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1.
Indoor positioning system based on bluetooth low energy technology and a nature-inspired optimization algorithm
Primož Bencak, Darko Hercog, Tone Lerher, 2022, izvirni znanstveni članek

Opis: Warehousing is one of the most important activities in the supply chain, enabling competitive advantage. Effective management of warehousing processes is, therefore, crucial for achieving minimal costs, maximum efficiency, and overall customer satisfaction. Warehouse Management Systems (WMS) are the first steps towards organizing these processes; however, due to the human factor involved, information on products, vehicles and workers may be missing, corrupt, or misleading. In this paper, a cost-effective Indoor Positioning System (IPS) based on Bluetooth Low Energy (BLE) technology is presented for use in Intralogistics that works automatically, and therefore minimizes the possibility of acquiring incorrect data. The proposed IPS solution is intended to be used for supervising order-picker movements, movement of packages between workstations, and tracking other mobile devices in a manually operated warehouse. Only data that are accurate, reliable and represent the actual state of the system, are useful for detailed material flow analysis and optimization in Intralogistics. Using the developed solution, IPS technology is leveraged to enhance the manually operated warehouse operational efficiency in Intralogistics. Due to the hardware independence, the developed software solution can be used with virtually any BLE supported beacons and receivers. The results of IPS testing in laboratory/office settings show that up to 98% of passings are detected successfully with time delays between approach and detection of less than 0.5 s.
Ključne besede: warehousing, indoor positioning systems, bluetooth low energy, particle swarm optimization, nature–inspired algorithm, intralogistics
Objavljeno v DKUM: 17.08.2023; Ogledov: 302; Prenosov: 22
.pdf Celotno besedilo (2,42 MB)
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2.
An optimisation model for minimising totes exchange in VLM and SBS/RS integrated system
Jakob Marolt, Goran Đukić, Fabio Sgarbossa, Tone Lerher, 2022, objavljeni znanstveni prispevek na konferenci

Opis: Warehouses and distribution centres are based on integrated material handling solutions. Most of the research papers in intralogistics are only concerned with one system to analyse and optimise the addressed system's performance, such as maximum throughput performance, minimum total cost, maximum energy efficiency, etc. This paper presents a concept to justify the proposed VLM and SBS/RS integrated system and a binary integer programming (BIP) model that minimises totes exchange between the two storage systems. The results show that the minimal number of exchanges between VLM and SBS/RS was achieved in a case study with a longer order list (T = 1600) and a highly dependent SKU's Pareto relationship (20-50).
Ključne besede: automated warehousing, intralogistics, VLM, SBS, RS, integrated systemoptimisation, performance analysis
Objavljeno v DKUM: 02.08.2023; Ogledov: 252; Prenosov: 28
.pdf Celotno besedilo (743,43 KB)
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3.
Object detection and graspability analysis for robotic bin-picking application in intralogistics
Primož Bencak, Darko Hercog, Tone Lerher, 2023, objavljeni znanstveni prispevek na konferenci

Opis: Robotics has been gaining attention in intralogistics applications in recent years. Automation of intralogistics processes aims to cope with the rising trends of workforce deficiency, aging, and increasing demands that came with the rise of E-commerce. Many improvements aim at bin-picking applications since order-picking requires most contributions while adding little to the products' value. Robotic bin-pickers are showing promising results; however, they are still subject to many limitations. First, the vision system must correctly determine the object's location and orientation. Second, a correct robotic gripper must be chosen. Lastly, appropriate grasping points that lead to successful picking must be selected. In this paper, we explore the influencing parameters of object detection using a 3D vision system. Second, we analyze an actual bin-picking application to determine the most appropriate selection of the robotic gripper. Based on the experiments, we provide the guidelines for selecting the most appropriate robotic bin-picking configuration.
Ključne besede: intralogistics, robotic bin-picking, detection analysis, graspability analysis
Objavljeno v DKUM: 25.07.2023; Ogledov: 242; Prenosov: 11
.pdf Celotno besedilo (1,89 MB)
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4.
Planning and construction of the lifting and towing device of the autonomous mobile robot MiR 100 for the delivery of transport trolleys in intralogistics
Tone Lerher, Aleš Belšak, Rok Skerbiš, Jure Tumpej, Žiga Volavšek, Domen Stamenov, Marko Motaln, 2022, objavljeni znanstveni prispevek na konferenci

