Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operator’s movement and use the information for robot control. Such wearable systems should preserve the operator’s movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operator’s upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operator’s relative hand motions to the movement of the robot’s end effector, which takes into account the operator’s orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robot’s motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.

This study investigates the effects of blockchain technology scalability limitations on the performance of Blockchain-Based Shared Manufacturing (BBSM), an innovative smart-manufacturing paradigm aimed at enhancing the utilization of global manufacturing resources via peer-to-peer (P2P) collaboration of self-organized manufacturing assets. Despite the prevalence of research highlighting blockchain technology’s scalability limitations as the main barrier for adoption, few studies have explored their effects on the operation of blockchain-based systems. The primary goal of the presented research work is to explore the implications of blockchain technology scalability limitations on the BBSM system’s performance and user behavior. To obtain realistic behavior, an experiment is conducted using an online game played by human participants. Analysis of the players’ strategy is used for implementation of a multi-agent simulation model, which is then employed to assess the influence of varying blockchain network configurations on the BBSM concept’s performance. Preliminary experimental findings reveal that a congested blockchain network leads to increased transaction costs and reduced service prices, consequently devaluing the manufacturing role in the BBSM system and causing underutilization of existing maximum production capacities. Moreover, allocating funds to financial activities rather than manufacturing activities yields superior outcomes for system users. Simulation results indicate that the BBSM system’s response to alterations in blockchain network throughput is contingent upon the production function. The findings of this study reveal that the scalability limitations of blockchain technology impair the performance of the BBSM system and affect user behavior in the system, underscoring the necessity for future research to concentrate on incorporating scalable solutions within blockchain-based manufacturing systems.

In the context of advanced manufacturing, new models inspired by Internet technologies are being developed. The cloud manufacturing model strives to offer a similar experience for seekers of manufacturing services as cloud computing does for the users of the web: manufacturing clouds intend to offer manufacturing resources as services, much like processing power and storage space are available as services in cloud computing. The resulting business situation is favourable for both the service providers and the service end-users, especially in a highly dynamic manufacturing environment. Existing cloud manufacturing models operate in a centralised way through a cloud manufacturing platform, the management of which is identified as a critical part of the manufacturing cloud operation. In the article, a decentralised network architecture for cloud manufacturing is proposed. The architecture builds upon the concept of autonomous work systems for use as service providers. The operation of the system based on the architecture is described, wherein special attention is given to the communication within the emerged networks of service providers. Technical feasibility of the approach is also demonstrated. It is expected that the decentralised approach will enable a more flexible and scalable manufacturing cloud, which will have the ability to actively co-evolve with its environment.

Miniature mobile robots in multi-robotic systems require reliable environmental perception for successful navigation, especially when operating in the real-world environment. One of the sensors that have recently become accessible in microrobotics due to their size and cost-effectiveness is a multi-zone time-of-flight (ToF) sensor. In this research, object classification using a convolutional neural network (CNN) based on an ultra-low resolution ToF sensor is implemented on a miniature mobile robot to distinguish the robot from other objects. The main contribution of this work is an accurate classification system implemented on low resolution, low processing power and low power consumption hardware. The developed system consists of a VL53L5CX ToF sensor with an 8x8 depth image and a low-power RP2040 microcontroller. The classification system is based on a customised CNN architecture to determine the presence of a miniature mobile robot within the observed terrain, primarily characterized by sand and rocks. The developed system trained on a custom dataset can detect a mobile robot with an accuracy of 91.8% when deployed on a microcontroller. The model implementation requires 7 kB of RAM, has an inference time of 34 ms, and an energy consumption during inference of 3.685 mJ.

This paper addresses the problem of establishing efficient intralogistic systems, focusing on the generation of roadmaps on a given layout and the coordination of multiple Automated Guided Vehicles (AGVs). A simulation-based approach for automatic roadmap design is proposed. An event-based simulator is developed that uses ant-colony inspired optimization to generate roadmaps tailored to the specific characteristics of a given intralogistic problem, i.e., the plant layout, fleet size, statistical description of tasks, dispatching algorithm, etc. The generated solutions are evaluated with a Multi-Agent Path Finding (MAPF) simulator that uses a Safe Interval Path Planning (SIPP) algorithm. By analysing the system throughput, the optimal fleet size for the system is proposed. The approach is validated through various examples and benchmarked against existing methods in the literature. Note to Practitioners —Creating efficient roadmaps plays a key role in improving the efficiency of multi-AGV systems. Usually, roadmaps are designed by experts, which is time consuming and may lead to suboptimal solutions due to the complexity of the problem. The main objective of this work is to develop a methodology that allows the automatic generation of efficient roadmaps taking into account the specific characteristics of an intralogistic problem. The main advantage is the fast generation of solutions and their validation in terms of throughput. At the same time, the presented methodology allows a quick correction of the solution if one of the problem characteristics changes, without the need to change the layout itself. This provides industry practitioners with an effective tool that facilitates their work in setting up multi-AGV systems, thus saving time and costs.