Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components

Rastegarpanah, Alireza; Gonzalez, Hector Cruz

doi:10.3390/robotics10020082

Cited by 31 publications

(15 citation statements)

References 27 publications

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“…The stage of post-disassembly or sorting has been investigated by Rastegarpanah et al in [93]. This study proposed a framework for sorting the dismantled LIB components.…”

Section: Advances In Science and Technology To Meet Challengesmentioning

confidence: 99%

“…Currently digitalisation tools are only being employed to a limited extend in waste management [354]. Combining the onboard digitalisation, with an external primary survey (triage) involving robotic visual inspection [93], retrieval and processing of onboard information enables critical decisions about reuse (complete or partial) or guides the disassembly by autonomous or semiautonomous robots.…”

Section: Statusmentioning

confidence: 99%

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Roadmap for a sustainable circular economy in lithium-ion and future battery technologies

et al. 2023

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The market dynamics, and their impact on a future circular economy for lithium-ion batteries (LIB), are presented in this roadmap, with safety as an integral consideration throughout the life cycle. At the point of end-of-life, there is a range of potential options – remanufacturing, reuse and recycling. Diagnostics play a significant role in evaluating the state of health and condition of batteries, and improvements to diagnostic techniques are evaluated. At present, manual disassembly dominates end-of-life disposal, however, given the volumes of future batteries that are to be anticipated, automated approaches to the dismantling of end-of-life battery packs will be key. The first stage in recycling after the removal of the cells is the initial cell-breaking or opening step. Approaches to this are reviewed, contrasting shredding and cell disassembly as two alternative approaches. Design for recycling is one approach that could assist in easier disassembly of cells, and new approaches to cell design that could enable the circular economy of LIBs are reviewed. After disassembly, subsequent separation of the black mass is performed before further concentration of components. There are a plethora of alternative approaches for recovering materials; this roadmap sets out the future directions for a range of approaches including pyrometallurgy, hydrometallurgy, short-loop, direct, and the biological recovery of LIB materials. Furthermore, anode, lithium, electrolyte, binder and plastics recovery are considered in the range of approaches in order to maximise the proportion of materials recovered, minimise waste and point the way towards zero-waste recycling. The life-cycle implications of a circular economy are discussed considering the overall system of LIB recycling, and also directly investigating the different recycling methods. The legal and regulatory perspectives are also considered. Finally, with a view to the future, approaches for next-generation battery chemistries and recycling are evaluated, identifying gaps for research.

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“…The stage of post-disassembly or sorting has been investigated by Rastegarpanah et al in [93]. This study proposed a framework for sorting the dismantled LIB components.…”

Section: Advances In Science and Technology To Meet Challengesmentioning

confidence: 99%

Section: Statusmentioning

confidence: 99%

Roadmap for a sustainable circular economy in lithium-ion and future battery technologies

et al. 2023

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“…Other studies have also investigated the use of BTs in automation with an adaptive perspective, like a semiautonomous BT framework for sorting-based industrial applications [19], or as an efficient general reactive planning tool to adapt to dynamic environments [20]. Also, with the aim of further increasing the adaptability, a recent approach [21] proposed the combination planning and learning techniques to generate BTs.…”

Section: A Previous Workmentioning

confidence: 99%

Automating Adaptive Execution Behaviors for Robot Manipulation

et al. 2022

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Robotic manipulation in semi-structured and changing environments requires systems with: a) perception and reasoning capabilities able to capture and understand the state of the environment; b) planning and replanning capabilities at both symbolic and geometric levels; c) automatic and robust execution capabilities. To cope with these issues, this paper presents a framework with the following features. First, it uses perception and ontology-based reasoning procedures to obtain the Planning Description Domain Language files that describe the manipulation problem at task level. This is used in the planning stage as well as during task execution in order to adapt to new situations, if required. Second, the proposed framework is able to plan at both task and motion levels, intertwining them by incorporating geometric reasoning modules to determine some of the symbolic predicates needed to describe the states. Finally, the framework automatically generates the behavior trees required to execute the task. The proposal takes advantage of the ability of behavior trees to be edited during run time, allowing adaptation of the action plan or of the trajectories according to changes in the state of the environment. The approach allows for robot manipulation tasks to be automatically planned and robustly executed, contributing to achieve fully functional service robots.

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“…Disassembly strategy study is one of the earliest researches for battery disassembly tasks, which currently are primarily carried out by humans [2,3,4]. From 2014 to 2015, researchers designed a disassembly workstation and conducted in-depth research on the Audi Q5 battery pack [5].…”

Section: Battery Disassemblymentioning

confidence: 99%

“…Automating the process of disassembly, recycling and sorting battery components cannot be done by pre-programming against a homogeneous batch since End-of-life batteries are often of different models and shapes [2]. For automatic disassembly, several researchers have been using computer vision-driven robots to carry out automatic disassembly tasks [3,4]. However, these solutions assume good enough visual quality for robots to discern bolts, ignoring disassembly task planning.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing

Zhang¹,

Ye²,

Wang³

et al. 2022

Preprint

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The booming of electric vehicles demands efficient battery disassembly for recycling to be environment-friendly. Due to the unstructured environment and high uncertainties, battery disassembly is still primarily done by humans, probably assisted by robots. It is highly desirable to design autonomous solutions to improve work efficiency and lower human risks in high voltage and toxic environments. This paper proposes a novel framework of the NeuroSymbolic task and motion planning method to disassemble batteries in an unstructured environment using robots automatically. It enables robots to independently locate and disassemble battery bolts, with or without obstacles. This study not only provides a solution for intelligently disassembling electric vehicle batteries but also verifies its feasibility through a set of test results with the robot accomplishing the disassembly tasks in a complex and dynamic environment.

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Semi-Autonomous Behaviour Tree-Based Framework for Sorting Electric Vehicle Batteries Components

Cited by 31 publications

References 27 publications

Roadmap for a sustainable circular economy in lithium-ion and future battery technologies

Roadmap for a sustainable circular economy in lithium-ion and future battery technologies

Automating Adaptive Execution Behaviors for Robot Manipulation

Autonomous Electric Vehicle Battery Disassembly Based on NeuroSymbolic Computing

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