Inspection Robot Based on Offline Digital Twin Synchronization Architecture

Li, Jinhao; Liu, Manlu; Wang, Weidong; Hu, Changqing

doi:10.1109/jrfid.2022.3207047

Cited by 8 publications

(2 citation statements)

References 8 publications

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“…The ROS-TCP-Connector, available as a Unity package, serves as a means to transmit ROS messages through conventional TCP-IP sockets to a specialized server known as ROS-TCP-Endpoint. Recent works, including those by [28] and Pryor et al (2023) [29], have successfully integrated the TCP-Connector and ROS-TCP-Endpoint packages. Nonetheless, these solutions are tailored specifically for Unity and robotics applications.…”

Section: Related Work and Contributionsmentioning

confidence: 99%

A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS

Coronado,

Ueshiba,

Ramirez-Alpizar

2024

Robotics

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The integration of heterogeneous hardware and software components to construct human-centered systems for Industry 5.0, particularly human digital twins, presents considerable complexity. Our research addresses this challenge by pioneering a novel approach that harmonizes the techno-centered focus of the Robot Operating System (ROS) with the cross-platform advantages inherent in NEP+ (a human-centered development framework intended to assist users and developers with diverse backgrounds and resources in constructing interactive human–machine systems). We introduce the nep2ros ROS package, aiming to bridge these frameworks and foster a more interconnected and adaptable approach. This initiative can be used to facilitate diverse development scenarios beyond conventional robotics, underpinning a transformative shift in Industry 5.0 applications. Our assessment of NEP+ capabilities includes an evaluation of communication performance utilizing serialization formats like JavaScript Object Notation (JSON) and MessagePack. Additionally, we present a comparative analysis between the nep2ros package and existing solutions, illustrating its efficacy in linking the simulation environment (Unity) and ROS. Moreover, our research demonstrates NEP+’s applicability through an immersive human-in-the-loop collaborative assembly. These findings offer promising prospects for innovative integration possibilities across a broad spectrum of applications, transcending specific platforms or disciplines.

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Section: Related Work and Contributionsmentioning

confidence: 99%

A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS

Coronado,

Ueshiba,

Ramirez-Alpizar

2024

Robotics

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“…At [71], a ROS-based control for a UGV with a handling arm is used autonomously for early pest detection and selective treatment tasks. In [79], a mobile robot is used to build a map of the robot's physical environment. A SLAM algorithm and a Unity3D environment are used with the ROS middleware.…”

Section: Introductionmentioning

confidence: 99%

ROS-based Controller for a Two-Wheeled Self-Balancing Robot

Díaz-Téllez,

García-Ramírez,

Pérez-Pérez

et al. 2023

Journal of Robotics and Control

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In this article, a controller based on a Robot Operating System (ROS) for a two-wheeled self-balancing robot is designed. The proposed ROS architecture is open, allowing the integration of different sensors, actuators, and processing units. The low-cost robot was designed for educational purposes. It used an ESP32 microcontroller as the central unit, an MPU6050 Inertial Measurement Unit sensor, DC motors with encoders, and an L298N integrated circuit as a power stage. The mathematical model is analyzed through Newton-Euler and linearized around an equilibrium point. The control objective is to self-balance the robot to the vertical axis in the presence of disturbances. The proposed control is based on a bounded saturation, which is lightweight and easy to implement in embedded systems with low computational resources. Experimental results are performed in real-time under regulation, conditions far from the equilibrium point, and rejection of external disturbances. The results show a good performance, thus validating the mechanical design, the embedded system, and the control scheme. The proposed ROS architecture allows the incorporation of different modules, such as mapping, autonomous navigation, and manipulation, which contribute to studying robotics, control, and embedded systems.

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Digital Twinning‐Based Autonomous Take‐Off, Landing, and Cruising for Unmanned Aerial Vehicles

Singh,

Angurala

2024

Simulation Techniques of Digital Twin in Real‐Time Applications

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Inspection Robot Based on Offline Digital Twin Synchronization Architecture

Cited by 8 publications

References 8 publications

A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS

A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS

ROS-based Controller for a Two-Wheeled Self-Balancing Robot

Digital Twinning‐Based Autonomous Take‐Off, Landing, and Cruising for Unmanned Aerial Vehicles

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