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A pneumatic robot gripper capable of sorting eggplants according to their firmness has been developed and tested. The gripper has three fingers and one suction cup. Each finger has an inertial sensor attached to it. One of the fingers adapts to and copies the shapes of eggplants when the jamming of its internal granular material changes from soft to hard. The other fingers adapt to the shape of the eggplant with the use of extra degrees of freedom. Specific software acquires and processes the information obtained with the inertial sensors and generates 16 independent variables extracted from the signals. A total of 234 eggplants were selected and tested on the same day with the robot gripper, during the pick-and-place operation, and with a destructive firmness tester. The non-destructive parameters extracted from the gripper finger accelerometers were used to build and validate a partial least square model, with a calibration regression coefficient of r = 0.87 and a high prediction performance (r = 0.90). Furthermore, from the results of the paper, it has been seen that the procedure can be simplified by using only two non-destructive impacts and one uniaxial accelerometer to assess eggplant firmness. The non-destructive assessment of firmness while grasping agricultural products in pick-and-place operations could be implemented in many prehensile pneumatic robot grippers. This technique could mean an important advance in the hygienic postharvest handling of fruits and vegetables. ; This research is supported by MANI-DACSA project (Ref. RTA2012-00062-C04-02), partially funded by the Spanish Government (Ministerio de Economia y Competitividad). ; Blanes Campos, C.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Beltrán Beltrán, P. (2015). Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper. Computers and Electronics in Agriculture. 113:44-50. https://doi.org/10.1016/j.compag.2015.01.013 ; S ; 44 ; 50 ; 113

As part of the RoBiMo project, a measuring system for holistic, spatially resolved recording of the condition and processes in inland waters is to be developed. This system should measure regular, continuous and spatially resolved parameters of water quality in stagnant inland waters. For that, the swimming robot "Elisabeth" from the TU Bergakademie Freiberg will be enhanced and used. The measurements are recorded and placed on a winch system using a measuring chain of sensor elements (like temperature, conductivity, turbidity). The ingress of groundwater should also be detected like the respiration process of the lakes. The navigation of the swimming robot takes place autonomously from a base station on the bank due to a network-independent connection. For the evaluation and visualization of the measurement results, the methods of artificial intelligence and virtual reality are used. Local and seasonal changes in the water body can be documented. With scientific divers, a comparison of the measured values "ground truth" with water samples and in-situ measurements should be realised. For that, an intensive investigation is necessary. Furthermore, the scientific divers can manipulate the sensors in a targeted manner and check the functionality in situ. For obstacle detection the photogrammetry process and reconstruction are used and shown in an example of the Flodden quarry in Meissen, Saxony. The following text should give an overview of the project after 1 year and the work of the scientific divers. ; The project RoBiMo is funded by tax revenues based on the budget adopted by the Saxon State and the ESF of the European Union. The authors acknowledge computing time on the compute cluster of the Faculty of Mathematics and Computer Science of Technische Universität Bergakademie Freiberg, operated by the computing center (URZ) and funded by the Deutsche Forschungsgemeinschaft (DFG) under DFG grant number 397252409.

Nowadays, most mobile robot applications use two-dimensional LiDAR for indoor mapping, navigation, and low-level scene segmentation. However, single data type maps are not enough in a six degree of freedom world. Multi-LiDAR sensor fusion increments the capability of robots to map on different levels the surrounding environment. It exploits the benefits of several data types, counteracting the cons of each of the sensors. This research introduces several techniques to achieve mapping and navigation through indoor environments. First, a scan matching algorithm based on ICP with distance threshold association counter is used as a multi-objective-like fitness function. Then, with Harmony Search, results are optimized without any previous initial guess or odometry. A global map is then built during SLAM, reducing the accumulated error and demonstrating better results than solo odometry LiDAR matching. As a novelty, both algorithms are implemented in 2D and 3D mapping, overlapping the resulting maps to fuse geometrical information at different heights. Finally, a room segmentation procedure is proposed by analyzing this information, avoiding occlusions that appear in 2D maps, and proving the benefits by implementing a door recognition system. Experiments are conducted in both simulated and real scenarios, proving the performance of the proposed algorithms. ; This work was supported by the funding from HEROITEA: Heterogeneous Intelligent Multi-Robot Team for Assistance of Elderly People (RTI2018-095599-B-C21), funded by Spanish Ministerio de Economia y Competitividad, RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by "Programas de Actividades I+D en la Comunidad de Madrid" and cofunded by Structural Funds of the EU. We acknowledge the R&D&I project PLEC2021-007819 funded by MCIN/AEI/ 10.13039/501100011033 and by the European Union NextGenerationEU/PRTR and the Comunidad de Madrid (Spain) under the multiannual agreement with Universidad Carlos III de Madrid ("Excelencia para ...

