Browsing by Keyword "Robotics"
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Item Distributed Coordination of Heterogeneous Robotic Swarms Using Stochastic Diffusion Search(Springer, 2020-10-27) Osaba, Eneko; Del Ser, Javier; Jubeto, Xabier; Iglesias, Andrés; Fister, Iztok; Gálvez, Akemi; Analide, Cesar; Novais, Paulo; Camacho, David; Yin, Hujun; Quantum; IAThe term Swarm Robotics collectively refers to a population of robotic devices that efficiently undertakes diverse tasks in a collaborative way by virtue of computational intelligence techniques. This paradigm has given rise to a profitable stream of contributions in recent years, all sharing a clear consensus on the performance benefits derived from the increased exploration capabilities offered by Swarm Robotics. This manuscript falls within this topic: specifically, it gravitates on an heterogeneous Swarm Robotics system that relies on Stochastic Diffusion Search (SDS) as the coordination heuristics for the exploration, location and delimitation of areas scattered over the area in which robots are deployed. The swarm is composed by agents of diverse kind, which can be ground robots or flying devices. These agents communicate to each other and cooperate towards the accomplishment of the exploration tasks comprising the mission of the overall swarm. Furthermore, maps contain several obstacles and dangers, implying that in order to enter a specific area, robots should meet certain conditions. Experiments are conducted over three different maps and three implemented solving approaches. Conclusions are drawn from the obtained results, confirming that i) SDS allows for a lightweight, heuristic mechanism for the coordination of the robots; and ii) the most efficient swarming approach is the one comprising a heterogeneity of ground and aerial robots.Item End-effector for automatic shimming of composites(2016-09-27) Antolín-Urbaneja, Juan Carlos; Livinalli, Juan; Puerto, Mildred; Liceaga, Mikel; Rubio, Antonio; San-Román, Angel; Goenaga, Igor; Tecnalia Research & Innovation; ROBOTICA_AUTOMA; FACTORY; INNOV_AIR_MOBIL; FABRIC_INTEL; MAQUINASGaps in composite structures are a risky factor in aeronautical assemblies. For mechanically joined composite components, the geometrical conformance of the part can be problematic due to undesired or unknown re-distribution of loads within a composite component, with these unknowns being potentially destructive. To prevent unnecessary preloading of a metallic structure, and the possibility of cracking and delamination in a composite structure, it is important to measure all gaps and then shim any gaps greater than 127 microns. A strategy to overcome the high relative tolerances for assemblies lies in the automated manufacturing of shims for the gaps previously predicted through the evaluation of their volumes via a simulation tool. This paper deals with the development of a special end-effector prototype to enable the shimming of gaps in composites structures using a pre-processed geometry. The aim of this end-effector is to provide movement to a temperature controlled hot-end in order to generate a solid shim of ABS on the target composite surface. This process is defined according to the trajectories and velocities marked by the 3D printing process using standard G-code. The geometry and material volume to be printed are indicated by the simulated gap volume which is based on previous metrological measurements. The final objective will be to attach this end-effector to an anthropomorphic robot to enable autonomous manufacturing. This work is part of the EU FP7 funded LOCOMACHS project, under grant agreement n◦314003.Item Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes(2019-12-02) Outón, Jose Luis; Villaverde, Iván; Herrero, Héctor; Esnaola, Urko; Sierra, Basilio; ROBOTICA_FLEXThere is a paradigm shift in current manufacturing needs that is causing a change from the current mass-production-based approach to a mass customization approach where production volumes are smaller and more variable. Current processes are very adapted to the previous paradigm and lack the required flexibility to adapt to the new production needs. To solve this problem, an innovative industrial mobile manipulator is presented. The robot is equipped with a variety of sensors that allow it to perceive its surroundings and perform complex tasks in dynamic environments. Following the current needs of the industry, the robot is capable of autonomous navigation, safely avoiding obstacles. It is flexible enough to be able to perform a wide variety of tasks, being the change between tasks done easily thanks to skills-based programming and the ability to change tools autonomously. In addition, its security systems allow it to share the workspace with human operators. This prototype has been developed as part of THOMAS European project, and it has been tested and demonstrated in real-world manufacturing use cases.Item Modelling the Component-based Architecture and Safety Contracts of ArmAssist in Papyrus for Robotics(Institute of Electrical and Electronics Engineers Inc., 2021-06) Martinez, Jabier; Ruiz, Alejandra; Garzo, Ainara; Keller, Thierry; Radermacher, Ansgar; Tonetta, Stefano; Tecnalia Research & Innovation; SWT; Quantum; Medical TechnologiesHealthcare robots are increasingly being used and the way they are engineered they still have several challenges regarding reference models and validation. In this experience report we focus on the ArmAssist robotic system and how it can be modelled including safety considerations for validation in early design phases. ArmAssist is an upper-limb robotic system for stroke rehabilitation based on serious games. The open-source tool Papyrus for Robotics was used for modelling the robotic system in close collaboration with neurorehabilitation domain experts. Papyrus for Robotics includes new functionalities that we contributed for contract-based design at component and system level, allowing to make explicit and validate the safety considerations using formal languages. In our case, the assertions are expressed in OCL and Othello. We present the resulting model and a discussion from domain experts.Item Negotiating design for On Site Robotics(2018) Dubor, Alexandre; Cabay, Edouard; Izard, Jean-Baptiste; Sollazzo, Aldo; Markopoulou, Areti; Tecnalia Research & InnovationOn Site Robotics is a collaborative project which demonstrates the potentials of additive manufacturing technology and robotics in the production of sustainable low-cost buildings that can be fabricated built on site with 100% natural materials. Combining technological advances in robotics (cable robot and drones), natural materials and Computational Design, The project demonstrate the possibility to bring automation to the construction site, as well as allowing the production of high-performance buildings and their monitoring in real-time during the construction.Item Private/Public Funding Strategies for Interactive Robotics Companies(Springer Science and Business Media Deutschland GmbH, 2022-07-02) Rentería-Bilbao, Arantxa; Robótica Médica; Tecnalia Research & InnovationThe aim of is paper is to provide a structured view of funding possibilities for companies in the field of interactive robotics. The paper presents a set of funding sources which are of interests for start-ups, spin-off and young companies working in the design and development of interactive robots, including wearable devices. This paper is divided into three chapters, covering private funding (types of existing funding sources, their specific target companies and requirements, and the reasons on how and why investors invest), public funding (mainly coming from European grants under several programs) and the conclusions.Item A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context(2021-05-27) Outón, Jose Luis; Merino, Ibon; Villaverde, Iván; Ibarguren, Aitor; Herrero, Héctor; Daelman, Paul; Sierra, Basilio; Tecnalia Research & Innovation; ROBOTICA_FLEX; ROBOTICA_AUTOMAIn modern industry there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robot and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.Item Robotics for neurorehabilitation: Current state and future challenges(Trans Tech Publications Ltd., 2013) Thierry, Keller; Jan, Veneman; Tecnalia Research & InnovationCurrently in neurorehabilitation robotic devices are mostly applied for rehabilitation of the motor functions of the lower and upper extremities. Even if in recent research autonomous and humanoid robots are being used for cognitive rehabilitation, robot medicated therapy predominately supports relearning of motor functions for subjects suffering from stroke, spinal cord injury or other neurological conditions. This review paper provides a summary of the main features and applied methods, and presents some examples to outline the large diversity of currently used devices. Future challenges for rehabilitation robotics to reach full clinical acceptance are clear answers regarding the optimal dosage of movement therapy and right inclusion/exclusion criteria for specific treatments.