lefeng Gu, Guilin Yang, Yiyang Feng, Silu Chen, Zaojun Fang
Summary: This paper presents a new modular kinematic error model for collaborative robots and proposes a portable self-calibration device to improve their positioning accuracy.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zhaoyu Li, Dong He, Xiangyu Li, Xiaoke Deng, Pengcheng Hu, Jiancheng Hao, Yue Hou, Hongyu Yu, Kai Tang
Summary: This paper presents a novel algorithm for planning a five-axis inspection path for arbitrary freeform surfaces. By converting the inspection path planning problem into a set-covering problem, the algorithm generates a near-minimum set of inspection paths that satisfy necessary constraints. Both computer simulation and physical inspection experiments confirm the effectiveness and advantages of the proposed method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Hang Zhang, Wenhu Wang, Shusheng Zhang, Yajun Zhang, Jingtao Zhou, Zhen Wang, Bo Huang, Rui Huang
Summary: This paper introduces a novel framework based on deep reinforcement learning for generating machining process routes for designated parts. The framework utilizes graph representations of parts and employs convolutional graph neural networks for effective processing. Experimental results demonstrate the ability of the proposed method to generate efficient machining process routes and overcome limitations of traditional methods.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Zequn Zhang, Yuchen Ji, Dunbing Tang, Jie Chen, Changchun Liu
Summary: This paper proposes a digital twin system for human-robot collaboration (HRC) that overcomes the limitations of current methods and improves the overall performance. The system includes a human mesh recovery algorithm and uncertainty estimation to enhance the system's capabilities. Experimental results demonstrate the superiority of the proposed methods over baseline methods. The feasibility and effectiveness of the HRC system are validated through a case study involving component assembly.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Junmin Park, Taehoon Kim, Chengyan Gu, Yun Kang, Joono Cheong
Summary: This paper proposes a highly reliable and accurate collision estimator for robot manipulators in human-robot collaborative environments using the Bayesian approach. By assuming robot collisions as dynamic Markov processes, the estimator can integrate prior beliefs and measurements to produce current beliefs in a recursive form. The method achieves compelling performance in collision estimation with high accuracy and no false alarms.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Mario D. Fiore, Felix Allmendinger, Ciro Natale
Summary: This paper presents a constraint-based programming framework for task specification and motion optimization. The framework can handle constraints on robot joint and Cartesian coordinates, as well as time dependency. It also compares with existing methods and provides numerical support through illustrative examples and case studies.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Dongsheng Ge, Huan Zhao, Yiwei Wang, Dianxi Li, Xiangfei Li, Han Ding
Summary: This paper focuses on learning a stable force control policy from human demonstration during contact transients. Based on the analysis of human demonstration data, a novel human-inspired force control strategy called compliant dynamical system (CDS) is proposed. The effectiveness of the proposed method is validated through simulation and real-world experiments.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Review
Computer Science, Interdisciplinary Applications
Victor Hernandez Moreno, Steffen Jansing, Mikhail Polikarpov, Marc G. Carmichael, Jochen Deuse
Summary: Learning from demonstration is a promising method to counteract challenges in industrial assembly, but there are still obstacles that need to be addressed for practical application.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yaqian Zhang, Kai Ding, Jizhuang Hui, Sichao Liu, Wanjin Guo, Lihui Wang
Summary: Human-robot collaborative assembly combines human flexibility and robot efficiency in mass personalization production. To improve robot's cognitive ability, this research proposes a two-stage skeleton-RGB integrated model for recognizing highly similar human actions, an online prediction approach for predicting human actions ahead of schedule, and a dynamic response scheme for accurate part positioning and continuous update of human actions. Experimental results demonstrate the effectiveness of the proposed model and approach in achieving precise human action recognition and online prediction with lower computational cost.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Chungang Zhuang, Haoyu Wang, Han Ding
Summary: This article proposes an end-to-end pipeline for synchronously regressing potential object poses from an unsegmented point cloud. It extracts point pair features and uses a voting architecture for instance feature extraction, along with a 3D heatmap for clustering votes and generating center seeds. An attention voting module is also employed to adaptively fuse point-wise features into instance-wise features. The network demonstrates robustness and improved performance in pose estimation.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Luyao Xia, Jianfeng Lu, Yuqian Lu, Hao Zhang, Yuhang Fan, Zhishu Zhang
Summary: With the increasing demand for product customization, the capacity of traditional production lines is facing new challenges. The traditional monitoring system is unable to meet the information interaction requirements between the factory management level and the executive level due to information redundancy and complex production process. To address this gap, a novel mobile production monitoring system (AIMPMs) with human-in-the-loop control is proposed, leveraging cutting-edge AR and indoor positioning technique. The proposed system utilizes UWB and IMU fusion indoor positioning technology for accurate indoor positioning information, and includes a lightweight indoor map and a nearest-neighbor decision algorithm for virtual monitoring.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yiming He, Chao Zhao, Xing Zhou, Weiming Shen
Summary: This paper proposes a joint generalization-based fault diagnosis method for industrial robots using the multi-joint attention residual network (MJAR) model. The method combines the multi-joint decoupling attention and multi-spatial reconstruction modules to achieve effective diagnosis of compound faults in industrial robots.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Xuepeng Huang, Zhenzhong Wang, Lucheng Li, Qi Luo
Summary: This study models the stiffness of a robot and modifies the tool influence function (TIF) with the Preston equation in order to achieve uniform surface quality in robotic bonnet polishing (RBP) of optical components. Experimental results validate the accuracy of the modified model.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Regina Kyung-Jin Lee, Hao Zheng, Yuqian Lu
Summary: Future manufacturing will witness a shift towards collaboration and compassion in human-robot relationships. To enable seamless knowledge transfer, a unified knowledge representation system that can be shared by humans and robots is essential. The Human-Robot Shared Assembly Taxonomy (HR-SAT) proposed in this study allows comprehensive assembly tasks to be represented as a knowledge graph that is understandable by both humans and robots. HR-SAT incorporates rich assembly information and has diverse applications in process planning, quality checking, and human-robot collaboration.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yu Huang, Daxin Liu, Zhenyu Liu, Ke Wang, Qide Wang, Jianrong Tan
Summary: A novel robotic grasping method based on multi-agent TD3 with high-quality memory (MA-TD3H) is proposed, which improves the success rate and efficiency of grasping moving objects.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Haiqing Chen, Jixiang Yang, Han Ding
Summary: This study develops an active compliant force-controlled end-effector based on a series elastic actuator for the robotic grinding of curved parts. The design includes an elastic component and an optimized grinding tool stiffness to improve accuracy and surface quality. Experimental results demonstrate the effectiveness and advantages of the proposed compliant force-controlled end-effector.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
Article
Computer Science, Interdisciplinary Applications
Yi Liu, Wangmin Yi, Zongqiang Feng, Jiantao Yao, Yongsheng Zhao
Summary: In this study, a redundant seven-degree-of-freedom (7-DOF) assembly robot with three prismatic joints and four rotating joints is proposed. The robot achieves fast and stable trajectory tracking by using inverse solution optimization, interpolation algorithm, and multi-objective optimization strategy. It shows better load-bearing capacity and dynamic characteristics compared to existing assembly robots.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2024)
