Autonomous Vehicles and Automated Warehousing Systems for Industry 4.0

The rapid development of new technologies that enabled the emergence of important development segments such as the Internet of Things, Cyber Physical Systems, Information and Communication Technologies, Enterprise Architecture, and Enterprise Integration, have led to completely new manufacturing paradigms, which is called under the common name – Industry 4.0. The constantly growing use of autonomous vehicles and associated logistics solutions is among the most influential factors that foster this novel intelligent production framework. This paper describes the results of the latest research activities of the Laboratory for Robotics and Intelligent Control Systems in the Industry 4.0 domain where the focus lies on the shop floor digitalization and advanced control concepts that enable the transfer of technology and delivery of high-scalable logistic solutions

Autonomous Vehicles and Automated Warehousing Systems for Industry 4.0

The rapid development of new technologies that enabled the emergence of important development segments such as the Internet of Things, Cyber Physical Systems, Information and Communication Technologies, Enterprise Architecture, and Enterprise Integration, have led to completely new manufacturing paradigms, which is called under the common name – Industry 4.0. The constantly growing use of autonomous vehicles and associated logistics solutions is among the most influential factors that foster this novel intelligent production framework. This paper describes the results of the latest research activities of the Laboratory for Robotics and Intelligent Control Systems in the Industry 4.0 domain where the focus lies on the shop floor digitalization and advanced control concepts that enable the transfer of technology and delivery of high-scalable logistic solutions

Advancement of Module for Vocalization Classification

U ovome radu razmatra se unaprijeđenje modula za klasifikaciju vokalizacije na robotu NAO H25. Unaprijeđenje modula je zamišljeno kao generalizirano unaprijeđenje koje je vrlo lako prilagoditi za razne situacije gdje je potrebno. Funkcionalnost ne smije biti preusko specificirana već mora postojati jednostavni način kako bi korisnik mogao prilagoditi modul ovisno o problematici zadatka gdje je klasifikacija zvuka potrebna. Kao glavni klasifikatori oduvijek se koriste razne značajke zvučnog zapisa. Postoje mnoge kvalitetne implementacije istih te se u ovome radu koristi gotove biblioteke za određivanje značajki kako bi se problematika klasifikacije promatrala samo s idejne i implementacijske strane samog modula. Kroz izradu rada razmatralo se razne aspekte problematike od kojih su najvažniji strojno učenje klasifikacije, automatski odabir značajki te filtriranje šuma i pozadinske buke.This paper discusses the improvement of the module for vocalization classification on the robot NAO H25. Improving the module is intended to be a generalized improvement which is very easy to adapt to various situations where it is necessary. The functionality must not be too narrowly specified and there must be a simple way for the user to customize the module depending on the task where sound classification is required. Sound features are always used as main classifiers. There are many high-quality implementations to calculate sound features, and in this work we use precompiled libraries to determine the features so the problem of classification is observed only on the conceptual and implementation side of the module. Through the work are discussed various aspects of the problem of which most important are machine learning of classification, automatic selection of features and background noise filtering

Improving multi-robot system performance by optimizing individual control policies

U ovome radu predložena je metoda distribuiranog upravljanja višerobotskim sustavom temeljena na individualnim pravilima. U slučaju konflikta dvaju vozila, svako vozilo donosi zasebnu odluku na temelju razlike njihovih vektora značajki. Kako bi se došlo do odluke, predložena je nova metoda odlučivanja u N-dimenzionalnom prostoru značajki gdje je svaki od ishoda predstavljen N-sferom s pripadajućim parametrima koji omogućuju optimiranje metode. Predložena metoda je detaljno opisana i analizirana na temelju primjera. Proučen je učinak promjene pojedinih parametara odlučivanja. Kako bi se sustav mogao optimirati predložen je hibridni postupak optimizacije korištenjem genetskih algoritama i simuliranog kaljenja. Za provjeru ispravnosti metode izrađen je upravljački model vozila koji implementira predloženu metodu u okviru ROS meta-operacijskog sustava. Uz njega je razvijen i simulacijski čvor za simuliranje u ubrzanom vremenu kako bi se moglo optimirati parametre modela. Na kraju rada prikazani su rezultati simulacija, istaknute važne poteškoće u razvoju te prijedlozi za daljnji razvoj.This work proposes a method of distributed multi-agent system control based on individual coordination rules. In the case of conflict between two vehicles, each vehicle makes a separate decision based on the difference between their feature vectors. In order to make a decision, a new decision-making method is proposed in the N-dimensional feature space where each of the outcomes is presented with a N-sphere with corresponding parameters that allow the method to be optimized. The proposed method is described in detail and analyzed on the basis of examples. The effect of changing individual decision parameters is studied. In order to optimize the system, a hybrid optimization process is proposed using genetic algorithms and simulated annealing methods. To test the correctness of the method, a vehicle controller that uses the proposed method is developed for the ROS meta-operating system. In addition, a simulation node for faster than real-time simulation has been developed for optimizing model parameters. At the end of the work, the results of the simulations, important development challenges and suggestions for further development are discussed

