Browsing by Keyword "Robotics"
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Item Assumptions and Guarantees for Composable Models in Papyrus for Robotics(Institute of Electrical and Electronics Engineers Inc., 2021-06) Martinez, Jabier; Ruiz, Alejandra; Radermacher, Ansgar; Tonetta, Stefano; SWT; QuantumThe separation of concerns helps to manage the intrinsic complexity of defining robotics components, systems and missions. This separation of concerns is supported by the Rob-MoSys modelling approach addressing both the modelling needs of the robotics domain and identifying the involved stakeholders and required expertise. In this multi-stakeholder context, there are pressing concerns about non-functional characteristics including safety aspects (e.g., collaborative robots, increasing risks to humans and the environment where robotic systems operate). It is of special interest to explicitly establish the non-functional assumptions and guarantees. This assures that the their validity can be automatically evaluated, in particular during the definition of a system as a composition of several component definitions. We present how we extended one of the RobMoSys implementations, Papyrus for Robotics, for contracts modelling and assertions validation. Notably this includes the meta-modelling decisions to allow extensibility for assertion languages.Item A cable driven parallel robot with a modular end effector for the installation of curtain wall modules(International Association on Automation and Robotics in Construction (IAARC), 2020) Iturralde, K.; Feucht, M.; Hu, R.; Pan, W.; Schlandt, M.; Linner, T.; Bock, T.; Izard, J. B.; Eskudero, I.; Rodriguez, M.; Gorrotxategi, J.; Astudillo, J.; Cavalcanti, J.; Gouttefarde, M.; Fabritius, M.; Martin, C.; Henninge, T.; Normes, S. M.; Jacobsen, Y.; Pracucci, A.; Canãda, J.; Jimenez-Vicaria, J. D.; Paulotto, C.; Alonso, R.; Elia, L.; Tecnalia Research & Innovation; DIGITALIZACIÓN Y AUTOMATIZACIÓN DE LA CONSTRUCCIÓN; ROBOTICA_AUTOMAThe installation of curtain wall modules (CWMs) is a risky activity carried out in the heights and often under unfavorable weather conditions. CWMs are heavy prefabricated walls that are lifted normally with bindings and cranes. High stability is needed while positioning in order not to damage the fragile CWMs. Moreover, this activity requires high precision while positioning brackets, the modules, and for that reason, intensive survey and marking are necessary. In order to avoid such inconveniences, there were experiences to install facąde modules in automatic mode using robotic devices. In the research project HEPHAESTUS, a novel system has been developed in order to install CWMs automatically. The system consists of two sub-systems: A cable driven parallel robot (CDPR) and a set of robotic tools named as Modular End Effector (MEE). The platform of the CDPR hosts the MEE. This MEE performs the necessary tasks of installing the curtain wall modules. There are two main tasks that the CDPR and MEE need to achieve: First is the fixation of the brackets onto the concrete slab, and second is the picking and placing of the CWMs onto the brackets. The first integration of the aforementioned system was carried out in a controlled environment that resembled a building structure. The results of this first test show that there are minor deviations when positioning the CDPR platform. In future steps, the deviations will be compensated by the tools of the MEE and the installation of the CWM will be carried out with the required accuracy automatically.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 Evaluation of upper extremity neurorehabilitation using technology: A European Delphi consensus study within the EU COST Action Network on Robotics for Neurorehabilitation(2016-09-23) Hughes, Ann Marie; Bouças, Sofia Barbosa; Burridge, Jane H.; Alt Murphy, Margit; Buurke, Jaap; Feys, Peter; Klamroth-Marganska, Verena; Lamers, Ilse; Prange-Lasonder, Gerdienke; Timmermans, Annick; Keller, Thierry; Tecnalia Research & InnovationBackground: The need for cost-effective neurorehabilitation is driving investment into technologies for patient assessment and treatment. Translation of these technologies into clinical practice is limited by a paucity of evidence for cost-effectiveness. Methodological issues, including lack of agreement on assessment methods, limit the value of meta-analyses of trials. In this paper we report the consensus reached on assessment protocols and outcome measures for evaluation of the upper extremity in neurorehabilitation using technology. The outcomes of this research will be part of the development of European guidelines. Methods: A rigorous, systematic and comprehensive modified Delphi study incorporated questions and statements generation, design and piloting of consensus questionnaire and five consensus experts groups consisting of clinicians, clinical researchers, non-clinical researchers, and engineers, all with working experience of neurological assessments or technologies. For data analysis, two major groups were created: i) clinicians (e.g., practicing therapists and medical doctors) and ii) researchers (clinical and non-clinical researchers (e.g. movement scientists, technology developers and engineers). Results: Fifteen questions or statements were identified during an initial ideas generation round, following which the questionnaire was designed and piloted. Subsequently, questions and statements went through five consensus rounds over 20 months in four European countries. Two hundred eight participants: 60 clinicians (29 %), 35 clinical researchers (17 %), 77 non-clinical researchers (37 %) and 35 engineers (17 %) contributed. At each round questions and statements were added and others removed. Consensus (≥69 %) was obtained for 22 statements on i) the perceived importance of recommendations; ii) the