Self-learning robotics for industrial contact-rich tasks (ATARI): enabling smart learning in automated disassembly
Lead Research Organisation:
University of Birmingham
Department Name: Mechanical Engineering
Abstract
Disassembly is an essential operation in many industrial activities including repair, remanufacturing and recycling. Disassembly tends to be manually carried out - it is labour intensive and usually inefficient.
Disassembly requires high-level dexterity in manipulations and thereby can be more difficult to robotise in comparison to the tasks that have no physical contacts (e.g. computer visual inspection) or simple contacts (e.g. cutting, welding, pick-and-place). Robotic disassembly has the potential to improve the productivity of repair, remanufacturing, recycling, all of which have been recognised as key components of a more circular economy.
The existing procedure and state-of-the-art techniques for disassembly automation usually require a comprehensive analysis of a disassembly task, correct design of sensing and compliance facilities, efficient task plans, and a reliable system integration. It is usually a complex, expensive and time-consuming process to implement a robotic disassembly system.
This project will develop a self-learning mechanism to allow robots to learn disassembly tasks and the respective control strategies autonomously, by combining multidimensional sensing and machine learning techniques. This capability will help build a more plug-and-play disassembly automation system, and reduce the technical difficulties and the implementation costs of disassembly automation.
It is expected the next generation industrial robotics can be adopted in more complex and uncertain tasks such as maintenance, cleaning, repair, remanufacturing and recycling, where many processes are contact-rich. Disassembly is a typical contact-rich task. The Principal Investigator envisages that self-learning robotic disassembly will provide key understandings and technologies that can be adopted to the automation of other types of contact-rich tasks in the future to encourage a wider adoption of robots in the UK industry.
Disassembly requires high-level dexterity in manipulations and thereby can be more difficult to robotise in comparison to the tasks that have no physical contacts (e.g. computer visual inspection) or simple contacts (e.g. cutting, welding, pick-and-place). Robotic disassembly has the potential to improve the productivity of repair, remanufacturing, recycling, all of which have been recognised as key components of a more circular economy.
The existing procedure and state-of-the-art techniques for disassembly automation usually require a comprehensive analysis of a disassembly task, correct design of sensing and compliance facilities, efficient task plans, and a reliable system integration. It is usually a complex, expensive and time-consuming process to implement a robotic disassembly system.
This project will develop a self-learning mechanism to allow robots to learn disassembly tasks and the respective control strategies autonomously, by combining multidimensional sensing and machine learning techniques. This capability will help build a more plug-and-play disassembly automation system, and reduce the technical difficulties and the implementation costs of disassembly automation.
It is expected the next generation industrial robotics can be adopted in more complex and uncertain tasks such as maintenance, cleaning, repair, remanufacturing and recycling, where many processes are contact-rich. Disassembly is a typical contact-rich task. The Principal Investigator envisages that self-learning robotic disassembly will provide key understandings and technologies that can be adopted to the automation of other types of contact-rich tasks in the future to encourage a wider adoption of robots in the UK industry.
Organisations
- University of Birmingham (Lead Research Organisation)
- Ocado Technology (Collaboration)
- University of Castile-La Mancha (Collaboration)
- Satellite Applications Catapult (Collaboration)
- Toshiba (Collaboration)
- Airbus Group (Collaboration)
- Dyson (Collaboration)
- Caterpillar Inc. (Collaboration)
- International Telecommunication Union (Collaboration)
- Ford Motor Company (United Kingdom) (Collaboration)
- University of Sheffield (Collaboration)
- Ecobat Technologies (Collaboration)
- CRANFIELD UNIVERSITY (Collaboration)
- United Nations Educational, Scientific and Cultural Organization (Collaboration)
- Boston Dynamics (Collaboration)
- Beihang University (Project Partner)
- KEYENCE (UK) Ltd (Project Partner)
- Wuhan University of Technology (Project Partner)
- KUKA (United Kingdom) (Project Partner)
- Manufacturing Technology Centre (United Kingdom) (Project Partner)
Publications
Deng W
(2024)
Predictive exposure control for vision-based robotic disassembly using deep learning and predictive learning
in Robotics and Computer-Integrated Manufacturing
Deng W
(2024)
Learning by doing: A dual-loop implementation architecture of deep active learning and human-machine collaboration for smart robot vision
in Robotics and Computer-Integrated Manufacturing
Imtiaz Q
(2022)
CuO-based materials for thermochemical redox cycles: the influence of the formation of a CuO percolation network on oxygen release and oxidation kinetics.