Use of wood-plastic composites in 4D printing technology

Tridimenzionalni tisk (3D) z uporabo lesno-plastičnih filamentov je že dobro poznan, vse bolj pa se raziskuje tudi uporaba lesa v štiridimenzionalnem (4D) tisku. 4D tisk je razvijajoče se področje dodajalnih tehnologij, kjer s primerno zasnovo 3D tiskanja in uporabo ustreznih materialov naredimo izdelke, ki ob ustreznih zunanjih sprožilcih spreminjajo obliko in tvorijo dinamične strukture. Pri 4D tisku lahko higroskopnost lesa - običajno pojmovano kot njegovo pomanjkljivost - izkoristimo in zasnujemo izdelke, ki spremenijo obliko glede na spremembo klimatskih pogojev, predvsem vlažnost okolice.V raziskavi smo s FDM tehnologijo (modeliranje s spajanjem slojev) 3D tiska iz PLA (polimlečna kislina) in lesno-pla-stičnih filamentov (les-PLA) izdelali preizkušance z različnimi razmerji materialov, pri katerih smo spremljali odziv v spreminjajočih klimatskih pogojih. Za spremljanje spremembe oblike, kot je ukrivljanje, smo izdelali sestavljene preizkušance po principu bimetala (aktuatorje), kjer smo za pasivno plast (ob spremembi vlažnosti okolice ne spreminja svojih dimenzij) uporabili PLA, za aktivno plast (spreminja dimenzije ob spremembi vlažnosti okolice) pa les-PLA v različnih razmerjih debelin ter jih izpostavili laboratorijskim ter zunanjim pogojem.Rezultati so pokazali, da dodatek lesa pri lesno-plastičnih kompozitih v spreminjajoči se klimi povzroča dimenzijske spremembe in s tem spremembe oblike načrtovanih aktuatorjev. Sprememba oblike je odvisna od razmerja debelin slojev materialov v dvoslojnem aktuatorju, od sorpcije vodne pare ter od vsebnosti lesa v uporabljenem lesno-plastičnem kompozituThree-dimensional (3D) printing with wood-plastic composites is already well known, and the use of wood in four-dimensional (4D) printing is being increasingly explored. 4D printing is an evolving area of additive technologies where, with the appropriate design of 3D printing and use of appropriate materials, we can create products that change shape and form dynamic structures when triggered externally. In 4D printing, the hygroscopicity of wood – usually considered a disadvantage – can be used as a positive property to design products that change their shape according to climatic conditions, especially humidity. In this research, we used the FDM (fused deposition modelling) technology of 3D printing PLA (polylactic acid) and wood-plastic composites (wood-PLA) to produce specimens with different material proportions, whose response to changing climatic conditions we monitored. To monitor the change in shape, or curvature, we fabricated composite test specimens using the bimetal principle (actuators), in which we used PLA for the passive layer and wood-PLA for the active layer in different thickness ratios and exposed them to laboratory and external conditions.The results showed that the wood content of the wood-plastic composites leads to dimensional changes in a changing climate, resulting in changes in the shape of the designed actuators. The change in shape depends on the thickness ratio of the layers in the two-layer actuator, the sorption of water vapor, and the wood content in the wood-plastic composite use

Simple engineering of hybrid cellulose nanocrystal-gold nanoparticles results in a functional glyconanomaterial with biomolecular recognition properties

Cellulose nanocrystal and gold nanoparticles are assembled, in a unique way, to yield a novel modular glyconanomaterial whose surface is then easily engineered with one or two different headgroups, by exploiting a robust click chemistry route. We demonstrate the potential of this approach by conjugating monosaccharide headgroups to the glyconanomaterial and show that the sugars retain their binding capability to C-type lectin receptors, as also directly visualized by cryo-TEM