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1.
Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model set
Tone Lerher, Primož Bencak, Luka Bizjak, Darko Hercog, Boris Jerman, 2023, objavljeni znanstveni prispevek na konferenci

Opis: Robotic bin-picking is increasingly important in the order-picking process in intralogistics. However, many aspects of the robotic bin-picking process (object detection, grasping, manipulation) still require the research community's attention. Established methods are used to test robotic grippers, enabling comparability of the research community's results. This study presents a modified YCB Robotic Gripper Assessment Protocol that was used to evaluate the performance of four robotic grippers (twofingered, vacuum, gecko, and soft gripper). During the testing, 45 objects from the modified YCB Object and Model Set from the packaging categories, tools, small objects, spherical objects, and deformable objects were grasped and manipulated. The results of the robotic gripper evaluation show that while some robotic grippers performed substantially well, there is an expressive grasp success variation over diverse objects. The results indicate that selecting the object grasp point next to selecting the most suitable robotic gripper is critical in successful object grasping. Therefore, we propose grasp point determination using mechanical software simulation with a model of a two-fingered gripper in an ADAMS/MATLAB cosimulation. Performing software simulations for this task can save time and give comparable results to real-world experiments.
Ključne besede: intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis
Objavljeno v DKUM: 21.03.2024; Ogledov: 189; Prenosov: 9
.pdf Celotno besedilo (773,38 KB)
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2.
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: 345; Prenosov: 22
.pdf Celotno besedilo (1,89 MB)
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3.
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: 651; Prenosov: 49
.pdf Celotno besedilo (715,59 KB)
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4.
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: 687; Prenosov: 73
.pdf Celotno besedilo (19,99 MB)
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5.
Implementation of a new reporting process in a group x
Sara Črešnik, 2021, magistrsko delo

Opis: Reporting is present in every company. Whether it is small or big, it cannot be avoided. It plays a crucial role in the process and progress of business. The quality of reporting affects the development of the work environment and the company. Since business report is a document that contains business information, which supports the decisions about the future-oriented business decisions, it is very important for it to be designed in such a way that it contains the key information for the recipient and provides support for business decisions. The reporting process can take place horizontally upwards or downwards. Content and structure vary depending on the recipient of the report. We live in an age when our every step is accompanied by digitization, computerization, artificial intelligence, mass data, the Internet of Things, machine learning, and robotics. These changes have also affected the reporting process as well as its processes. The processes of data acquisition, processing and sharing have changed. Furthermore, the data quantity has increased, whereas the speed of the time in which to prepare the reports has decreased. We can have data without information, but we cannot have information without data. There is never enough time, especially nowadays when we are used to having everything at our fingertips. These are two conflicting factors – having more data and less time to prepare quality reports. The systems are developed to optimize the process, increase efficiency and quality and, what is nowadays most important, they have been created to obtain mass data in the shortest possible time. Therefore, it is important to adapt and implement software that can help achieve our daily tasks. We must know how to process huge amounts of real-time data and deliver the information they contain. It is crucial for companies to keep up with the environment and implement changes and innovations into their business process. A company is like a living organism for it must constantly evolve and grow. As soon as it stops growing and evolving, it can fail because it starts lagging and is therefore no longer competitive to others. To deliver faster feedback, companies need data of better quality. There are tools that can improve the business process, better facilitating the capacity of the human agents. The goal is to harness the employees’ full potential and knowledge for important tasks, such as analyzing, reviewing, and understanding data and acting upon them, invoking information technology to automate repetitive processes and facilitate better communication. The focus in this master’s thesis is on the reporting process in Group X. Group X is one of the world leaders in the automotive industry, a multinational corporation based in Canada with subsidiaries around the world. The complexity of the business reporting that is implemented for the Headquarters in Canada has to address the complexity of the multinational corporation to support the decision process. The aim of the thesis is to propose a reporting process for preparing and producing reports with a huge amount of data in a very time-efficient manner. We start by examining the existing processes and upon that, identifying the processes required for the reports to reach the final recipients. Our goal is to identify the toolset, which would increase efficiency, accuracy, credibility, and reduce errors in the fastest possible time. We investigate a short-term and a long-term solution. By a short-term solution, we mean a system, program, or a tool that can help us increase our potential by using digital resources, which are already existing in the organization. By a long-term solution, we mean a solution, which requires employment of specialized future tools in the field of reporting and in repetitive processes, which we can identify with current knowledge and expectations for development. This includes machine learning, robotic process automatization, artificial intelligence.
Ključne besede: Consolidated reporting, reporting process, robotic process automatization, business intelligence, artificial intelligence, machine learning, SharePoint, Big Data, digital transformation, electronic data interchange.
Objavljeno v DKUM: 01.09.2021; Ogledov: 838; Prenosov: 3
.pdf Celotno besedilo (1,71 MB)

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