Industrial, Collaborative and Mobile Robotics in Latin America: Review of Mechatronic Technologies for Advanced Automation

Mechatronics and Robotics (MaR) have recently gained importance in product development and manufacturing settings and applications. Therefore, the Center for Space Emerging Technologies (C-SET) has managed an international multi-disciplinary study to present, historically, the first Latin American general review of industrial, collaborative, and mobile robotics, with the support of North American and European researchers and institutions. The methodology is developed by considering literature extracted from Scopus, Web of Science, and Aerospace Research Central and adding reports written by companies and government organizations. This describes the state-of-the-art of MaR until the year 2023 in the 3 Sub-Regions: North America, Central America, and South America, having achieved important results related to the academy, industry, government, and entrepreneurship; thus, the statistics shown in this manuscript are unique. Also, this article explores the potential for further work and advantages described by robotic companies such as ABB, KUKA, and Mecademic and the use of the Robot Operating System (ROS) in order to promote research, development, and innovation. In addition, the integration with industry 4.0 and digital manufacturing, architecture and construction, aerospace, smart agriculture, artificial intelligence, and computational social science (human-robot interaction) is analyzed to show the promising features of these growing tech areas, considering the improvements to increase production, manufacturing, and education in the Region. Finally, regarding the information presented, Latin America is considered an important location for investments to increase production and product development, taking into account the further proposal for the creation of the LATAM Consortium for Advanced Robotics and Mechatronics, which could support and work on roboethics and education/R+D+I law and regulations in the Region. Doi: 10.28991/ESJ-2023-07-04-025 Full Text: PD

Diseño y pruebas con hardware en el lazo de controladores dinámicos para un robot agrícola

Due the worldwide growing food demand, efforts toward to resource optimization in crops, are required. With this purpose, the use of technology is a big chance to deal these challenges, with the aim of automatizing agricultural processes. Within the tasks in agriculture, by example wedding, supply fertilizers or fungicides, the mobile robots have a potential use to assist these tasks. Then, from this work, velocity control of a differential mobile platform is developed, in order to perform precision agriculture tasks. Specifically, mathematical modelling, design of state feedback control and the integration to the robot hardware, through Hardware in the loop (HIL) simulations, validation test are performed by using ROS environment, embedded devices and mathematical simulations, at previous stage to real test. Showing a full integration of the proposed system to test and prove mobile robots.En la creciente demanda de alimentos a nivel mundial, se hace necesario enfocar los esfuerzos en desarrollos que aporten a la optimización de recursos para maximizar la producción en los cultivos. Para esto, la tecnología se muestra como una posibilidad de afrontar estos retos, siendo de interés el automatizar los procesos que implican una plantación. Entre las diferentes tareas del agro, como lo son la remoción de maleza, aplicación de nutrientes o de fungicidas, los robots móviles se muestran con un uso potencial para asistirlas. Así, desde el presente trabajo se aborda el control de velocidad de desplazamiento de una plataforma móvil en configuración diferencial, dedicada a labores de agricultura de precisión. Concretamente se aborda el modelado matemático, diseño de controles bajo la técnica de retroalimentación de estado y su integración a los sistemas embarcados en el robot, donde mediante simulaciones de Hardware en el lazo (HIL) se realizan pruebas de validación, usando el entorno de ROS, sistemas embebidos y simulaciones matemáticas, previas a la puesta en funcionamiento del prototipo real. Mostrando una integración exitosa con el esquema propuesto, con el fin de realizar pruebas previas en robots móviles. &nbsp

