A Flexible Robotic Depalletizing System for Supermarket Logistics

Depalletizing robotic systems are commonly deployed to automatize and speed-up parts of logistic processes. Despite this, the necessity to adapt the preexisting logistic processes to the automatic systems often impairs the application of such robotic solutions to small business realities like supermarkets. In this work we propose a robotic depalletizing system designed to be easily integrated into supermarket logistic processes. The system has to schedule, monitor and adapt the depalletizing process considering both on-line perceptual information given by non-invasive sensors and constraints provided by the high-level management system or by a supervising user. We describe the overall system discussing two case studies in the context of a supermarket logistic process. We show how the proposed system can manage multiple depalletizing strategies and multiple logistic requests

6D physical interaction with a fully actuated aerial robot

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction

Behavioral control of unmanned aerial vehicle manipulator systems

In this paper a behavioral control framework is developed to control an unmanned aerial vehicle-manipulator (UAVM) system, composed by a multirotor aerial vehicle equipped with a robotic arm. The goal is to ensure vehicle-arm coordination and manage complex multi-task missions, where different behaviors must be encompassed in a clear and meaningful way. In detail, a control scheme, based on the null space-based behavioral paradigm, is proposed to handle the coordination between the arm and vehicle motion. To this aim, a set of basic functionalities (elementary behaviors) are designed and combined in a given priority order, in order to attain more complex tasks (compound behaviors). A supervisor is in charge of switching between the compound behaviors according to the mission needs and the sensory feedback. The method is validated on a real testbed, consisting of a multirotor aircraft with an attached 6 Degree of Freedoms manipulator, developed within the EU-funded project ARCAS (Aerial Robotics Cooperative Assembly System). At the the best of authors’ knowledge, this is the first time that an UAVM system is experimentally tested in the execution of complex multi-task missions. The results show that, by properly designing a set of compound behaviors and a supervisor, vehicle-arm coordination in complex missions can be effectively managed

A Reconfigurable Gripper for Robotic Autonomous Depalletizing in Supermarket Logistics

Automatic depalletizing is becoming a practice widely applied in warehouses to automatize and speed-up logistics. On the other hand, the necessity to adapt the preexisting logistic lines to a custom automatic system can be a limit for the application of robotic solutions into smaller facilities like supermarkets. In this work, we tackle this issue by proposing a flexible and adaptive gripper for robotic depalletizing. The gripper is designed to be assembled on the end-tip of an industrial robotic arm. A novel patent-pending mechanism allows grasping boxes and products from both the upper and the lateral side enabling the depalletizing of boxes with complex shape. Moreover, the gripper is reconfigurable with five actuated degrees of freedom, that are automatically controlled using the embedded sensors to adapt grasping to different shapes and weights

RGB-D Recognition and Localization of Cases for Robotic Depalletizing in Supermarkets

Integrating a robotic system into the depalletizing process of a supermarket demands a high level of autonomy, based on strong perceptive capabilities. This letter presents a system for detection, recognition, and localization of heterogeneous cases in a depalletizing robotic cell, using a single RGB-D camera. Such a system integrates apriori information on the content of the pallet with data from the RGB-D camera, exploiting a sequence of 2D and 3D model-based computer-vision algorithms. The effectiveness of the proposed methodology is assessed in an experiment where multiple cases and pallet configurations are considered. Finally, a complete depalletizing process is shown

Acute respiratory muscle unloading improves time-to-exhaustion during moderate- and heavy-intensity cycling in obese adolescent males

Obesity significantly impairs breathing during exercise. The aim was to determine, in male obese adolescents (OB), the effects of acute respiratory muscle unloading, obtained by switching the inspired gas from ambient air (AIR) to a normoxic helium + oxygen gas mixture (HeO2) (AIR \u2192 HeO2) during moderate [below gas exchange threshold (GET)] and heavy [above GET] constant work rate cycling. Ten OB [age 16.0 \ub1 2.0\ua0years (mean \ub1 SD); body mass index (BMI) 38.9 \ub1 6.1\ua0kg/m2] and ten normal-weight age-matched controls (CTRL) inspired AIR for the entire exercise task, or underwent AIR \u2192 HeO2 when they were approaching volitional exhaustion. In OB time to exhaustion (TTE) significantly increased in AIR \u2192 HeO2 vs. AIR during moderate [1524 \ub1 480\ua0s vs. 1308 \ub1 408 (P = 0.024)] and during heavy [570 \ub1 306\ua0s vs. 408 \ub1 150 (P = 0.0154)] exercise. During moderate exercise all CTRL completed the 40-min task. During heavy exercise no significant differences were observed in CTRL for TTE (582 \ub1 348\ua0s [AIR \u2192 HeO2] vs. 588 \ub1 252 [AIR]). In OB, but not in CTRL, acute unloading of respiratory muscles increased TTE during both moderate- and heavy-exercise. In OB, but not in CTRL, respiratory factors limit exercise tolerance during both moderate and heavy exercise

Surface Periodic Poling in Lithium Niobate and Lithium Tantalate

Periodic Poling of Lithium Niobate crystals (PPLN) by means of electric field has revealed the best technique for finely tailoring PPLN structures and parameters, which play a central role in many current researches in the field of nonlinear integrated optics. Besides the most studied technique of bulk poling, recently a novel technique where domain inversion occurs just in a surface layer using photoresist or silica masks has been devised and studied. This surface periodic poling (SPP) approach is best suited when light is confined in a thin surface guiding layer or stripe, as in the case of optical waveguide devices. Also, we found that SPP respect to bulk poling offers two orders of magnitude reduction on the scale of periodicity, so that even nanostructures can be obtained provided an high resolution holographic mask writing technique is adopted. We were able to demonstrate 200 nm domain size, and also good compatibility with alpha-phase proton exchange channel waveguide fabrication. Our first experiments on Lithium Tantalate have also shown that the SPP technology appears to be applicable to this crystal (SPPLT), whose properties can allow to overcome limitations such as optical damage or UV absorption still present in PPLN devices. Finally, the issue of SPP compatibility with proton exchange waveguide fabrication will be addresse

Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator

The paper presents a multiple task-priority inverse kinematics algorithm for a dual-arm aerial manipulator. Both tasks defined as equality constraints and inequality constraints are handled by means of a singularity robust method based on the Null-Space based Behavioral control. The proposed schema is constituted by the inverse kinematics control, that receives the desired behavior of the system and outputs the reference values for the motion variables, i.e. the UAV pose and the arm joints position, and a motion control, that computes the vehicle thrusts and the joint torques. The method has been experimentally validated on a system composed by an underactuated aerial hexarotor vehicle equipped with two lightweight 4-DOF manipulators, involved in operations requiring the coordination of the two arms and the vehicle

Tracking Control of Redundant Manipulators with Singularity-Free Orientation Representation and Null-Space Compliant Behaviour

This paper presents a suitable solution to control the pose of the end-effector of a redundant robot along a pre-planned trajectory, while addressing an active compliant behaviour in the null-space. The orientation of the robot is expressed through a singularity-free representation form. To accomplish the task, no exteroceptive sensor is needed. While a rigorous stability proof confirms the developed theory, experimental results bolster the performance of the proposed approach