coordinated selection and timing of multiple trajectories of discretely mobile robots

Abstract The paper addresses the multi-agent path planning (MPP) of mobile agents with multiple goals taking into consideration the kinematic constraints of each agent. The "Swing and Dock" (SaD) robotic system being discussed uses discrete locomotion, where agents swing around fixed pins and dock with their mounting legs to realize displacement from one point to another. The system was developed as a subsystem for mobile robotic fixture (SwarmItFix). Previous work dealt with MPP for SaD agents using the concept of extended temporal graph with Integer Linear Programming (ILP) based formulations. The approach discretized time into unit steps, whereas in reality, the agents are constrained by velocity limits. Hence, a real-time schedule is required to accurately plan the agent movement in a working scenario. We utilize the concept of simple temporal network and extend our ILP formulations to model the velocity kinematic constraints. The mathematical formulations are implemented and tested using a GUROBI solver. Computational results display the effectiveness of the approach

The SwarmItFix Pilot

Abstract The paper presents the integration and experiments with a pilot cell including a traditional machine tool and an innovative robot-swarm cooperative conformable support for aircraft body panels. The pilot was installed and tested in the premises of the aircraft manufacturer Piaggio Aerospace in Italy. An original approach to the support of the panels is realized: robots with soft heads operate from below the panel; they move upward the panel where manufacturing is performed, removing the sagging under gravity and returning it to its nominal geometry; the spindle of amilling machine performs the machining from above

towards intelligent autonomous sorting of unclassified nuclear wastes

Sorting of old and mixed nuclear waste is an essential process in nuclear decommissioning operations. The main bottleneck is manual picking and separation of the materials using remotely operated arms, which is slow and error prone especially with small items. Automation of the process is therefore desirable. In the framework of the newly funded European project ECHORD++, experiment RadioRoSo, a pilot robotic cell is being developed and validated against industrial requirements on a range of sorting tasks. Industrial robots, custom gripper, vision feedback and new manipulation skills will be developed. This paper presents application context, cell layout and sorting approach

Matteo Zoppi ArmillEye: Flexible Platform for Underwater Stereo Vision

The paper describes ArmillEye, a 3-degree of freedom (DOF

From Savonius to Bronzinus: A Comparison among Vertical Wind Turbines

AbstractIn this paper the authors propose a novel vertical wind turbine named Bronzinus and obtained by comparisons and optimisations of classical Savonius rotors. We redesigned some proposed Savonius turbines using CAD software and simulated the virtual behaviour of rotors using CFD software. A comparison among classical turbines and our Bronzinus underlines high Cp and Ct values of our proposed solution. This is a first step of a research oriented to design and develop new vertical wind turbines to solve energy problems in Lebanon. The research is proposed by an Italian company and an Italian University in collaboration with private Lebanese building Constructors

A robotic system for underwater eco-sustainable wire-cutting

none2noThe paper deals with the design and development of a diamond wire cutting system used as end-effector of an underwater robot for removal of offshore constructions. This system fulfills the sea-bottom reclamation duties required by the environmental protection acts related to dismissing of off-shore oil plants. The research results have been achieved through extensive interaction between academia and industry, which have solved jointly scientific, technological, economic and social issues along the challenging track to eco-consistency. The, study brings forth: - the analysis of cutting using a diamond wire saw to accomplish the conceptual design of the system; - the wire micro analysis to select a suitable wire configuration. The topics are summarized highlighting the design steps, including preliminary life-cycle assessments accomplished by joining virtual reality tests and trials on an experimental bench. The robotic system has been realized and it is working satisfactory in the North Sea.R. Molfino; M. ZoppiMolfino, Rezia; Zoppi, Matte