in Discover chemical engineering
Laili Y
(2022)
Optimisation of Robotic Disassembly for Remanufacturing
Laili Y
(2022)
Optimisation of Robotic Disassembly for Remanufacturing
Laili Y
(2022)
Optimisation of Robotic Disassembly for Remanufacturing
Laili Y
(2022)
Optimisation of Robotic Disassembly for Remanufacturing
Laili Y
(2022)
Optimisation of Robotic Disassembly for Remanufacturing
| Description | ATARI has made several significant scientific contributions, including: 1. ATARI was the first to uncover the characteristics of disassembly mechanics. This was evidenced by a paper published by the Royal Society, and two additional papers currently under review by Royal Society journals. These scientific investigations confirm that mechanical compliance, a six-dimensional property of motion, can influence contact conditions during disassembly. Establishing a correct remote compliance centre can significantly reduce the likelihood of jamming in disassembly processes. 2. Building on Point 1, ATARI developed a new material structure, FMHE, which allows for self-tunable conductivity and stiffness. This advancement led to the creation of a mechanical device that offers programmable mechanical compliance. This device, backed by the scientific evidence presented in Point 1, represents a novel design in the field. 3. ATARI also pioneered a new mechanism that enables a machine to learn disassembly skills autonomously, without the need for human instruction or pre-programming. This mechanism, a world-first, has shown the potential for free transfer of skills between robots. This could pave the way for mass deployment of robotic skills, creating a unique scale-up capability in the UK. In addition to the three key findings above, ATARI has made numerous other contributions to the fields of robotics and the circular economy. These contributions are evidenced by 26 publications (as of 06/02/2024). |
| Exploitation Route | Core Intellectual Property: A patent application is currently being prepared. Industrial Adoption: ATARI has engaged with over 20 industrial partners, and several pilot projects using ATARI's results are underway. This includes a case study with Airbus. New Research Opportunities: We are in the process of securing funding for research ideas that have emerged from ATARI's work. This includes three new applications to the Engineering and Physical Sciences Research Council (EPSRC), one application to INNOVATE UK, and three industrial contracts. Policy Influence: The results from ATARI have been reviewed by the International Telecommunication Union (ITU) and have been incorporated into an ITU report. This report serves as United Nations guidance on the use of AI to support the circular economy. |
| Sectors | Aerospace Defence and Marine Digital/Communication/Information Technologies (including Software) Electronics Environment Manufacturing including Industrial Biotechology |
| Description | 1. Industrial pilots in progress: in collaboration with ECOBAT, Airbus, and Gomes Technology 2. Patent and spin-out: a patent is being prepared; negotiation with investors is in progress 3. Policy: The results from ATARI have been reviewed by the International Telecommunication Union (ITU) and have been incorporated into an ITU report. This report serves as United Nations guidance on the use of AI to support the circular economy. |
| Sector | Aerospace, Defence and Marine,Digital/Communication/Information Technologies (including Software),Electronics,Healthcare,Manufacturing, including Industrial Biotechology |
| Impact Types | Economic Policy & public services |
| Description | Guidelines on the implementation of eco-friendly criteria for AI and other emerging technologies |
| Geographic Reach | Multiple continents/international |
| Policy Influence Type | Implementation circular/rapid advice/letter to e.g. Ministry of Health |
| Impact | This report is ITU's advice to all UN members |
| URL | https://www.itu.int/en/ITU-T/focusgroups/ai4ee/Documents/T-FG-AI4EE-2021-D.WG3.01-Word-E.docx |
| Description | EPSRC IAA (2022-25): Affordable And Modular Robotic Disassembly Systems |
| Amount | £50,000 (GBP) |
| Organisation | Engineering and Physical Sciences Research Council (EPSRC) |
| Sector | Public |
| Country | United Kingdom |
| Start | 03/2023 |
| End | 12/2023 |
| Description | MTC-UoB PhD Scholarship |
| Amount | £100,000 (GBP) |
| Organisation | Manufacturing Technology Centre (MTC) |
| Sector | Private |
| Country | United Kingdom |
| Start | 09/2024 |
| End | 05/2028 |
| Description | Project 2766306: Electric Motor Disassembly - A FEMM Hub Feasibility Study |
| Amount | £75,000 (GBP) |
| Organisation | University of Sheffield |
| Sector | Academic/University |
| Country | United Kingdom |
| Start | 04/2024 |
| End | 04/2025 |
| Description | Boston Dynamics |
| Organisation | Boston Dynamics |
| Country | United States |
| Sector | Private |
| PI Contribution | The ATARI team is collaborating with Boston Dynamics on robotic disassembly techniques for using legged robots to perform disassembly. |
| Collaborator Contribution | The ATARI team is collaborating with Boston Dynamics on robotic disassembly techniques for using legged robots to perform disassembly. A support letter was obtained in July 2022. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2022 |
| Description | Cranfield University |
