Action Discretization for Robot Arm Teleoperation in Open-Die Forging

Behery, Mohamed; Tschesche, Matteo; Rudolph, Fridtjof; Lakemeyer, Gerhard

doi:10.1109/smc42975.2020.9283043

Cited by 6 publications

(4 citation statements)

References 13 publications

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“…Control flow is achieved through internal nodes that control which of their children to tick. They are classified into Sequence, which execute their respective children in sequence and Fallback nodes whose children define alternative execution paths 1 . BTs also provide Decorator nodes for custom control flow behavior (e.g., repeat 𝑛 times).…”

Section: Behavior Treesmentioning

confidence: 99%

“…Recent work has paved the way for robot arm teleoperation in industrial and domestic domains. Use cases for robot teleoperation can be seen industrial metal forging [1], robot-assisted surgery [2], and Activity of Daily Living (ADL) execution by people with tetraplegia [3,4] to name a few. All these cases emphasise the need for shared control autonomy where a smart agent assists the human operator keep the robot on a predefined trajectory, avoiding obstacles, and achieving the goal of the given task.…”

Section: Introductionmentioning

confidence: 99%

“…For example, drag-and-drop interfaces are developed in [10,14] for building and visualization of BTs in addition to other tools. This novel application domain for BTs opens the door to industrial applications of smart robotic teleoperative assistance in use cases studied in [1,15]. We plan to empirically verify this work by conducting user studies allowing users to define activities and teleoperate the robot using the trees in domestic assistance use cases.…”

Section: Introductionmentioning

confidence: 99%

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Assistive Robot Teleoperation Using Behavior Trees

Behery¹,

Trinh²,

Brecher³

et al. 2023

Preprint

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Robotic assistance in robot arm teleoperation tasks has recently gained a lot of traction in industrial and domestic environments. A wide variety of input devices is used in such setups. Due to the noise in the input signals (e.g., Brain Computer Interface) or delays due to environmental conditions (e.g., space robot teleoperation), users need assistive autonomy that keeps them in control while following predefined trajectories and avoiding obstacles. This assistance calls for activity representations that are easy to define by the operator and able to take the dynamic world state into consideration. This paper represents Activities of Daily Living using Behavior Trees (BTs) whose inherent readability and modularity enables an end user to define new activities using a simple interface. To achieve this, we augment BTs with Shared Control Action Nodes, which guide the user's input on a trajectory facilitating and ensuring task execution. CCS CONCEPTS• Human-centered computing → User interface programming; HCI theory, concepts and models.

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Section: Behavior Treesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Assistive Robot Teleoperation Using Behavior Trees

Behery¹,

Trinh²,

Brecher³

et al. 2023

Preprint

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“…While recent advances concerning CPS and the IIoT contribute to promising developments with an application in production [4], [10], [11], [14]- [16], [19], [21]- [23], [25], [31], [41], [45], [46], [52], [62], [65], [68], [70]- [72], [76], [77], [81], [83], [97]- [99], [108], [109], the need for security to enable novel forms of industrial collaboration must be especially considered for real-world deployments, where CPS are likely connected to the Internet. Apart from operational reasons (e.g., to ensure safety or privacy), secure approaches also convince traditionally conservative stakeholders, such as companies that fear for their competitiveness, to contribute to cross-domain and inter-company collaborations.…”

Section: A Towards An Internet Of Productionmentioning

confidence: 99%

Collaboration is not Evil: A Systematic Look at Security Research for Industrial Use

Pennekamp¹,

Buchholz²,

Dahlmanns³

et al. 2020

Proceedings 2020 Learning From Authoritative Security Experiment Results Workshop

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Following the recent Internet of Things-induced trends on digitization in general, industrial applications will further evolve as well. With a focus on the domains of manufacturing and production, the Internet of Production pursues the vision of a digitized, globally interconnected, yet secure environment by establishing a distributed knowledge base. Background. As part of our collaborative research of advancing the scope of industrial applications through cybersecurity and privacy, we identified a set of common challenges and pitfalls that surface in such applied interdisciplinary collaborations. Aim. Our goal with this paper is to support researchers in the emerging field of cybersecurity in industrial settings by formalizing our experiences as reference for other research efforts, in industry and academia alike. Method. Based on our experience, we derived a process cycle of performing such interdisciplinary research, from the initial idea to the eventual dissemination and paper writing. This presented methodology strives to successfully bootstrap further research and to encourage further work in this emerging area. Results. Apart from our newly proposed process cycle, we report on our experiences and conduct a case study applying this methodology, raising awareness for challenges in cybersecurity research for industrial applications. We further detail the interplay between our process cycle and the data lifecycle in applied research data management. Finally, we augment our discussion with an industrial as well as an academic view on this research area and highlight that both areas still have to overcome significant challenges to sustainably and securely advance industrial applications. Conclusions. With our proposed process cycle for interdisciplinary research in the intersection of cybersecurity and industrial application, we provide a foundation for further research. We look forward to promising research initiatives, projects, and directions that emerge based on our methodological work.

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Actionable Artificial Intelligence for the Future of Production

Behery

Brauner

Zhou

et al. 2023

Interdisciplinary Excellence Accelerator Series

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The Internet of Production (IoP) promises to be the answer to major challenges facing the Industrial Internet of Things (IIoT) and Industry 4.0. The lack of inter-company communication channels and standards, the need for heightened safety in Human Robot Collaboration (HRC) scenarios, and the opacity of data-driven decision support systems are only a few of the challenges we tackle in this chapter. We outline the communication and data exchange within the World Wide Lab (WWL) and autonomous agents that query the WWL which is built on the Digital Shadows (DS). We categorize our approaches intomachine level, process level, and overarching principles. This chapter surveys the interdisciplinary work done in each category, presents different applications of the different approaches, and offers actionable items and guidelines for future work.The machine level handles the robots and machines used for production and their interactions with the human workers. It covers low-level robot control and optimization through gray-box models, task-specific motion planning, and optimization through reinforcement learning. In this level, we also examine quality assurance through nonintrusive real-time quality monitoring, defect recognition, and quality prediction. Work on this level also handles confidence, verification, and validation of re-configurable processes and reactive, modular, transparent process models. The process level handles the product life cycle, interoperability, and analysis and optimization of production processes, which is overall attained by analyzing process data and event logs to detect and eliminate bottlenecks and learn new process models. Moreover, this level presents a communication channel between human workers and processes by extracting and formalizing human knowledge into ontology and providing a decision support by reasoning over this information. Overarching principles present a toolbox of omnipresent approaches for data collection, analysis, augmentation, and management, as well as the visualization and explanation of black-box models.

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Action Discretization for Robot Arm Teleoperation in Open-Die Forging

Cited by 6 publications

References 13 publications

Assistive Robot Teleoperation Using Behavior Trees

Assistive Robot Teleoperation Using Behavior Trees

Collaboration is not Evil: A Systematic Look at Security Research for Industrial Use

Actionable Artificial Intelligence for the Future of Production

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