SVG-моделирование управляемых систем тел

The new functionality of the SistemaTel software system (SS) has been described. An extensible markup language for three-dimensional vector graphics (X3D) for 3D modeling of controlled systems of bodies (ST) and scalar vector for 2D modeling of ST Graphics (SVG) have been used in this SS. A brief review of the SS of robots’ modeling using XML-oriented languages (URDF, SRDF, PLM) for marking the parameters of robots has been completed. The main difference between the SistemaTel and its analogues has been indicated. It depends on the fact that collisions are described as conditions for the transition from one ST structure to another one and are not intercepted in the process of graphical modeling, for example, as two-body collision events. An XsysTel language for marking ST has been proposed. It consists of the root node and nodes , . The nesting structure of the node declares the structure of the ST.The fields of the node expand its use to the description of the kinematic, static, and dynamic properties of ST. The node describes non-holding and dynamic bonds depending on the state and structure of the ST. Structural classification of the ST has been proposed. There distinguish ST with one Open Branch (STOB), ST with one Closed Branch (ST), Tree-like ST with Open Branches (TSTOB), Tree-like ST with open and closed Branches (with cycles) (TSTB) in the SistemaTel software system. Tree-like ST (TST) is a ST with the structure changing while the bodies’ moving. An example of the ST with a varying structure has been given. The transition conditions between structures can be geometric, kinematic and dynamic, for example, in the form of inequalities containing dynamic reactions in the joints of bodies. Examples of the XsysTel description of the ST in the plane (PST) have been given. An algorithm for XSLT conversion of the XsysTel description of the PST to the SVG-model of the PST has been developed.Описаны новые функциональные возможности программной системы (ПС) «СистемаТел», основанной на XML-технологиях, в которой для 3D-моделирования управляемых систем тел (СТ) используется расширяемый язык разметки трехмерной векторной графики (X3D). А для 2D-моделирования СТ используется скалярная векторная графика (SVG). Выполнен краткий обзор ПС моделирования роботов, использующих XML-ориентированные языки (URDF, SRDF, PLM) разметки параметров роботов. Указано на основное отличие ПС «СистемаТел» от ее аналогов. Оно связано с тем, что в ПС «СистемаТел» коллизии описываются как условия перехода от одной структуры СТ к другой, а не перехватываются в процессе графического моделирования, например, как события столкновения двух тел. Предложен язык XsysTel разметки СТ, состоящий из корневого узла и узлов , . Структура вложенности узла декларирует структуру СТ. Поля узла расширяют его использование до описания кинематических, статических и динамических свойств СТ. В узле описываются неудерживающие и динамические связи, зависящие от состояния и структуры СТ. Предложена структурная классификация СТ.В ПС «СистемаТел» различают СТ с одной Открытой Ветвью (СТОВ), СТ с одной замкнутой Ветвью (СТВ), Древовидную СТ с Открытыми Ветвями (ДСТОВ), Древовидную СТ с открытыми и замкнутыми Ветвями (с циклами) (ДСТВ). К ДСТ относится СТ, в которой структура меняется в процессе движения тел. Приведен пример СТ с изменяющейся структурой. Условия перехода между структурами могут быть геометрическими, кинематическими и динамическими, например, в виде неравенств, содержащих динамические реакции в сочленениях тел. Приведены примеры XsysTel-описания СТ на плоскости (ПСТ). Рассмотрена плоская СТОВ (ПСТОВ) и плоская ДСТ (ПДСТ) в виде моделей двуногого шагающего аппарата в одноопорной и двухопорной фазах ходьбы, а также в фазе полета. Разработан алгоритм XSLT-преобразования XsysTel-описания ПСТ в SVG-модель ПСТ

ARDEE: A general agricultural robotic development and evaluation environment

When evaluating any algorithm, it is essential that the data used for evaluation be collected from the target operating environment, as well as conditions, in order to get an accurate representation of the algorithm's performance in that environment. This is especially important when extrinsic sensor measurements are used for developing and evaluating autonomous control and perception algorithms intended for agricultural applications. Unfortunately, there are many obstacles that can considerably hinder the development process, most notably the 7-8 months in which most crops are not in season. The work presented in this thesis allows the year-round development and evaluation for a wide variety of autonomous control and perception algorithms for agricultural field robotic applications, using a set of developed simulation tools in combination with an open-source simulation platform, Gazebo. The custom set of tools was designed such that any number of user-specific agricultural environments can be simulated, and the sensor/robot configuration can be easily customized, being useful for a wide range of agricultural research interests. The fundamental contributions of this work are the following: (1) a collection of sufficiently accurate simulated crop models for three different crop species (corn, sorghum, and tobacco), (2) user-friendly tools for generating a user-customizable agricultural field environment, (3) a collection of simulated, commonly-used, sensors that can be attached to any simulated robot platform, (4) a simulated model of an ultra-compact robot platform, and (5) a set of socket-based, or UDP, tools used for testing algorithm performance on-board target hardware and with the simulated sensors and field. Finally, a few core autonomous control and perception algorithms, which reflect the range of field robot research areas that could be used, are executed on-board an ultra-lightweight ground robot platform, and the performance is evaluated and compared in both a real-world and a simulated, agricultural environment

A review on the prospects of mobile manipulators for smart maintenance of railway track

Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates the prospects of the use of mobile manipulators in track maintenance tasks. The current state of railway track inspection and repair technologies is initially reviewed, revealing that very few mobile manipulators are in the railways. Of note, the technologies are analytically scrutinized to ascertain advantages, unique capabilities, and potential use in the deployment of mobile manipulators for inspection and repair tasks across various industries. Most mobile manipulators in maintenance use ground robots, while other applications use aerial, underwater, or space robots. Power transmission lines, the nuclear industry, and space are the most extensive application areas. Clearly, the railways infrastructure managers can benefit from the adaptation of best practices from these diversified designs and their broad deployment, leading to enhanced human safety and optimized asset digitalization. A case study is presented to show the potential use of mobile manipulators in railway track maintenance tasks. Moreover, the benefits of the mobile manipulator are discussed based on previous research. Finally, challenges and requirements are reviewed to provide insights into future research