| Organisation | Cranfield University |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | New collaboration on robotic triage for value retention in the circular economy |
| Collaborator Contribution | New collaboration on robotic triage for value retention in the circular economy. Support letter obtained in January 2024. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2023 |
| Description | Ford |
| Organisation | Ford Motor Company |
| Country | United States |
| Sector | Private |
| PI Contribution | New collaboration on robotic triage for value retention in the circular economy |
| Collaborator Contribution | New collaboration on robotic triage for value retention in the circular economy. Support letter obtained in January 2024. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2024 |
| Description | ITU |
| Organisation | International Telecommunication Union |
| Country | Senegal |
| Sector | Learned Society |
| PI Contribution | New collaboration on robotic triage for value retention in the circular economy |
| Collaborator Contribution | New collaboration on robotic triage for value retention in the circular economy. Support letter obtained in January 2024. |
| Impact | Joint report published; Exchange of information and joint new research proposal submitted. |
| Start Year | 2022 |
| Description | New partnership with Caterpillar |
| Organisation | Caterpillar Inc. |
| Country | United States |
| Sector | Academic/University |
| PI Contribution | The ATARI team is collaborating with Caterpillar on robotic disassembly techniques for battery and engine remanufacturing for the defense sector. |
| Collaborator Contribution | The ATARI team is collaborating with Caterpillar on robotic disassembly techniques for battery and engine remanufacturing for the defense sector. Suppor letter sent in Jan 2023. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2023 |
| Description | Ocado |
| Organisation | Ocado Technology |
| Country | United Kingdom |
| Sector | Private |
| PI Contribution | The ATARI team is collaborating with Ocado on robotic disassembly techniques for EoL assessment technologies. |
| Collaborator Contribution | The ATARI team is collaborating with Ocado on robotic disassembly techniques for EoL assessment technologies. Support letter obtained in January 2024. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2024 |
| Description | Research collabration with Airbus |
| Organisation | Airbus Group |
| Country | France |
| Sector | Academic/University |
| PI Contribution | Regular talks with the collaborator to share research activity information and ideas |
| Collaborator Contribution | Members of Airbus visit the UoB team to contribute to the project |
| Impact | We are joining forces in research activities and the preparation of HORIZON proposals. |
| Start Year | 2022 |
| Description | Research collabration with Dyson |
| Organisation | Dyson |
| Country | United Kingdom |
| Sector | Private |
| PI Contribution | Regular talks with the collaborator to share research activity information and ideas |
| Collaborator Contribution | Members of Dyson visit the UoB team to contribute to the project |
| Impact | We are joining forces in research activities and the preparation of new research proposals. |
| Start Year | 2022 |
| Description | Research collabration with ECOBAT |
| Organisation | Ecobat Technologies |
| Country | Germany |
| Sector | Private |
| PI Contribution | Regular talks with the collaborator to share research activity information and ideas |
| Collaborator Contribution | ECOBAT has agreed to host onsite tests for ATARI developments |
| Impact | We are preparing for an onsite test of ATARI technologies |
| Start Year | 2022 |
| Description | Research collabration with Sheffield University |
| Organisation | University of Sheffield |
| Department | Sheffield Biorepository |
| Country | United Kingdom |
| Sector | Academic/University |
| PI Contribution | Regular talks with the collaborator to share research activity information and ideas |
| Collaborator Contribution | Members of Sheffield University visit the UoB team to contribute to the project |
| Impact | We are joining forces in research activities and the preparation of new research proposals. |
| Start Year | 2022 |
| Description | Research collabration with University of Castilla-La Mancha - UCLM |
| Organisation | University of Castile-La Mancha |
| Country | Spain |
| Sector | Academic/University |
| PI Contribution | Regular talks with the collaborator to share research activity information and ideas |
| Collaborator Contribution | Members of Universidad de Castilla-La Mancha visit the UoB team to contribute to the project |
| Impact | We are joining forces in research activities and the preparation of HORIZON proposals. |
| Start Year | 2022 |
| Description | Satellite Applications Catapult |
| Organisation | Satellite Applications Catapult |
| Country | United Kingdom |
| Sector | Charity/Non Profit |
| PI Contribution | New collaborations on robotic disassembly techniques for space manipulation and satellite maintenance. |
| Collaborator Contribution | New collaborations on robotic disassembly techniques for space manipulation and satellite maintenance. A support letter was obtained in August 2022. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2022 |
| Description | TOSHIBA |
| Organisation | Toshiba |
| Country | Japan |
| Sector | Private |
| PI Contribution | New collaboration on robotic triage for value retention in the circular economy |
