Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools

ABSTRACT

In this article, we propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as screwing and suctioning. A third gripper is used as a precision picking and centering tool, and uses in-built passive compliance to compensate for small position errors and uncertainty. A novel grasp point detection for bin picking is described for the kitting task, using a single depth map. Using the proposed system we competed in the Assembly Challenge of the Industrial Robotics Category of the World Robot Challenge at the World Robot Summit 2018, obtaining 4th place and the SICE award for lean design and versatile tool use. We show the effectiveness of our approach through experiments performed during the competition.     

“Old” theories, “New” technologies: Understanding knowledge sharing and learning in Brazilian software development companies

ContextNew technologies such as social networks, wikis, blogs and other social software enable collaborative work and are important facilitators of the learning process. They provide a simple mechanism for people to communicate and collaborate and thus support the creation of knowledge. In software-development companies they are used to creating an environment in which communication and collaboration between workers take place more effectively.ObjectiveThis paper identifies the main tools and technologies used by software-development companies in Brazil to manage knowledge and attempts to determine how these tools and technologies relate to important knowledge-sharing and learning theories and how they support the concepts described by these theories.MethodA survey was conducted in a group of Brazilian software development companies with high levels of process software maturity to see how they implement the Brazilian Software Processes Improvement model (MPS.Br) and use new tools and technologies. The survey used a qualitative analysis to identify which tools are used most and how frequently employees use them. The results of the analysis were compared with data from the literature on three knowledge-sharing and learning theories to understand how the use of these tools relates to the concepts proposed in these theories.ResultsThe results show that some of the tools used by the companies do not apply the concepts described in the theories as they do not help promote organizational learning. Furthermore, although the companies have adopted the tools, these are not often used, mainly because they are felt not to organize information efficiently.ConclusionThe use of certain tools can help promote several concepts described in the theories considered. Moreover, the use of these tools can help reduce the impact of, some common organizational problems. However, companies need to improve existing organizational policies that encourage employees to use these tools more regularly.     

Design and testing of the JPL‐Nautilus Gripper for deep‐ocean geological sampling

We present the design and experimental results for the JPL‐Nautilus Gripper, a 16‐finger highly underactuated microspine gripper for use in the deep ocean. The gripper can grasp objects from 10 to 30 cm in size and anchor to flat and curved rocky surfaces (i.e., cliff faces and seamounts). Laboratory results demonstrated an anchoring capability of greater than 450 N on rough rocks in both shear and normal loading directions. Deployment on the Hercules ROV (remotely operated vehicle) aboard the E/V Nautilus on three deep‐ocean dives verified performance at depths up to to 2,100 m with approximately 100 N loads applied through the ROV's thrusters, including moment loads. The gripper also serves as a development unit for future robotic tools that will include a coring drill in the center of the gripper, as previously demonstrated in non‐ocean environments with microspine grippers. Such a tool will facilitate the collection of geologic samples from the deep ocean using more agile and cost‐effective systems.     

Adaptive neuro-fuzzy prediction of grasping object weight for passively compliant gripper

The development of universal grippers able to pick up unfamiliar objects of widely varying shapes and surfaces is a very challenging task. Passively compliant underactuated mechanisms are one way to obtain the gripper which could accommodate to any irregular and sensitive grasping objects. The purpose of the underactuation is to use the power of one actuator to drive the open and close motion of the gripper. The fully compliant mechanism has multiple degrees of freedom and can be considered as an underactuated mechanism. This paper presents a new design of the adaptive underactuated compliant gripper with distributed compliance. The optimal topology of the gripper structure was obtained by iterative finite element method (FEM) optimization procedure. The main points of this paper are in explanation of a new sensing capability of the gripper for grasping and lifting up the gripping objects. Since the sensor stress depends on weight of the grasping object it is appropriate to establish a prediction model for estimation of the grasping object weight in relation to sensor stress. A soft computing based prediction model was developed. In this study an adaptive neuro-fuzzy inference system (ANFIS) was used as soft computing methodology to conduct prediction of the grasping objects weight. The training and checking data for the ANFIS network were obtained by FEM simulations.     

