Advanced Mobile Robotics: Volume 3

Mobile robotics is a challenging field with great potential. It covers disciplines including electrical engineering, mechanical engineering, computer science, cognitive science, and social science. It is essential to the design of automated robots, in combination with artificial intelligence, vision, and sensor technologies. Mobile robots are widely used for surveillance, guidance, transportation and entertainment tasks, as well as medical applications. This Special Issue intends to concentrate on recent developments concerning mobile robots and the research surrounding them to enhance studies on the fundamental problems observed in the robots. Various multidisciplinary approaches and integrative contributions including navigation, learning and adaptation, networked system, biologically inspired robots and cognitive methods are welcome contributions to this Special Issue, both from a research and an application perspective

A METHODOLOGY FOR AUTONOMOUS ROOF BOLT INSTALLATION USING INDUSTRIAL ROBOTICS

The mining sector is currently in the stage of adopting more automation, and with it, robotics. Autonomous bolting in underground environments remains a hot topic for the mining industry. Roof bolter operators are exposed to hazardous conditions due to their proximity to the unsupported roof, loose bolts, and heavy spinning mass. Prolonged exposure to the risk inevitably leads to accidents and injuries. The current thesis presents the development of a robotic assembly capable of carrying out the entire sequence of roof bolting operations in full and partial autonomous sensor-driven rock bolting operations to achieve a high-impact health and safety intervention for equipment operators. The automation of a complete cycle of drill steel positioning, drilling, bolt orientation and placement, resin placement, and bolt securing is discussed using an anthropomorphic robotic arm.A human-computer interface is developed to enable the interaction of the operators with the machines. Collision detection techniques will have to be implemented to minimize the impact after an unexpected collision has occurred. A robust failure-detection protocol is developed to check the vital parameters of robot operations continuously. This unique approach to automation of small materials handling is described with lessons learned. A user-centered GUI has been developed that allows for a human user to control and monitor the autonomous roof bolter. Preliminary tests have been conducted in a mock mine to evaluate the developed system\u27s performance. In addition, a number of different scenarios simulating typical missions that a roof bolter needs to undertake in an underground coal mine were tested

INSPIRE Newsletter Spring 2022

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Automation and robotics human performance

The scope of this report is limited to the following: (1) assessing the feasibility of the assumptions for crew productivity during the intra-vehicular activities and extra-vehicular activities; (2) estimating the appropriate level of automation and robotics to accomplish balanced man-machine, cost-effective operations in space; (3) identifying areas where conceptually different approaches to the use of people and machines can leverage the benefits of the scenarios; and (4) recommending modifications to scenarios or developing new scenarios that will improve the expected benefits. The FY89 special assessments are grouped into the five categories shown in the report. The high level system analyses for Automation & Robotics (A&R) and Human Performance (HP) were performed under the Case Studies Technology Assessment category, whereas the detailed analyses for the critical systems and high leverage development areas were performed under the appropriate operations categories (In-Space Vehicle Operations or Planetary Surface Operations). The analysis activities planned for the Science Operations technology areas were deferred to FY90 studies. The remaining activities such as analytic tool development, graphics/video demonstrations and intelligent communicating systems software architecture were performed under the Simulation & Validations category

Robotic autonomous systems for earthmoving equipment operating in volatile conditions and teaming capacity: a survey

Abstract There has been an increasing interest in the application of robotic autonomous systems (RASs) for construction and mining, particularly the use of RAS technologies to respond to the emergent issues for earthmoving equipment operating in volatile environments and for the need of multiplatform cooperation. Researchers and practitioners are in need of techniques and developments to deal with these challenges. To address this topic for earthmoving automation, this paper presents a comprehensive survey of significant contributions and recent advances, as reported in the literature, databases of professional societies, and technical documentation from the Original Equipment Manufacturers (OEM). In dealing with volatile environments, advances in sensing, communication and software, data analytics, as well as self-driving technologies can be made to work reliably and have drastically increased safety. It is envisaged that an automated earthmoving site within this decade will manifest the collaboration of bulldozers, graders, and excavators to undertake ground-based tasks without operators behind the cabin controls; in some cases, the machines will be without cabins. It is worth for relevant small- and medium-sized enterprises developing their products to meet the market demands in this area. The study also discusses on future directions for research and development to provide green solutions to earthmoving.</jats:p

Asymptotically optimized multi-surface coverage path planning for loco-manipulation in inspection and monitoring