Opis: Intralogistics is a very important area in warehousing and production for managing the flow of materials and informational flow. In recent years, automation and especially robotisation have had a major impact on throughput performance in intralogistics. Especially important is the transport of materials and products based on automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) with different top modules, such as the lifting and towing device. In this paper, planning and construction of the lifting and towing device of the autonomous mobile robot MiR 100 for the delivery of transport trolleys in intralogistics is presented. Using the engineering design methods, a new design of the lifting and towing device has been proposed and evaluated.
Ključne besede: intralogistics, material handling systems, automation and robotisation, planning and construction, lifting and towing mechanism, simulation and animation
Objavljeno v DKUM: 15.03.2023; Ogledov: 466; Prenosov: 68
.pdf Celotno besedilo (1,45 MB)

5.
Evaluating robot bin-picking performance based on Box and Blocks Test
Primož Bencak, Darko Hercog, Tone Lerher, 2022, objavljeni znanstveni prispevek na konferenci

Opis: The rise of e-commerce, which demands solutions for small order sizes, large product assortment, short delivery times, and variable order quantity has created a need for more advanced warehousing and order-picking systems. The advancements in collaborative robotics have made it possible to automate intralogistics processes, especially the order-picking systems. If the items to be order-picked are stored in small containers, called bins, the process is known as bin-picking. The processes of bin-picking are still mainly manual due to the adaptability, dexterity, and pace of human hands. However, with the emerging technologies, the gap between human and robot dexterity is getting thinner. The integrators of robotic technologies are therefore faced with the challenge of choosing an appropriate robotic system for bin-picking. There is a lack of standardized procedures, which are designed to process such decisions easier. In our research paper, we propose an improved robotic version of the Box and Blocks Test (BBT), which provides a quick evaluation of a complete robotic bin-picking system. Using our improved robot-adapted BBT protocol, we evaluate a sample robotic bin-picking system, consisting of a collaborative robot, a 3D vision system and three types of robotic grippers, comparing the bin-picking performance of each configuration.
Ključne besede: robotic bin-picking, intralogistics, Box, Blocks Test, vision system, collaborative robot
Objavljeno v DKUM: 03.03.2023; Ogledov: 570; Prenosov: 38
.pdf Celotno besedilo (715,59 KB)
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6.
Simulation model for robotic pick-point evaluation for 2-F robotic gripper
Primož Bencak, Darko Hercog, Tone Lerher, 2023, izvirni znanstveni članek

Opis: Robotic bin-picking performance has been gaining attention in recent years with the development of increasingly advanced camera and machine vision systems, collaborative and industrial robots, and sophisticated robotic grippers. In the random bin-picking process, the wide variety of objects in terms of shape, weight, and surface require complex solutions for the objects to be reliably picked. The challenging part of robotic bin-picking is to determine object pick-points correctly. This paper presents a simulation model based on ADAMS/MATLAB cosimulation for robotic pick-point evaluation for a 2-F robotic gripper. It consists of a mechanical model constructed in ADAMS/View, MATLAB/Simulink force controller, several support functions, and the graphical user interface developed in MATLAB/App Designer. Its functionality can serve three different applications, such as: (1) determining the optimal pick-points of the object due to object complexity, (2) selecting the most appropriate robotic gripper, and (3) improving the existing configuration of the robotic gripper (finger width, depth, shape, stroke width, etc.). Additionally, based on this analysis, new variants of robotic grippers can be proposed. The simulation model has been verified on a selected object on a sample 2-F parallel robotic gripper, showing promising results, where up to 75% of pick-points were correctly determined in the initial testing phase.
Ključne besede: intralogistics, robotic bin-picking, simulation model, ADAMS, pick-point determination, MATLAB/Simulink, 2-F robotic gripper, performance analysis
Objavljeno v DKUM: 27.02.2023; Ogledov: 542; Prenosov: 45
.pdf Celotno besedilo (19,99 MB)
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