Enabling robotic adaptive behaviour capabilities for new Industry 4.0 automated quality inspection paradigms

Mineo, Carmelo; Vasilev, Momchil; Cowan, Bruce; MacLeod, Charles N.; Pierce, S. Gareth; Wong, Cuebong; Yang, Erfu; Fuentes, Ramón; Cross, Elizabeth J.

doi:10.1784/insi.2020.62.6.338

Cited by 30 publications

(23 citation statements)

References 14 publications

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“…With the advancements in robot vision, new robot control systems have the potential to enable flexible automation. In particular, 3D reconstruction methods can provide component digital twins to drive a robot to the user-defined areas of interest [29,30]. A plethora of 3D reconstruction techniques have been developed, which are mainly categorised as RGBD (using RGB and Depth images), monocular, and multi-camera-based methods.…”

Section: Related Workmentioning

confidence: 99%

“…For robot control and path planning, a C++ language-based toolbox, namely the Interfacing Toolbox for Robotic Arms (ITRA), developed by some of the authors of this work, was used [28][29][30]. ITRA was used to achieve fast adaptive robotic systems, with a latency of as low as 30 ms and facilitate the integration of industrial robotic arms with server computers, sensors, and actuators.…”

Section: Software Technologiesmentioning

confidence: 99%

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Vision guided robotic inspection for parts in manufacturing and remanufacturing industry

et al. 2020

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Environmental and commercial drivers are leading to a circular economy, where systems and components are routinely recycled or remanufactured. Unlike traditional manufacturing, where components typically have a high degree of tolerance, components in the remanufacturing process may have seen decades of wear, resulting in a wider variation of geometries. This makes it difficult to translate existing automation techniques to perform Non-Destructive Testing (NDT) for such components autonomously. The challenge of performing automated inspections, with off-line tool-paths developed from Computer Aided Design (CAD) models, typically arises from the fact that those paths do not have the required level of accuracy. Beside the fact that CAD models are less available for old parts, these parts often differ from their respective virtual models. This paper considers flexible automation by combining part geometry reconstruction with ultrasonic tool-path generation, to perform Ultrasonic NDT. This paper presents an approach to perform custom vision-guided ultrasonic inspection of components, which is achieved through integrating an automated vision system and a purposely developed graphic user interface with a robotic work-cell. The vision system, based on structure from motion, allows creating 3D models of the parts. Also, this work compares four different tool-paths for optimum image capture. The resulting optimum 3D models are used in a virtual twin environment of the robotic inspection cell, to enable the user to select any points of interest for ultrasonic inspection. This removes the need of offline robot path-planning and part orientation for assessing specific locations on a part, which is typically a very time-consuming phase.

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Section: Related Workmentioning

confidence: 99%

Section: Software Technologiesmentioning

confidence: 99%

Vision guided robotic inspection for parts in manufacturing and remanufacturing industry

et al. 2020

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“…In such situations, robots need to adapt their tasks after beginning an initial sequence. In this work, a novel toolbox, the Interfacing Toolbox for Robotic Arms (ITRA) [39], was used.…”

Section: Robot Control Modulementioning

confidence: 99%

Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study

Zabalza

Fei

Wong

et al. 2019

Sensors

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Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs.

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“…This method also allows for the isolation of larger scale motion features from vibration effects of the UAV propulsion for a more informative characterization procedure. The manipulator arm was controlled by the Interfacing Toolbox for Robotic Arms (ITRA) [10] to precisely deploy the transducer, mimicking a UAV flight trajectory recorded during a previous UAV contact inspection, as shown in Fig. 4.…”

Section: B Barker Codementioning

confidence: 99%

Evaluation of Coded Excitations for Autonomous Airborne Ultrasonic Inspection

Zhang

Watson

Dobie

et al. 2019

2019 IEEE International Ultrasonics Symposium (IUS)

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Unmanned Aerial Vehicles (UAVs) are receiving increasing attention for use in Non-Destructive Testing due to their ability to access areas where manual inspection is not practical. Contact-based UAV ultrasonic inspections grant the opportunity to remotely monitor the structural health of an industrial asset with enhanced internal integrity information. Ultrasonic inspection is a Non-Destructive Testing (NDT) method conventionally used in corrosion mapping. Surface contacting ultrasonic transducers provide enhanced structural integrity information. However, due to near-surface aerodynamic effects, angular sensitivity of the ultrasound probe and alignment error during autonomous inspections, ultrasonic thickness measurements with low Signal-to-Noise Ratio (SNR) are common. Coded excitation consists of a series of binary bits, whereby the polarity of the voltage is varied following a set excitation sequence to produce desirable signal properties. Here, coded excitation is utilised to increase SNR and thereby reduce measurement uncertainty originating from non-ideal transducer alignment with asset surfaces during inspections. This paper evaluates the performance of two binary code sequences (8-bit Golay, 13-bit Barker) for use in autonomous airborne inspections.

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Enabling robotic adaptive behaviour capabilities for new Industry 4.0 automated quality inspection paradigms

Cited by 30 publications

References 14 publications

Vision guided robotic inspection for parts in manufacturing and remanufacturing industry

Vision guided robotic inspection for parts in manufacturing and remanufacturing industry

Smart Sensing and Adaptive Reasoning for Enabling Industrial Robots with Interactive Human-Robot Capabilities in Dynamic Environments—A Case Study

Evaluation of Coded Excitations for Autonomous Airborne Ultrasonic Inspection

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