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An architecture for sim-to-real and real-to-sim experimentation in robotic systems

Rok Vrabič, Gašper Škulj, Andreja Malus, Dominik Kozjek, Luka Selak, Drago Bračun, Primož Podržaj
2021 Procedia CIRP  
Based on Datum Flow Chain, the physical structure of the products is analyzed. Functional subassemblies are identified, and a functional analysis is performed.  ...  Indeed, most of the known methods aim to analyze a product or one product family on the physical level.  ...  Two case studies based on the proposed architecture are presented illustrating an implementation for the digital twin of an industrial robot and transfer of learned behaviour from simulation to reality  ... 
doi:10.1016/j.procir.2021.11.057 fatcat:arnoo766gfcehan4xp42i7w6ra

A Survey on AI-Driven Digital Twins in Industry 4.0: Smart Manufacturing and Advanced Robotics

Ziqi Huang, Yang Shen, Jiayi Li, Marcel Fey, Christian Brecher
2021 Sensors  
As a digital replica of a physical entity, the basis of DT is the infrastructure and data, the core is the algorithm and model, and the application is the software and service.  ...  Practical challenges and development prospects of AI-driven DTs are discussed with a respective focus on different levels.  ...  Acknowledgments: The authors would like to thank the German Research Foundation DFG for the support within the Cluster of Excellence "Internet of Production"-390621612.  ... 
doi:10.3390/s21196340 pmid:34640660 fatcat:qy3qiazvqrejvfuixudd6ywqsq

A Survey on AI-Driven Digital Twins in Industry 4.0: Smart Manufacturing and Advanced Robotics

Ziqi Huang, Yang Shen, Jiayi Li, Marcel Fey, Christian Brecher
2021 Sensors 21(19)  
This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY  ...  Acknowledgments: The authors would like to thank the German Research Foundation DFG for the support within the Cluster of Excellence "Internet of Production"-390621612.  ...  ., Fraunhofer IPT, as well as the Chair of Production Metrology and Quality Management, and Production Engineering of the Laboratory for Machine Tools and Production Engineering (WZL) for their permission  ... 
doi:10.18154/rwth-2021-09877 fatcat:yjhprcascvfutisat7olust3kq

Robot Online Learning to Lift Weights: A Way to Expose Students to Robotics and Intelligent Technologies

Igor M. Verner, Dan Cuperman, Michael Reitman
2017 International Journal of Online Engineering (iJOE)  
We implemented a reinforcement learning scenario in which a humanoid robot learns to lift a weight of unknown mass through autonomous trial-and-error search.  ...  To answer this challenge, we propose a connected environment which integrates the robot, its digital twin and virtual sensors.  ...  Simulation in robotics is a software tool for design and testing robot behaviors on a virtual robot before implementing them on a real robot.  ... 
doi:10.3991/ijoe.v13i08.7270 fatcat:vqgwcsxoljh53kpfpuzq37prku

Transfer Learning as an Enabler of the Intelligent Digital Twin [article]

Benjamin Maschler, Dominik Braun, Nasser Jazdi, Michael Weyrich
2020 arXiv   pre-print
In the context of machine learning, transfer learning represents a set of approaches that enhance learning new tasks based upon previously acquired knowledge.  ...  Furthermore, using the Digital Twin's simulation capabilities virtually injecting rare faults in order to train an algorithm's response or using reinforcement learning, e.g. to teach a robot, become practically  ...  For our cyber-physical production system (see chapter 4.1), training the robot arm for picking up the metal parts and assembling the model car can be done using reinforcement learning on the digital twin  ... 
arXiv:2012.01913v1 fatcat:he3xdaa445cfxg2ybjnicb663y

Collaboration Robots as Digital Doubles of Person for Communication in Public Life and Space

Evgeniy Bryndin
2019 Budapest International Research in Exact Sciences (BirEx) Journal  
The coming years will take to improve safety and standardize the creation, application of digital twins and behavior of robots.  ...  From a practical point of view, this makes it possible to more accurately determine the behavior of the human digital twin in space and in extreme situations.  ...  Reinforcement Learning is a type of machine learning in which an algorithm has a specific purpose -for example, to control a robotic manipulator or play Go.  ... 
doi:10.33258/birex.v1i4.473 fatcat:egbcq3kwq5fmfgj2xmzymqldiy

Emerging Trends in Data Center Management Automation

Moises Levy, Anitha Subburaj
2021 2021 IEEE 11th Annual Computing and Communication Workshop and Conference (CCWC)  
twinning; and 3) robotics for process automation.  ...  As such, they are witnessing an unprecedented need for automation of their monitoring and management processes in order to minimize reliance on human interaction.  ...  Reinforcement (unlabeled data) Modeling and simulations. Behavior prediction. Resource optimization. Digital twin. Video recognition. Robotics. Navigation.  ... 
doi:10.1109/ccwc51732.2021.9375837 fatcat:vvcqoirs5bb5rjy7imi7e5tyju

Genetic Algorithm-Based Trajectory Optimization for Digital Twin Robots

Xin Liu, Du Jiang, Bo Tao, Guozhang Jiang, Ying Sun, Jianyi Kong, Xiliang Tong, Guojun Zhao, Baojia Chen
2022 Frontiers in Bioengineering and Biotechnology  
This paper presents a method for optimizing the trajectory of the mobile robot based on the digital twin of the robot.  ...  It provides a method to map learning in the virtual domain to the physical robot.  ...  FUNDING This research was supported by the National Natural Science Foundation of China (Nos. 52075530, 51575407, 51505349, 51975324, 61733011, and 41906177)  ... 
doi:10.3389/fbioe.2021.793782 pmid:35083202 pmcid:PMC8784515 fatcat:uttfa5am4bcdpoey3icpkezdke