purpose of measurement; iii) use of a minimum set of measures; iv) minimum number, timing and duration of assessments; v) use of technology-generated assessments and the restriction of clinical assessments to validated outcome measures except in certain circumstances for research. Conclusions: Consensus was reached by a large international multidisciplinary expert panel on measures and protocols for assessment of the upper limb in research and clinical practice. Our results will inform the development of best practice for upper extremity assessment using technologies, and the formulation of evidence-based guidelines for the evaluation of upper extremity neurorehabilitation.Item Graphical visualization of contact forces and hand movements during in-hand manipulation(Institute of Electrical and Electronics Engineers Inc., 2022) Suarez, Raul; Montano, Andres; ROBOTICA_FLEXThe paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.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.Item Skill based robot programming: Assembly, vision and Workspace Monitoring skill interaction(2017-09-13) Herrero, Héctor; Moughlbay, Amine Abou; Outón, Jose Luis; Sallé, Damien; de Ipiña, Karmele López; ROBOTICA_FLEX; Tecnalia Research & InnovationThe skill based programming eases the robot program generation, its similarity to human behavior allows non expert operators maintaining, adapting or creating robotic applications. The use of skills requires different approaches for the interaction between them, especially for sharing information. The presented approach combines the skill based programming using a state machine for low level robot execution management. With the proposed framework the interaction and communication between skills is improved. The work presented below is focused on the use of vision skills and safe Workspace Monitoring, for addressing a real use case where interaction with robot motions (organized as assembly skills) is required.Item Soft Computing for Swarm Robotics: New Trends and Applications(2020-01) Osaba, Eneko; Del Ser, Javier; Iglesias, Andres; Yang, Xin She; Quantum; IARobotics have experienced a meteoric growth over the last decades, reaching unprecedented levels of distributed intelligence and self-autonomy. Today, a myriad of real-world scenarios can benefit from the application of robots, such as structural health monitoring, complex manufacturing, efficient logistics or disaster management. Related to this topic, there is a paradigm connected to Swarm Intelligence which is grasping significant interest from the Computational Intelligence community. This branch of knowledge is known as Swarm Robotics, which refers to the development of tools and techniques to ease the coordination of multiple small-sized robots towards the accomplishment of difficult tasks or missions in a collaborative fashion. The success of Swarm Robotics applications comes from the efficient use of smart sensing, communication and organization functionalities endowed to these small robots, which allow for collaborative information sensing, operation and knowledge inference from the environment. The numerous industrial and social applications that can be addressed efficiently by virtue of swarm robotics unleashes a vibrant research area focused on distributing intelligence among autonomous agents with simple behavioral rules and communication schedules, yet potentially capable of realizing the most complex tasks. In this context, we present and overview recent contributions reported around this paradigm, which serves as an exemplary excerpt of the potential of Swarm Robotics to become a major research catalyst of the Computational Intelligence arena in years to come.Item Towards an advanced ROS package generator(SciTePress, 2019) Remazeilles, Anthony; Azpiazu, Jon; Gusikhin, Oleg; Madani, Kurosh; Zaytoon, Janan; Medical Technologies; ROBOTICA_FLEXThis paper describes a tool for generating ROS packages and nodes. Compared to the relatively basic traditional package creation method, this tool can generate a whole node structure, including its life-cycle and the exposed interface to other ROS nodes. Following a separation of concerns, the developer only defines the interaction means in a XML file, and the tool provides the whole skeleton of the nodes, including the interface creation and management. This way, the developer can focus on his real added value, the implementation of the node logic. Compared to advanced node management frameworks proposed in literature, the tool proposed does not require the developer to understand and agree on complex high-level architecture models. The developer only has to select a template model, and to provide the desired interface to get the code generated. The package generation is made possible thanks to package templates, and we provide with the generator tool two templates for creating nodes either in C++ or Python. The user has also the possibility to design his own template, so that he can develop the one that best fits his needs and best practices. The package generator code is accessible on public repository hosting facilities.Item La Visión artificial en el control de calidad Desarrollo de un escáner láser tridimensional rotative(2009-12) Picón-Ruíz, Artzai; Bereciartua-Pérez, M. Aránzazu; Gutiérrez-Olabarría, José Ángel; Pérez-Larrazabal, José; COMPUTER_VISION; Tecnalia Research & InnovationQuality control of manufactured products is more and more demanding everyday. Machine vision devices are becoming one of the most efficient technologies for a reliable, flexible and fast control of different types of products. In this work, we present the design and the implementation of a novel 3D rotative scanner as well as its implementation in a production line through a robotic cell, allowing cent per cent product online inspection without increasing the production cycle time.