Abstract

Abstract
In the last two decades, CAD/CAM technologies have opened new conceptual and material opportunities in architecture. By combining computational design and digital fabrication technologies, architects have embraced a higher level of geometric complexity and variability in their design solutions. Such non-standard possibilities were expanded with the recent introduction of robotic technologies in the discipline, which have allowed moving beyond the fabrication of building components to reach the construction of building parts. As a result of this digital condition, traditional materials have known innovative applications in architecture. In this context, this paper presents cork, which is a natural and recyclable material. By describing its unique set of properties and features, it argues about cork's relevance for the building construction in the present times. With this underlying motivation, this paper defines the current state of the architectural research on the use of robotic fabrication with cork. It does so by describing and illustrating a set of different experiments conducted by the authors in their academic institutions. The results unveil a set of innovative applications of cork in building construction and, at the same time, contribute to show how robotic technologies can be used to rethink and update traditional and old materials in architecture.

Abstract
Planning the optimal assembly and disassembly sequence plays a critical role when optimizing the production, maintenance and recycling of products. For tackling this problem, a recursive branch-and-bound algorithm was developed for finding the optimal disassembly plan. It takes into consideration the traveling distance of a robotic end effector along with a cost penalty when it needs to be changed. The precedences and part decoupling directions are automatically computed in the proposed geometric reasoning engine by analyzing the spatial relationships present in SolidWorks assemblies. For accelerating the optimization process, a best-first search algorithm was implemented for quickly finding an initial disassembly sequence solution that is used as an upper bound for pruning most of the non-optimal tree branches. For speeding up the search further, a caching technique was developed for reusing feasible disassembly operations computed on previous search steps, reducing the computational time by more than 18%. As a final stage, our SolidWorks add-in generates an exploded view animation for allowing intuitive analysis of the best solution found. For testing our approach, the disassembly of two starter motors and a single cylinder engine was performed for assessing the capabilities and time requirements of our algorithms. © 2018 IEEE.

Abstract
Supply chains are complex interdependent structures in which tasks' accomplishment is the result of a compromise between all the entities involved. This complexity is particularly pronounced when dealing with chipping and transportation tasks within a forest-based biomass energy production supply chain. The logistic costs involved are significant and the number of network nodes are usually in a considerable number. For this reason, efficient optimization tools should be used in order to derive cost effective scheduling. In this work, soft computing optimization tools, namely genetic algorithms (GA) and particle swarm optimization (PSO), are integrated within a discrete event simulation model to define the vehicles operational schedule in a typical forest biomass supply chain. The presented simulation results show the proposed methodology effectiveness in dealing with the addressed systems.

Abstract
The contemporary adoption of Cyber-Physical Systems and improvements in robotic applications in industrial scenarios demands for horizontal integration mechanisms with already existing automation equipment, controlled by PLCs. This paper aims to shorten the gap between the automation and robotics domain, by proposing an Interprocess Communication method to establish interoperability between robotic systems and automation equipment in a reliable and straightforward manner. In particular, this paper introduces a novel approach for linking ROS and IEC 61131-3 by way of shared memory interfaces, enabling and promoting their interactions. Moreover, this paper addresses the applied synchronization mechanism for handling concurrent accesses to the shared memory location, explores data type mapping between ROS and IEC 61131-3, and identifies some practical industrial applications.

Abstract
In recent years, cognitive robots have started to find their way into manufacturing halls. However, the full potential of these robots can only be exploited through (a) an integration of the robots with the Manufacturing Execution System (MES), (b) a new and simpler way of programming based on robot skills, automated task planning, and knowledge modeling, and (c) enabling the robots to function in a shared human/robot workspace with the ability to handle unexpected situations. The STAMINA project has built a robotic system that meets these objectives for an automotive kitting application, which has also been tested, validated, and demonstrated in a relevant environment (TRL6). This paper describes the STAMINA robot system and the evaluation of this system on a series of realistic kitting tasks. The structure of the system, evaluation methodology, and experimental results, are presented along with the insights and experiences gained from this work.