[EN] This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot. ; This work was supported in part by the Spanish Government under the project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi + d APOSTD/2016/044 and APOSTD/2017/055. ; Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Valls Miro, J.; Girbés, V.; Tornero Montserrat, J. (2018). Human-robot cooperation for robust surface treatment using non-conventional sliding mode control. ISA Transactions. 80(1):528-541. https://doi.org/10.1016/j.isatra.2018.05.013 ; S ; 528 ; 541 ; 80 ; 1

<span>The aim of this study is to design and develop an autonomous fire proof rescue robot. The robot is designed in such a way, that it can traverse through fire and hazardous situations. Further, it will sense and communicate information regarding these situations in real time with the server. The robot is fixed with multi-sensors and further, a driver circuit has been integrated for communication in these hazardous situations through Zigbee and a data acquisition system (DAQ). In mechanical design first, a 3D solid model is generated using Solid works software to understand the basic structure of robot which provides information regarding robotic platform, size and location of various components. The developed fire fighting robot is a predominately outdoor ground-based mobile robotic system with onboard subdual systems that can traverse autonomously in the hazardous environment. The robot is designed such that it can traverse into the fire and send information regarding the fire behaviour and also the images of the victim's location by using a camera. Further, a mathematical model which describes the kinematics and dynamic behaviour of robot motion are done. V-REP is used to create the simulation of the robot in a fire simulated fire environment. Finally, for the path planning, various techniques are discussed such as V-REPs inbuilt path planning module, A*, Fuzzy logic and artificial potential fields.</span>

Many environmental incidents affect large areas, often in rough terrain constrained by natural obstacles, which makes intervention difficult. New technologies, such as unmanned aerial vehicles, may help address this issue due to their suitability to reach and easily cover large areas. Thus, unmanned aerial vehicles may be used to inspect the terrain and make a first assessment of the affected areas; however, nowadays they do not have the capability to act. On the other hand, ground vehicles rely on enough power to perform the intervention but exhibit more mobility constraints. This paper proposes a multi-robot sense-act system, composed of aerial and ground vehicles. This combination allows performing autonomous tasks in large outdoor areas by integrating both types of platforms in a fully automated manner. Aerial units are used to easily obtain relevant data from the environment and ground units use this information to carry out interventions more efficiently. This paper describes the platforms and sensors required by this multi-robot sense-act system as well as proposes a software system to automatically handle the workflow for any generic environmental task. The proposed system has proved to be suitable to reduce the amount of herbicide applied in agricultural treatments. Although herbicides are very polluting, they are massively deployed on complete agricultural fields to remove weeds. Nevertheless, the amount of herbicide required for treatment is radically reduced when it is accurately applied on patches by the proposed multi-robot system. Thus, the aerial units were employed to scout the crop and build an accurate weed distribution map which was subsequently used to plan the task of the ground units. The whole workflow was executed in a fully autonomous way, without human intervention except when required by Spanish law due to safety reasons. ; This project was funded in part by the 7th Framework Programme of the European Union under Grant Agreement No. 245986. ; European Community's Seventh Framework Program