Support vector regression methodology for prediction of input displacement of adaptive compliant robotic gripper

The prerequisite for new versatile grippers is the capability to locate and perceive protests in their surroundings. It is realized that automated controllers are profoundly nonlinear frameworks, and a faultless numerical model is hard to get, in this way making it troublesome to control utilizing tried and true procedure. Here, a design of an adaptive compliant gripper is presented. This design of the gripper has embedded sensors as part of its structure. The use of embedded sensors in a robot gripper gives the control system the ability to control input displacement of the gripper and to recognize specific shapes of the grasping objects. Since the conventional control strategy is a very challenging task, soft computing based controllers are considered as potential candidates for such an application. In this study, the polynomial and radial basis function (RBF) are applied as the kernel function of Support Vector Regression (SVR) to estimate and predict optimal inputs displacement of the gripper according to experimental tests and shapes of grasping objects. Instead of minimizing the observed training error, SVR _poly and SVR _rbf attempt to minimize the generalization error bound so as to achieve generalized performance. The experimental results show that an improvement in predictive accuracy and capability of generalization can be achieved by the SVR approach compared to other soft computing methodology.     

Three methodologies for the calibration of industrial manipulators: Experimental results on a SCARA robot

This article presents and compares three algorithms for the geometric parameter identification of industrial robots to increase its accuracy (static calibration). The estimation is based on the measure of the gripper pose errors when the robot follows suitable trajectories. The algorithms are general and can be applied to any robot providing that its kinematics is known. After a theoretical introduction to the general methodologies, these are applied to a selective compliance assembly robot arm (SCARA) robot analyzing its performance (precision, efficiency). Experimental results obtained with three methodologies are presented and discussed. The measure of the gripper pose error is based on a laser triangulation technique whose working principles are also recalled. © 2000 John Wiley & Sons, Inc.     

A toolkit for the analysis of biomechanical overload and prevention of WMSDs: Criteria,procedures and tool selection in a step-by-step approach

BackgroundWhen studying work related musculoskeletal disorders (WMSDs), various factors (mechanical, organizational, psychophysical, individual) and their interrelationships have been considered to be important in general models for epidemiologic surveys and risk assessment and management. Hence the need for a “holistic” approach towards MSD prevention. On the other hand, considering the widespread presence of these factors and of WMSDs in many work places located in both developed and developing countries, there is a strong demand from OSH agencies and operators for “simple” risk assessment and management tools that can also be used by non-experts.ObjectivesThis paper is one of the main contributions towards a WHO/IEA project for developing a “Toolkit for WMSD prevention” by the TC on MSD of the IEA. The paper focuses on selecting tools at different levels for hazard identification, risk estimation and management. The proposals were primarily developed in this context but they also derive from other converging issues such as the ISO TR 12295 – published in 2014.Methods and criteriaProposals are based on two essential criteria: 1) adoption of a step-by-step approach starting with basic tools and moving to more complex tools only when necessary; 2) factoring in complexity and the presence of multiple influencing factors at every step (although with different degrees of in-depth analysis).ResultsThe proposals include: Step one: identification of preliminary occupational hazards and priority setting via “key-enter” questions (at this step, all potential hazards affecting WMSDs should be considered). Step two: identification of risk factors for WMSDs, consisting of a “quick assessment” and substantially aimed at identifying three possible conditions: acceptable/no consequences; critical/redesign urgently needed; more detailed analysis required. Step three: recognized tools for estimating risk (of WMSDs) are used depending on the outcomes of step two. Examples of such tools include “adaptations” of the Revised NIOSH Lifting Equation, Liberty Mutual Psychophysical Tables, OCRA Checklist, etc. These tools should adequately cover most of the influencing factors.Relevance to industryThe use of a step-by-step approach and validated risk estimation tools, in accordance with international standards, makes it possible to tackle the challenge of simplifying complexity in the assessment of biomechanical overload conditions and in the prevention of WMSDs in enterprises of all sizes, small businesses, agriculture, and in developing countries.     