Some new trends of intelligent simulation optimization and scheduling in intelligent manufacturing

Xinyu Li, Chunjiang Zhang
2020 Service Oriented Computing and Applications  
• Scheduling in digital twin shops The digital twin is one of the hottest topics in intelligent manufacturing [6] .  ...  Like simulation optimization and scheduling, reinforcement learning is essentially a decision-making process for optimization purposes, which is a new research hotspot in the field of artificial intelligence  ... 
doi:10.1007/s11761-020-00299-6 fatcat:tywfkjdf3fbwhijdeaojvseynq

Preface [chapter]

2021 Soft Computing in Smart Manufacturing  
and human-machine collaboration, in static and dynamic digital twins integration in a smart manufacturing, in Standard for Exchange of Product compliant Numerical Control (STEP-NC) technology for a smart  ...  These solutions should rely on learning, prognostic, and optimization features to successfully address unforeseen events and take into account the availability and status of manufacturing system resources  ...  To address the major issue -an appropriate intelligent behavior of robots in object detection and classification -the third chapter proposes the implementation of the deep learning model, that is, Convolutional  ... 
doi:10.1515/9783110693225-202 fatcat:75g7a5fdcfd5pgtbzu2f5elpvu

The Role of AI, Machine Learning, and Big Data in Digital Twinning: A Systematic Literature Review, Challenges, and Opportunities

M. Mazhar Rathore, Syed Attique Shah, Dhirendra Shukla, Elmahdi Bentafat, Spiridon Bakiras
2021 IEEE Access  
Digital twinning is one of the top ten technology trends in the last couple of years, due to its high applicability in the industrial sector.  ...  INDEX TERMS Digital twin, artificial intelligence, machine learning, big data, industry 4.0.  ...  In this article, we mainly focus on digital twin systems based on machine learning. VI.  ... 
doi:10.1109/access.2021.3060863 fatcat:cvm5ubwwrbcdph5z37dvdodgx4

Security Attacks and Solutions for Digital Twins [article]

Sabah Suhail, Raja Jurdak, Rasheed Hussain, Davor Svetinovic
2022 arXiv   pre-print
Digital twins, being the virtual replicas of their physical counterparts, share valuable knowledge of the underlying system.  ...  Therefore, they might become a potential source of data breaches and a playground for attackers to launch covert attacks.  ...  The CPS consists of (i) physical environment (such as a robotic arm) and (ii) digital twin environment (the virtual copy of a robotic arm).  ... 
arXiv:2202.12501v2 fatcat:65saahms6jayziwwhi4zerlghu

HRC-SoS: Human Robot Collaboration Experimentation Platform as System of Systems [article]

Celal Savur, Shitij Kumar, Sarthak Arora, Tuly Hazbar, Ferat Sahin
2019 arXiv   pre-print
Each experiment highlights the use of the subsystems such as the digital twin, motion capture system, human-physiological monitoring system, data collection system and robot control and interface systems  ...  These aspects are Awareness, Intelligence and Compliance of the system. Based on this framework case studies describing experiment setups performed using this platform are discussed.  ...  ACKNOWLEDGMENT The authors are grateful to the staff of Multi Agent Bio-Robotics Laboratory (MABL) and the CM Collaborative Robotics Research (CMCR) Lab for their valuable inputs.  ... 
arXiv:1905.01026v1 fatcat:meicgqeofvakzkep2lc5jq7ivq

ASSISTANT: Learning and Robust Decision Support System for Agile Manufacturing Environments

Nicolas Beldiceanu, Alexandre Dolgui, Clemens Gonnermann, Gabriel Gonzalez-Castañé, Niki Kousi, Bart Meyers, Julien Prud'homme, Simon Thevenin, Eduardo Vyhmeister, Per-Olov Östberg
2021 IFAC-PapersOnLine  
The European project ASSISTANT will provide a set of AI-based digital twins that helps process engineers and production planners to operate collaborative mixed-model assembly lines based on the data collected  ...  The resulting digital twin systems will be data-driven, agile, autonomous, collaborative and explainable, safe but reactive.  ...  In addition, we will use digital twins to produce more realistic explainable decision aid models based on reinforcement learning (e.g. learn physical restrictions) that optimize the full process globally  ... 
doi:10.1016/j.ifacol.2021.08.074 fatcat:nvu4tbsflzdcjfy3lmygaypccu

Human in the Loop: Industry 4.0 technologies and scenarios for worker mediation of automated manufacturing

Christopher J Turner, Ruidong Ma, Jingyu Chen, John Oyekan
2021 IEEE Access  
Industry 4.0 derived technologies have the potential to enable a new wave of digital manufacturing solutions for semi and fully automated production.  ...  Through a structured review, this paper details a number of key technologies that are most likely to shape this future and describes a range of scenarios for their use in delivering human mediated automated  ...  facilitated through Digital Twins; Need for improved integration of humans with Digital Twin technologies.  ... 
doi:10.1109/access.2021.3099311 fatcat:j43i6cht7ba5hehsz4oebpcwde
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