1 11 9 ; S Veiga, G., Pires, J. N., & Nilsson, K. (2007). ON THE USE OF SERVICE ORIENTED SOFTWARE PLATFORMS FOR INDUSTRIAL ROBOTIC CELLS. IFAC Proceedings Volumes, 40(3), 109-115. doi:10.3182/20070523-3-es-4908.00019 ; The integration of equipment and other devices built into industrial robot cells with modern Ethernet interface technologies and low‐cost mass produced devices (such as vision systems, laser scanners, force torque‐sensors, PLCs and PDAs etc.) enables integrators to offer more powerful and smarter solutions. Nevertheless, the programming of all these devices efficiently requires very specific knowledge about them, such as their hardware architectures and specific programming languages as well as details about the system¿s low level communication protocols. To address these issues, this paper describes and analyses the Plug‐and‐Play architecture. This is one of the most interesting service‐oriented architectures (SOAs) available, which exhibits characteristics that are well adapted to industrial robotics cells. To validate their programming features and applicability, a test bed was specially designed. This provides a new graphical service orchestration which was implemented using Workflow Foundation 4 of .NET. The obtained results allowed us to verify that the use of integration schemes based on SOAs reduces the system integration time and is better adapted to industrial robotic cell system integrators. The authors wish to express their gratitude to the Plan Nacional de I+D (FEDER-CICYT, Spanish Government) and to the Universitat Politecnica de Valencia (Spain) for the financing of this work, which was made under the research projects DPI2010-20814-C02-02, DPI2011-28507-C02-01 and PAID/2011/039. In addition, they also want to acknowledge the assistance of Elena Ruiz Gomez for her help in the translation of the article. Valera Fernández, Á.; Gómez Moreno, J.; Sánchez Salmerón, AJ.; Ricolfe Viala, C.; Zotovic Stanisic, R.; Vallés Miquel, M. (2012). Industrial Robot Programming and UPnP Services ...

The integration of equipment and other devices built into industrial robot cells with modern Ethernet interface technologies and low‐cost mass produced devices (such as vision systems, laser scanners, force torque‐sensors, PLCs and PDAs etc.) enables integrators to offer more powerful and smarter solutions. Nevertheless, the programming of all these devices efficiently requires very specific knowledge about them, such as their hardware architectures and specific programming languages as well as details about the system¿s low level communication protocols. To address these issues, this paper describes and analyses the Plug‐and‐Play architecture. This is one of the most interesting service‐oriented architectures (SOAs) available, which exhibits characteristics that are well adapted to industrial robotics cells. To validate their programming features and applicability, a test bed was specially designed. This provides a new graphical service orchestration which was implemented using Workflow Foundation 4 of .NET. The obtained results allowed us to verify that the use of integration schemes based on SOAs reduces the system integration time and is better adapted to industrial robotic cell system integrators. ; The authors wish to express their gratitude to the Plan Nacional de I+D (FEDER-CICYT, Spanish Government) and to the Universitat Politecnica de Valencia (Spain) for the financing of this work, which was made under the research projects DPI2010-20814-C02-02, DPI2011-28507-C02-01 and PAID/2011/039. In addition, they also want to acknowledge the assistance of Elena Ruiz Gomez for her help in the translation of the article. ; Valera Fernández, Á.; Gómez Moreno, J.; Sánchez Salmerón, AJ.; Ricolfe Viala, C.; Zotovic Stanisic, R.; Vallés Miquel, M. (2012). Industrial Robot Programming and UPnP Services Orchestration for the Automation of Factories. International Journal of Advanced Robotic Systems. 9:1-11. doi:10.5772/51373 ; S ; 1 ; 11 ; 9 ; Ahn, S., Lee, J., Lim, K., Ko, H., Kwon, Y., & Kim, H. (2006). UPnP SDK ...