Intelligent robotic gripper with adaptive grasping force

The on-off control robot gripper is widely employed in pick-and-place operations in Cartesian space for handling hard objects between two positions. Without contact force monitoring, it can not be applied in fragile or soft objects handling. Although, an appropriate grasping force or gripper opening for each target could be searched by trial-and-error process, it needs expensive force/torque sensor or an accurate gripper position controller. It has too expensive and complex control strategy disadvantages for most of industrial applications. In addition, it can not overcome the target slip problem due to mass uncertainty and dynamic factor. Here, an intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of object’s mass and soft/hard features. A communication signal is specified to integrate both robot arm and gripper control kernels for executing the robotic position control and gripper force control functions in sequence. An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip control strategy are shown by pictures to verify the dynamic performance of this distributed control system. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.

     

A systematic review of systematic review process research in software engineering

ContextMany researchers adopting systematic reviews (SRs) have also published papers discussing problems with the SR methodology and suggestions for improving it. Since guidelines for SRs in software engineering (SE) were last updated in 2007, we believe it is time to investigate whether the guidelines need to be amended in the light of recent research.ObjectiveTo identify, evaluate and synthesize research published by software engineering researchers concerning their experiences of performing SRs and their proposals for improving the SR process.MethodWe undertook a systematic review of papers reporting experiences of undertaking SRs and/or discussing techniques that could be used to improve the SR process. Studies were classified with respect to the stage in the SR process they addressed, whether they related to education or problems faced by novices and whether they proposed the use of textual analysis tools.ResultsWe identified 68 papers reporting 63 unique studies published in SE conferences and journals between 2005 and mid-2012. The most common criticisms of SRs were that they take a long time, that SE digital libraries are not appropriate for broad literature searches and that assessing the quality of empirical studies of different types is difficult.ConclusionWe recommend removing advice to use structured questions to construct search strings and including advice to use a quasi-gold standard based on a limited manual search to assist the construction of search stings and evaluation of the search process. Textual analysis tools are likely to be useful for inclusion/exclusion decisions and search string construction but require more stringent evaluation. SE researchers would benefit from tools to manage the SR process but existing tools need independent validation. Quality assessment of studies using a variety of empirical methods remains a major problem.     

Enhancing software artefact traceability recovery processes with link count information

ContextThe intensive human effort needed to manually manage traceability information has increased the interest in using semi-automated traceability recovery techniques. In particular, Information Retrieval (IR) techniques have been largely employed in the last ten years to partially automate the traceability recovery process.AimPrevious studies mainly focused on the analysis of the performances of IR-based traceability recovery methods and several enhancing strategies have been proposed to improve their accuracy. Very few papers investigate how developers (i) use IR-based traceability recovery tools and (ii) analyse the list of suggested links to validate correct links or discard false positives. We focus on this issue and suggest exploiting link count information in IR-based traceability recovery tools to improve the performances of the developers during a traceability recovery process.MethodTwo empirical studies have been conducted to evaluate the usefulness of link count information. The two studies involved 135 University students that had to perform (with and without link count information) traceability recovery tasks on two software project repositories. Then, we evaluated the quality of the recovered traceability links in terms of links correctly and erroneously traced by the students.ResultsThe results achieved indicate that the use of link count information significantly increases the number of correct links identified by the participants.ConclusionsThe results can be used to derive guidelines on how to effectively use traceability recovery approaches and tools proposed in the literature.     

Tools used in Global Software Engineering: A systematic mapping review

ContextThis systematic mapping review is set in a Global Software Engineering (GSE) context, characterized by a highly distributed environment in which project team members work separately in different countries. This geographic separation creates specific challenges associated with global communication, coordination and control.ObjectiveThe main goal of this study is to discover all the available communication and coordination tools that can support highly distributed teams, how these tools have been applied in GSE, and then to describe and classify the tools to allow both practitioners and researchers involved in GSE to make use of the available tool support in GSE.MethodWe performed a systematic mapping review through a search for studies that answered our research question, “Which software tools (commercial, free or research based) are available to support Global Software Engineering?” Applying a range of related search terms to key electronic databases, selected journals, and conferences and workshops enabled us to extract relevant papers. We then used a data extraction template to classify, extract and record important information about the GSD tools from each paper. This information was synthesized and presented as a general map of types of GSD tools, the tool’s main features and how each tool was validated in practice.ResultsThe main result is a list of 132 tools, which, according to the literature, have been, or are intended to be, used in global software projects. The classification of these tools includes lists of features for communication, coordination and control as well as how the tool has been validated in practice. We found that out the total of 132, the majority of tools were developed at research centers, and only a small percentage of tools (18.9%) are reported as having been tested outside the initial context in which they were developed.ConclusionThe most common features in the GSE tools included in this study are: team activity and social awareness, support for informal communication, Support for Distributed Knowledge Management and Interoperability with other tools. Finally, there is the need for an evaluation of these tools to verify their external validity, or usefulness in a wider global environment.     