Intelligent collision avoidance system for industrial manipulators

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe new paradigm of Industry 4.0 demand the collaboration between robot and humans. They could help (human and robot) and collaborate each other without any additional security, unlike other conventional manipulators. For this, the robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This work proposes a system that acquires the space of the environment, based on a Kinect sensor, verifies the free spaces generated by a Point Cloud and executes the trajectory of manipulators in these free spaces. The simulation system should perform the path planning of a UR5 manipulator for pick-and-place tasks, while avoiding the objects around it, based on the point cloud from Kinect. And due to the results obtained in the simulation, it was possible to apply this system in real situations. The basic structure of the system is the ROS software, which facilitates robotic applications with a powerful set of libraries and tools. The MoveIt! and Rviz are examples of these tools, with them it was possible to carry out simulations and obtain planning results. The results are reported through logs files, indicating whether the robot motion plain was successful and how many manipulator poses were needed to create the final movement. This last step, allows to validate the proposed system, through the use of the RRT and PRM algorithms. Which were chosen because they are most used in the field of robot path planning.Os novos paradigmas da Indústria 4.0 exigem a colaboração entre robôs e seres humanos. Estes podem ajudar e colaborar entre si sem qualquer segurança adicional, ao contrário de outros manipuladores convencionais. Para isto, o robô deve ter a capacidade de adquirir o meio ambiente e planear (ou re-planear) on-the-fly o movimento evitando obstáculos e pessoas. Este trabalho propõe um sistema que adquire o espaço do ambiente através do sensor Kinect. O sistema deve executar o planeamento do caminho de manipuladores que possuem movimentos de um ponto a outro (ponto inicial e final), evitando os objetos ao seu redor, com base na nuvem de pontos gerada pelo Kinect. E devido aos resultados obtidos na simulação, foi possível aplicar este sistema em situações reais. A estrutura base do sistema é o software ROS, que facilita aplicações robóticas com um poderoso conjunto de bibliotecas e ferramentas. O MoveIt! e Rviz são exemplos destas ferramentas, com elas foi possível realizar simulações e conseguir os resultados de planeamento livre de colisões. Os resultados são informados por meio de arquivos logs, indicando se o movimento do UR5 foi realizado com sucesso e quantas poses do manipulador foram necessárias criar para atingir o movimento final. Este último passo, permite validar o sistema proposto, através do uso dos algoritmos RRT e PRM. Que foram escolhidos por serem mais utilizados no ramo de planeamento de trajetória para robôs

Modular robots for sorting

Current industrial sorting systems allow for low error, high throughput sorts with tightly constrained properties. These sorters, however, are often hardware limited to certain items and criteria. There is a need for more adaptive sorting systems for processes that involve a high throughput of heterogeneous items such as import testing by port authorities, warehouse sorting for online retailers, and sorting recycling. The variety of goods that need to be sorted in these applications mean that existing sorting systems are unsuitable, and the objects often need to be sorted by hand. In this work I detail my design and control of a modular, robotic sorting system using linear actuating robots to create both low-frequency vibrations and peristaltic waves for sorting. The adaptability of the system allows for multimodal sorting and can improve heterogeneous sorting systems. I have designed a novel modular robot called the Linbot. These Linbots are based on an actuator design utilising a voice coil for linear motion. I designed this actuator to be part of a modular robot by adding on-board computation, sensing and communication. I demonstrate the individual characteristics of these robots through a series of experiments in order to give a comprehensive overview of their abilities. By combining multiple Linbots in a collective I demonstrate their ability to move and sort objects using cooperative peristaltic motion. In order to allow for rapid optimisation of control schemes for Linbot collectives I required a peristaltic table simulator. I designed and implemented a peristaltic table simulator, called PeriSim, due to a lack of existing solutions. Controllers optimised in simulation often suffer from a reduction in performance when moved to a real-world system due to the inaccuracies in the simulation, this effect is called the reality gap. I used a method for reducing the reality gap called the radical envelope of noise hypothesis, whereby I only modelled the key aspects of peristalsis in PeriSim and then varied the underlying physics of the simulation between runs. I used PeriSim to optimise controllers in simulation that worked on a real-world system. I demonstrate the how the Linbots and PeriSim can be used to build and control an adaptive sorter. I built an adaptive sorter made of a 5x5 grid of Linbots with a soft sheet covering them. I demonstrate that the sorter can grade produce and move objects of varying shapes and sizes. My work can guide the future design of industrial adaptive sorting systems

Validation of robotic navigation strategies in unstructured environments: from autonomous to reactive

The main topic of this master thesis is the validation of a navigation algorithm designed to perform autonomously in unstructured environments. Computer simulations and experimental tests with a mobile robot have allowed reaching the established objective. The presented approach is effective, consistent, and able to attain safe navigation with static and dynamic configurations. This work contains a survey of the principal navigation strategies and components. Afterwards, a recap of the history of robotics is briefly illustrated, emphasizing the description of mobile robotics and locomotion. Subsequently, it presents the development of an algorithm for autonomous navigation through an unknown environment for mobile robots. The algorithm seeks to compute trajectories that lead to a target unknown position without falling into a recurrent loop. The code has been entirely written and tested in MATLAB, using randomly generated obstacles of different sizes. The developed algorithm is used as a benchmark to analyze different predictive strategies for the navigation of mobile robots in the presence of environments not known a priori and overpopulated with obstacles. Then, an innovative algorithm for navigation, called NAPVIG, is described and analyzed. The algorithm has been built using ROS and tested in Gazebo real-time simulator. In order to achieve high performances, optimal parameters have been found tuning and simulating the algorithm in different environmental configurations. Finally, an experimental campaign in the SPARCS laboratory of the University of Padua enabled the validation of the chosen parameters