There is a growing need to provide support and applicable tools to farmers and the agroindustry in order to move from their traditional water status monitoring and high-water-demand cropping and irrigation practices to modern, more precise, reduced-demand systems and technologies. In precision viticulture, very few approaches with ground robots have served as moving platforms for carrying non-invasive sensors to deliver field maps that help growers in decision making. The goal of this work is to demonstrate the capability of the VineScout (developed in the context of a H2020 EU project), a ground robot designed to assess and map vineyard water status using thermal infrared radiometry in commercial vineyards. The trials were carried out in Douro Superior (Portugal) under different irrigation treatments during seasons 2019 and 2020. Grapevines of Vitis vinifera L. Touriga Nacional were monitored at different timings of the day using leaf water potential (Ψ ) as reference indicators of plant water status. Grapevines' canopy temperature (T ) values, recorded with an infrared radiometer, as well as data acquired with an environmental sensor (T, RH, and AP) and NDVI measurements collected with a multispectral sensor were automatically saved in the computer of the autonomous robot to assess and map the spatial variability of a commercial vineyard water status. Calibration and prediction models were performed using Partial Least Squares (PLS) regression. The best prediction models for grapevine water status yielded a determination coefficient of cross-validation (r cv) of 0.57 in the morning time and a r cv of 0.42 in the midday. The root mean square error of cross-validation (RMSE) was 0.191 MPa and 0.139 MPa at morning and midday, respectively. Spatial–temporal variation maps were developed at two different times of the day to illustrate the capability to monitor the grapevine water status in order to reduce the consumption of water, implementing appropriate irrigation strategies and increase the efficiency in the real time vineyard management. The promising outcomes gathered with the VineScout using different sensors based on thermography, multispectral imaging and environmental data disclose the need for further studies considering new variables related with the plant water status, and more grapevine cultivars, seasons and locations to improve the accuracy, robustness and reliability of the predictive models, in the context of precision and sustainable viticulture. ; This research was funded by the European Union under grant agreement number 737669 (Vinescout project).

Die Herstellung oder Instandsetzung von Presswerkzeugen für großvolumige Bauteile erfordert eine besonders hohe Fertigungsgenauigkeit. Daher müssen einige Werkzeugbereiche mehrfach in sogenannten "Qualitätsschleifen" überarbeitet werden. Es wird ein Verfahren vorgestellt, das die Geometrieerfassung durch kostengünstige und robuste Laserliniensensoren erlaubt. Hierbei werden zwei Prozesse – die spanende Bearbeitung sowie die visuelle Erfassung – in einer gemeinsamen Roboterzelle kombiniert, um Nebenzeiten zu verkürzen.
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Manufacturing or repairing molds for huge components requires a high degree of production accuracy. Therefore, some tool areas have to be machined in several so-called 'quality loops'. Capturing the actual geometry of the mold is vital for these process steps. Since the scanning process is time-consuming and expensive, it is planned to integrate both, manufacturing and scanning, into one robot cell. In this paper we propose a method to scan large-scale molds with cheap and robust 2D laser sensors to reduce non-productive idle periods.

[EN] The use of remote sensing to map the distribution of plant diseases has evolved considerably over the last three decades and can be performed at different scales, depending on the area to be monitored, as well as the spatial and spectral resolution required. This work describes the development of a small low-cost field robot (Remotely Operated Vehicle for Infection Monitoring in orchards, XF-ROVIM), which is intended to be a flexible solution for early detection of Xylella fastidiosa (X. fastidiosa) in olive groves at plant to leaf level. The robot is remotely driven and fitted with different sensing equipment to capture thermal, spectral and structural information about the plants. Taking into account the height of the olive trees inspected, the design includes a platform that can raise the cameras to adapt the height of the sensors to a maximum of 200 cm. The robot was tested in an olive grove (4 ha) potentially infected by X. fastidiosa in the region of Apulia, southern Italy. The tests were focused on investigating the reliability of the mechanical and electronic solutions developed as well as the capability of the sensors to obtain accurate data. The four sides of all trees in the crop were inspected by travelling along the rows in both directions, showing that it could be easily adaptable to other crops. XF-ROVIM was capable of inspecting the whole field continuously, capturing geolocated spectral information and the structure of the trees for later comparison with the in situ observations. ; This work was partially supported by funding from the European Union's Horizon 2020 research and innovation programme under grant agreement 727987 Xylella Fastidiosa Active Containment Through a multidisciplinary-Oriented Research Strategy (XF-ACTORS). ; Rey, B.; Aleixos Borrás, MN.; Cubero-García, S.; Blasco Ivars, J. (2019). Xf-Rovim. A Field Robot to Detect Olive Trees Infected by Xylella Fastidiosa Using Proximal Sensing. Remote Sensing. 11(3). https://doi.org/10.3390/rs11030221 ; S ; 11 ; 3 ; Martelli, G. ...