Development of the multifunctional rescue robot FUHGA2 and evaluation at the world robot summit 2018

Abstract

Robots are needed in rescue activities and the inspection of infrastructure. We developed the rescue robot FUHGA2 so that it has various functions. FUHGA2 has high mobility, with main crawlers covering the body and four sub-crawlers, high dexterity using a long six-axis arm, and high searching ability using various sensors. Furthermore, a novel parallel gripper unit with wire-jamming mechanism is mounted at the tip of the arm, which can change its hardness and fit its shape to an object. Additionally, high Maneuvering is achieved by displaying sensor information to the operator clearly and intuitive operation command design. FUHGA2 won the World Robot Summit 2018 Standard Disaster Robotics Challenge, which is a competition for rescue robots. We achieved high scores in all categories of tasks. In this paper, we describe the development of FUHGA2 and the performance evaluation results from the World Robot Summit 2018.     

Evaluation of the effects of two alternative participatory ergonomics intervention strategies for construction companies

To improve the use of ergonomics tools by construction workers, the effect of two guidance strategies – a face-to-face strategy (F2F) and an e-guidance strategy (EG) – of a participatory ergonomics intervention was studied. Twelve construction companies were randomly assigned to the F2F group or the EG group. The primary outcome measure, the percentage of workers using ergonomics tools, and secondary outcome measures – work ability, physical functioning and limitations due to physical problems – were assessed using surveys at baseline and after 6 months. Additionally, a cost-benefit analysis was performed on company level. No differences in primary and secondary outcomes were found with the exception of the use of ergonomics tools to adjust working height (F2F +1%; EG +10%; p?=?.001). Newly-implemented tools were used by 23% (F2F) and 42% (EG) of the workers (p?=?.271). Costs were mainly determined by guidance costs (F2F group) or purchase costs (EG group).

Practitioner Summary: Participatory strategies aim to stimulate behavioural change of stakeholders to increase the use of ergonomics tools. Two guidance strategies – face-to-face or e-mail interventions – among construction companies were studied. Both guidance strategies led to an increase in the use of new ergonomics tools.     

RUR53: an unmanned ground vehicle for navigation,recognition, and manipulation

ABSTRACT

This paper proposes RUR53: an Unmanned Ground Vehicle able to navigate through, identify, and reach areas of interest. There, it can recognize, localize, and manipulate work tools to perform both indoor and outdoor complex tasks. Indeed, a wide range of sensors composes the robot and enables it to perceive vast workspaces, reach distant targets, and face the uncertainties of the real world. Precise object detection is also guaranteed, essential to manipulate objects of different shapes and materials. Moreover, a customized 3-finger gripper makes the gripping mode suitable for any lightweight object. Two modalities are proposed: autonomous and teleoperated, letting both unskilled and skilled human operators easily adapt the system to complete personalized tasks. The paper exhaustively describes RUR53 architecture and demonstrates its good performance while executing both indoor and outdoor navigation and manipulation tasks. A specific case study is described where the proposed modular architecture allows to easily switch to a semi-teleoperated mode: the 2017 Mohamed Bin Zayed International Robotics Challenge, where our team ranked third in the Grand Challenge in collaboration with the Czech Technical University in Prague, the University of Pennsylvania, and the University of Lincoln (UK).     