| Collaborator Contribution | New collaboration on robotic triage for value retention in the circular economy. Support letter obtained in January 2024. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2023 |
| Description | UNESCO |
| Organisation | United Nations Educational, Scientific and Cultural Organization |
| Country | France |
| Sector | Academic/University |
| PI Contribution | New collaboration on robotic triage for value retention in the circular economy |
| Collaborator Contribution | New collaboration on robotic triage for value retention in the circular economy. Support letter obtained in January 2024. |
| Impact | Exchange of information and joint new research proposal submitted. |
| Start Year | 2022 |
| Title | SISTEMA DEFLECTOR DE COLLARIN Y METODO PARA FRACTURAR UNA FORMACION DE HIDROCARBURO. |
| Description | A baffle system for use in well casing having a plurality of landed subs therein, for progressive injection of a Tracking or treating fluid into a hydrocarbon formation via existing or created perforations in the well casing. The baffle members provide a plug seat, and are each frangibly affixed to a conveying tool and have collet finger protuberances thereon. The collet finger protuberances of each baffle are of a different width, and respectively engage only one annular recess of a corresponding width in a respective landing sub. Each annular recess and/or collet finger protuberance on an uphole edge thereof has a chamfer which allows disengagement of the collet finger protuberances and thus removal of the baffle member from the well casing upon upward force being applied to the baffle member. A method of using the baffle system is also disclosed. |
| IP Reference | MX2022008712 |
| Protection | Patent / Patent application |
| Year Protection Granted | 2022 |
| Licensed | No |
| Impact | A spin-out company is under preparation. |
| Description | A conference presentation at ICAC2022 - Mr Yue Zang |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | A conference presentation at ICAC2022 - Mr Yue Zang |
| Year(s) Of Engagement Activity | 2022 |
| Description | A conference presentation at ICAC2022 - Ms Farzaneh Goli |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | A conference presentation at ICAC2022 - Ms Farzaneh Goli |
| Year(s) Of Engagement Activity | 2022 |
| Description | An invited talk at ICAC2022 - Dr Yongjing Wang |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | Dr Yongjing Wang has been invited to give a talk at ICAC2022 |
| Year(s) Of Engagement Activity | 2022 |
| Description | An invited talk at IEEE International Conference on Universal Village (UV) |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | Dr Yongjing Wang has been invited to give a talk at IEEE International Conference on Universal Village (UV), Boston, US. |
| Year(s) Of Engagement Activity | 2022 |
| Description | Invited talk at Donghua University |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Schools |
| Results and Impact | Invited talk at an workshop at Donghua University, China |
| Year(s) Of Engagement Activity | 2023 |
| Description | Invited talk at Imperial college |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | Invited talk at an international workshop involving researchers from the UK, Netherlands, and China. |
| Year(s) Of Engagement Activity | 2023 |
| Description | Invited talk at Virginia Tech |
| Form Of Engagement Activity | A talk or presentation |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | Invited talk at an international workshop involving researchers from Virginia Tech, Mississippi State, Auburn, and NC State |
| Year(s) Of Engagement Activity | 2023 |
| Description | Participation in an activity, workshop or similar - Special session at 2024 IEEE ICIT |
| Form Of Engagement Activity | A formal working group, expert panel or dialogue |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Schools |
| Results and Impact | We are hosting a special session about smart remanufacturing at the 2024 IEEE ICIT. ICIT is the flagship automation conference of the IEEE IE society and constitutes the primary forum for cross-industry and multidisciplinary research in automation. |
| Year(s) Of Engagement Activity | 2024 |
| Description | Special session at 2023 IEEE International Conference on Automation Science and Engineering (CASE) |
| Form Of Engagement Activity | Participation in an activity, workshop or similar |
| Part Of Official Scheme? | No |
| Geographic Reach | International |
| Primary Audience | Professional Practitioners |
| Results and Impact | We are hosting a special session about smart remanufacturing at the 2023 IEEE International Conference on Automation Science and Engineering (CASE). CASE is the flagship automation conference of the IEEE Robotics and Automation Society and constitutes the primary forum for cross-industry and multidisciplinary research in automation. "Smart Remanufacturing Technologies" (Code: 8wf47). |
| Year(s) Of Engagement Activity | 2023 |
| URL | https://case2023.org/special-session-proposals/ |
| Description | UKRAS Early career workship |
| Form Of Engagement Activity | A formal working group, expert panel or dialogue |
| Part Of Official Scheme? | No |
| Geographic Reach | National |
| Primary Audience | Schools |
| Results and Impact | Hosting a workshop for the UKRAS network early career community. |
| Year(s) Of Engagement Activity | 2023 |