Regular inspection and monitoring of aging assets are crucial to safe operation in industrial facilities, with remote robotic monitoring being a particularly promising approach for asset inspection. However, vessels, pipework, and surfaces to be monitored can follow complex 3D surfaces, and frequently no 3D as-built models exist. In this paper, we present an end-to-end solution that uses an optimization method for coverage path planning of multiple complex surfaces for mobile robot manipulators. The system includes a two-layer hierarchical structure of optimization: mission planning and motion planning. The surface sequence is optimized with a mixed-integer linear programming formulation while motion planning solves a whole-body optimal control problem considering the robot as a floating-base system. The loco-manipulation system automatically plans a full-coverage trajectory over multiple surfaces for contact-based non-destructive monitoring after unrolling the 3D-mesh region-of-interest selected from the user interface and projects it back to the surface. Our pipeline aims at offshore asset inspection and remote monitoring in industrial applications, and is also applicable in manufacturing and maintenance where area coverage is critical. We demonstrate the generality and scalability of our solution in a variety of robotic coverage path planning applications, including for multi-surface asset inspection using a quadrupedal manipulator

A Consolidated Review of Path Planning and Optimization Techniques: Technical Perspectives and Future Directions

In this paper, a review on the three most important communication techniques (ground, aerial, and underwater vehicles) has been presented that throws light on trajectory planning, its optimization, and various issues in a summarized way. This kind of extensive research is not often seen in the literature, so an effort has been made for readers interested in path planning to fill the gap. Moreover, optimization techniques suitable for implementing ground, aerial, and underwater vehicles are also a part of this review. This paper covers the numerical, bio-inspired techniques and their hybridization with each other for each of the dimensions mentioned. The paper provides a consolidated platform, where plenty of available research on-ground autonomous vehicle and their trajectory optimization with the extension for aerial and underwater vehicles are documented

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections

Mathematical Modeling of a Two Wheeled Robotic Base

This thesis presents the concept of using a two wheeled robot on the moon and briefly explores the requirements for successful long term operation in a lunar environment. The mathematical model for the motion of a robot with two fixed wheels on a differential drive with in a global reference frame. The robot is assumed to be balancing a platform so the mathematical model to balance the platform with wheel motors is also developed and briefly evaluated

THE METHODOLOGY FOR INTEGRATING ROBOTIC SYSTEMS IN UNDEGROUND MINING MACHINES

Roof bolting is a critical operation in ensuring the safety and stability of underground mines by securing the roof strata with bolts. The process involves moving and manipulating heavy tools while being vigilant about the safety of the area. During the installation of roof bolts, operators are exposed to hazardous conditions due to challenging working conditions in underground mines, extensive working hours, and demanding shift schedules leading to personnel fatigue and influencing operators to take shortcuts that may increase the risk of injuries and fatal accidents. The successful completion of roof bolting tasks depends heavily on operator judgment and experience to perform these tasks. To mitigate the occupational hazards inherent in roof bolting operations, a six-axis ABB IRB 1600 robotic arm was integrated into the roof bolter machine to imitate human functions during the roof bolting operation. The integration process involves selecting a suitable robot that can perform human activities and has the potential to handle the tasks at hand. The ultimate goal of implementing the robotic system into the roof bolter machine is to minimize human involvement during the roof bolting operation by converting the machine from manual operations to a partially automated roof bolter machine. The integration enhances the safety of personnel by moving humans away from the face where roof bolting takes place to a safe distance. The operator is then assigned a new role to control and supervise all the operational tasks of the automated roof bolting operation via a human-machine interface (HMI). During the laboratory testing of the automation process, the robotic arm cooperates with some novel specialized technologies to imitate human activities during roof bolting operations. The developed systems include the plate feeder, the bolt feeder, and the wrench. These systems were built to support automation and minimize human intervention during roof bolting operations. These components were linked to the Programmable Logic Controller (PLC) and controlled by the HMI touchpad. An HMI was developed for the operator to control and monitor the automated process away from the active face. This study establishes robust communication paths among all the components. The design communication network links the robotic arm and other components of the roof bolter machine, leading to a smooth and sequential roof bolting process. The EtherNet/IP protocol is used to pass messages between the components of the automated roof bolter machine through a Controller Area Network (CAN) bus device installed to enable communication using CAN protocols. Establishing a robust communication network between the components prevents collision and manages the movement of the robotic arm and other developed automated systems during the bolting process. The outcome of the study shows that the robotic arm has the potential to mimic human activities during the roof bolting operation by performing bolt grasping, holding, lifting, placing, and removal of drill steels during the roof bolting operations. As a result, humans can be moved away from hazardous areas to a safe location and control the roof bolting operation through an Human Machine Interface (HMI) touchpad. The HMI controls the bolting process with start and stop buttons from the subroutine of all the components to perform the roof bolting operation. These buttons enable the operator to stop the operation in the event of unsafe acts