A framework for variable content document generation with multiple actors

ContextAdvances in customization have highlighted the need for tools supporting variable content document management and generation in many domains. Current tools allow the generation of highly customized documents that are variable in both content and layout. However, most frameworks are technology-oriented, and their use requires advanced skills in implementation-related tools, which means their use by end users (i.e. document designers) is severely limited.ObjectiveStarting from past and current trends for customized document authoring, our goal is to provide a document generation alternative in which variants are specified at a high level of abstraction and content reuse can be maximized in high variability scenarios.MethodBased on our experience in Document Engineering, we identified areas in the variable content document management and generation field open to further improvement. We first classified the primary sources of variability in document composition processes and then developed a methodology, which we called DPL – based on Software Product Lines principles – to support document generation in high variability scenarios.ResultsIn order to validate the applicability of our methodology we implemented a tool – DPLfw – to carry out DPL processes. After using this in different scenarios, we compared our proposal with other state-of-the-art tools for variable content document management and generation.ConclusionThe DPLfw showed a good capacity for the automatic generation of variable content documents equal to or in some cases surpassing other currently available approaches. To the best of our knowledge, DPLfw is the only framework that combines variable content and document workflow facilities, easing the generation of variable content documents in which multiple actors play different roles.     

A proposal of a new rotational-compliant joint with oil-hydraulic McKibben artificial muscles

Abstract

Conventional hydraulic actuators can generate a strong force due to high pressure. However, most of them are heavy and hard because they are made of metal. It is difficult to use such actuators in robots required to be as light as possible. Moreover, the joint mechanisms of these actuators have problems with intrinsic safety and robustness because the compliance is acquired using delicate sensors and advanced controls. Therefore, we propose a new rotational-compliant mechanism that allows the coexistence of strong force and compliance. The proposed mechanism has compliance in an active rotational direction and in two directions orthogonal to it. To realize this mechanism, we have developed a Hydraulic Artificial Muscle (HAM), which is very lightweight and able to generate strong force. Furthermore, the HAM has compliance without any advanced control. By exploiting the characteristics of the HAM, the function of the proposed mechanism can be realized even in conditions of compact dimensions. In this paper, by constructing a simple experimental system that imitates the proposed mechanism, and by modeling it, we verify its compliance from both a theoretical and an experimental point of view. We demonstrate that the mechanism has compliance in the three rotational directions.     

SCARA based peg-in-hole assembly using compliant IPMC micro gripper

Robotic assembly is difficult as there always exist position errors between two mating parts. Compliance is added in a selective compliant assembly robot arm (SCARA) in the form of a two ionic polymer metal composite (IPMC) fingers based micro gripper. This micro gripper is integrated at the end effector position of a SCARA robot. Peg-hole interaction is analytically modeled and based on it the force required to correct the lateral and angular errors by IPMC is calculated. A proportional-derivative (PD) controller is designed to actuate the IPMC to get the desired force for correcting the peg position before assembly. Simulations and experiments were carried out by developing an IPMC micro gripper and using it to analyze various cases of peg in hole assembly. The experimental results prove that adding compliance through IPMC helps in peg-in-hole assembly.     

Synergy between Activity Theory and goal/scenario modeling for requirements elicitation,analysis, and evolution

ContextIt is challenging to develop comprehensive, consistent, analyzable requirements models for evolving requirements. This is particularly critical for certain highly interactive types of socio-technical systems that involve a wide range of stakeholders with disparate backgrounds; system success is often dependent on how well local social constraints are addressed in system design.ObjectiveThis paper describes feasibility research, combining a holistic social system perspective provided by Activity Theory (AT), a psychological paradigm, with existing system development methodologies and tools, specifically goal and scenario modeling.MethodAT is used to understand the relationships between a system, its stakeholders, and the system’s evolving context. The User Requirements Notation (URN) is used to produce rigorous, analyzable specifications combining goal and scenario models. First, an AT language was developed constraining the framework for automation, second consistency heuristics were developed for constructing and analyzing combined AT/URN models, third a combined AT/URN methodology was developed, and consequently applied to a proof-of-concept system.ResultsAn AT language with limited tool support was developed, as was a combined AT/URN methodology. This methodology was applied to an evolving disease management system to demonstrate the feasibility of adapting AT for use in system development with existing methodologies and tools. Bi-directional transformations between the languages allow proposed changes in system design to be propagated to AT models for use in stakeholder discussions regarding system evolution.ConclusionsThe AT framework can be constrained for use in requirements elicitation and combined with URN tools to provide system designs that include social system perspectives. The developed AT/URN methodology can help engineers to track the impact on system design due to requirement changes triggered by changes in the system’s social context. The methodology also allows engineers to assess the impact of proposed system design changes on the social elements of the system context.