577 research outputs found
Multisensor data fusion for obstacle detection in automated factory logistics
No full textThis paper describes data fusion methodologies for obstacle
detection in an automation system based on advanced
Automatic Guided Vehicles (AGV), used for automated
logistics in modern factories. We present the
background of the problem, introducing generic
aspects of the system architecture designed to cope
with the obstacle detection in automated factory
logistics; then, we focus on the system
specification for the module responsible of
integrating data from different sources and
providing a global representation of the
environment. Finally, we present a comparative
analysis among different strategies of multisensor
data fusion compliant with the requirements of the
described system, highlighting their advantages and
drawback
Cooperative cloud robotics architecture for the coordination of multi-AGV systems in industrial warehouses
No full textIn this paper we introduce a novel cloud robotics architecture that provides different functionalities to support enhanced coordination of groups of Automated Guided Vehicles (AGVs) used for industrial logistics. In particular, we define a cooperative data fusion system that, gathering data from different sensing sources, provides a constantly updated global live view of the industrial environment, for coordinating the motion of the AGVs in an optimized manner. In fact, local sensing capabilities are complemented with global information, thus extending the field of view of each AGV. This knowledge extension allows to support a cooperative and flexible global route assignment and local path planning in order to avoid congestion zones, obstacles reported in the global live view map and deal with unexpected obstacles in the current path. The proposed methodology is validated in a real industrial environment, allowing an AGV to safely perform an obstacle avoidance procedure
Cloud robotics paradigm for enhanced navigation of autonomous vehicles in real world industrial applications
No full textAutonomous vehicles require advances sensing technologies, in order to be able to safely share the environment with human operators. Those sensing technologies are in fact necessary for identifying the presence of unforeseen objects, and measuring their position and velocity. Furthermore, classification is necessary for effectively predicting their behavior. In this paper we consider the presence of sensing systems both on-board each vehicle, and installed on infrastructural elements. While the simultaneous presence of multiple sources of information heavily improves the amount (and quality) of available data, it generates the need for effective data fusion and storage systems. Hence, we introduce a centralized cloud service, that is in charge of receiving and merging data acquired by different sensing systems. Those data are then distributed to the autonomous vehicles, that exploit them for implementing advanced navigation strategies. The proposed methodology is validated in a real industrial environment to safely perform obstacle avoidance with an autonomously driven forklift
Interacting with a multi AGV system
No full textThis paper introduces a novel Human Machine Interface (HMI) that allows users to interact with a fleet of Automated Guided Vehicles (AGVs) used for logistics operations in industrial environments. The interface is developed for providing operators with information regarding the fleet of AGVs, and the status of the industrial environment. Information is provided in an intuitive manner, utilizing a three-dimensional representation of the elements in the environment. The HMI also allows operators to influence the behavior of the fleet of AGVs, manually inserting missions to be accomplished
Multi-AGV systems in shared industrial environments: Advanced sensing and control techniques for enhanced safety and improved efficiency
No full textThis chapter describes innovative sensing technologies and control techniques that aim at improving the performance of groups of automated guided vehicles (AGVs) used for logistics operations in industrial environments. We explicitly consider the situation where the environment is shared among AGVs, manually driven vehicles, and human operators. In this situation, safety is a major issue that needs always to be guaranteed, while still maximizing the efficiency of the system. This paper describes some of the main achievements of the PAN-Robots European project
Co-inoculation of Glomus intraradices and Trichoderma atroviride acts as a biostimulant to promote growth, yield and nutrient uptake of vegetable crops
No full textBACKGROUND: The application of beneficial microorganisms at transplanting can promote rapid transplant establishment
(starter effect) for achieving early and high yields. The aim of this study was to evaluate the biostimulant effects ofGlomus
intraradicesBEG72 (G) andTrichoderma atrovirideMUCL 45632 (T) alone or in combination on plant growth parameters, yield,
chlorophyll index (SPAD), chlorophyll fluorescence and mineral composition of several vegetable crops.
RESULTS: TheT. atroviridestrain was capable of producing siderophores and auxin-like compounds under a wide range of
substrate pH conditions (5.5–8.0). The highest shoot, root dry weight, SPAD and chlorophyll fluorescence in lettuce, tomato
and zucchini was observed in the G+T combination, followed by a single inoculation of G or T, whereas the lowest values were
recorded in the uninoculated plants. Under greenhouse conditions, the shoot dry weight was significantly increased by 167%,
56%, 115%, 68% and 58% in lettuce, melon, pepper, tomato and zucchini, respectively, when supplied with both beneficial
microorganisms in comparison with the control. This increase in root and shoot weight was associated with an increased level of
nutrient uptake (e.g. P, Mg, Fe, Zn and B). Under open field conditions, the lettuce shoot and root dry weight increased by 61%
and 57%, respectively, with biostimulant microorganism application in field conditions. For zucchini, early and total yields were
significantly increased by 59% and 15%, respectively, when plants were inoculated with both microorganisms.
CONCLUSION: The application of the biostimulant tablet containing both G and T can promote transplant establishment and
vegetable crop productivity in a sustainable way
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