Radar Based Target Tracking and Classification for Efficient Robot Speed Control in Fenceless Environments

Ubezio, Barnaba; Schöffmann, Christian; Wohlhart, Lucas; Mulbacher-Karrer, Stephan; Zangl, Hubert; Hofbaur, Michael

doi:10.1109/iros51168.2021.9636170

Cited by 9 publications

(1 citation statement)

References 17 publications

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“…To achieve this, the necessary safety distances should be determined as precisely as possible, uncertainties should be minimized, and areas should be dynamically adapted to the situation. Many original works around SSM implementations address one of the sub-problems: collision or distance calculations Glogowski et al (2019), robot control in terms of stopping or avoiding Ubezio et al (2021), workspace monitoring in terms of detecting and sensing approaching objects or people Ferraguti et al (2020). A good overview can be found in Miro et al (2022).…”

Section: Introductionmentioning

confidence: 99%

Safety considerations for autonomous, modular robotics in aerospace manufacturing

et al. 2022

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Industrial robots are versatile machines that can be used to implement numerous tasks. They have been successful in applications where–after integration and commissioning–a more or less static and repetitive behaviour in conjunction with closed work cells is sufficient. In aerospace manufacturing, robots still struggle to compete against either specialized machines or manual labour. This can be attributed to complex or custom parts and/or small batch sizes. Here, applicability of robots can be improved by enabling collaborative use-cases. When fixed protective fences are not desired due to handling problems of the large parts involved, sensor-based approaches like speed and separation monitoring (SSM) are required. This contribution is about how to construct dynamic volumes of space around a robot as well as around a person in the way that their combination satisfies required separation distance between robot and person. The goal was to minimize said distance by calculating volumes both adaptively and as precisely as possible given the available information. We used a voxel-based method to compute the robot safety space that includes worst-case breaking behaviour. We focused on providing a worst-case representation considering all possible breaking variations. Our approach to generate the person safety space is based on an outlook for 2D camera, AI-based workspace surveillance.

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Section: Introductionmentioning

confidence: 99%

Safety considerations for autonomous, modular robotics in aerospace manufacturing

et al. 2022

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Evaluation of FMCW Radar for Potential Use in SSM

Nimac

Petrič

Krpič

et al. 2022

Advances in Service and Industrial Robotics

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Realistische Sensor-Simulationen für den Digital Twin

Ubezio,

Ergun,

Zangl

2023

Elektrotech. Inftech.

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Digital twins use actual sensor data to replicate the current state of a plant in a virtual model. They can be used to evaluate the current state, predict future behavior, and thus allow to refine control or optimize operation, enable predictive maintenance as well as detection of anomalies and failures.The model of a digital twin includes models of the components, behaviors and dynamics of a system. With the ability to simulate real scenarios, such models can therefore also be used before a plant is actually implemented, e.g., to predict the actual performance, identify potential issues for the implementation and to develop optimal operation strategy and algorithms. Furthermore, interfaces may be defined, implemented, and tested with such models allowing fast and easy commissioning of the physical implementation.Accurate digital twins therefore also need to include realistic sensor models, considering adverse effects that impact their output signals. The proposed work presents approaches for accurate sensor simulations allowing researchers and industries to assess sensor performance, optimize algorithms, and evaluate system-level integration. We address Frequency Modulated Continuous Wave (FMCW) radar sensors and time-of-flight cameras as examples for far-field sensors and capacitive sensors as an example for near-field sensors. The approaches can be transferred to other sensors, e.g., ultrasound sensors, LiDAR sensors and inductive or magnetic sensors so that a wide range of industrial sensors can be covered.The proposed simulations are benchmarked with different tests, including real-world experiments and compared with the corresponding real sensors.

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Radar Based Target Tracking and Classification for Efficient Robot Speed Control in Fenceless Environments

Cited by 9 publications

References 17 publications

Safety considerations for autonomous, modular robotics in aerospace manufacturing

Safety considerations for autonomous, modular robotics in aerospace manufacturing

Evaluation of FMCW Radar for Potential Use in SSM

Realistische Sensor-Simulationen für den Digital Twin

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