[EN] Deep learning is being introduced more and more in our society. Nowadays, there are very few applications that do not use deep learning as a classification tool. One of the main application areas is focused on improving people¿s life quality, allowing to create personal assistants with canned benefits. More recently, with the proliferation of mobile computing and the emergence of the Internet of Things (IoT), billions of mobile and IoT devices are connected to the Internet. This allows the generation of millions of bytes of information about sensors, images, sounds, etc. Driven by this trend, there is an urgent need to push the IoT frontiers to the edge of the network, in order to decrease this massive sending of information to large exchanges for analysis. As a result of this trend, a new discipline has emerged: edge intelligence or edge AI, a widely recognised and promising solution that attracts with special interest to the community of researchers in artificial intelligence. We adapted edge AI to classify human emotions. Results show how edge AI-based emotion classification can greatly benefit in the field of cognitive assistants for the elderly or people living alone. ; This work was partly supported by the Generalitat Valenciana (PROMETEO/2018/002) and by the Spanish Government (RTI2018-095390-B-C31). Universitat Politecnica de Valencia Research Grant PAID-10-19. ; Rincón Arango, JA.; Julian Inglada, VJ.; Carrascosa Casamayor, C. (2020). Towards the edge intelligence: Robot assistant for the detection and classification of human emotions. Springer. 31-41. https://doi.org/10.1007/978-3-030-51999-5_3 ; S ; 31 ; 41 ; Chang, A.: The role of artificial intelligence in digital health. In: Wulfovich, S., Meyers, A. (eds.) Digital Health Entrepreneurship. HI, pp. 71–81. Springer, Cham (2020). https://doi.org/10.1007/978-3-030-12719-0_7 ; Yang, L., Henthorne, T.L., George, B.: Artificial intelligence and robotics technology in the hospitality industry: current applications and future trends. In: George, B., ...

6th Asia Pacific Workshop on Structural Health Monitoring, 6th APWSHM ; Many roadway and highway bridges have been suffering from aging and deterioration problems. To inspect those bridges more efficiently and accurately, the Japanese government launched a series of national projects aiming to develop various innovative robotic inspection systems to support conventional visual inspections. This study is devoted to developing the sensing modules compatible with the robotic inspection system. To preliminarily investigate the feasibility of the image-type sensing modules, a laboratory experiment was conducted, taking a commercially available digital camera and a digital video camera as the sensors and a model vehicle moving on rails as the robot. Two concrete blocks were placed at a certain distance away from the sensing system and serving as inspection targets. On still images taken by the camera, it was verified that the clear identification strongly depended on the short object distance, bright target surface, and quick shutter speed. Herein, the following condition presented a successful identification: 1-m object distance, 2300-lx illuminance, F2.8 aperture, 1/250-s shutter speed, 4608 × 3456 image resolution, and theoretical space resolution 0.09 mm/pixel. Longer object distance, faster moving speed, darker object surface and poorer theoretical space resolution would decrease the identification level. In videos taken by the digital video camera, it was verified that an object distance as short as 0.17 m could provide a high quality video from which the crack could be successfully identified. Those observations provided a useful basis for further development of the robot sensing system.

Signal based (Non-contact) operation of electrical mechanical assemblies is ending up being continuously fancied development. Flexible Sensor based touch less game plans end up being all the more understood after the late accomplishment of touch screen advancement. Immediately Gestures are not routinely used to control neighborhood machines in a front line base. This foresee inspect on the present use of military in devices and possible use for various zones. Diverse sorts of private machines, advanced devices are controlling used as a piece of family units, business endeavors and work environments. These devices are generally controlled by human hand with manual switches. The survey of things is given with varying data techniques. An impeccable representation is to control a robot by hand movement. This idea made it possible to switch path by changing the heading with the usage of hand movements. Present headways open to see movements in free air which uses Common techniques consolidate cameras, significance sensors or capacitive structures. This work is focusing on examination of electric field (E-field) for front line closeness distinguishing which are curved through hand improvements in perceiving advancements. While stood out from the other systems this development can be used quietly, work through various materials and don't have a high computational weight as well. It grants affirmation of new customer interface applications by area, taking after and request of the customer's hand or finger development in free space. frameworks this innovation can be utilized inconspicuously, work through different materials and don't have a high computational weight too. It permits acknowledgment of new client interface applications by location, following and characterization of the client's hand or finger movement in free space.