Digital Twin in Safety-Critical Robotics Applications: Opportunities and Challenges
Digital Twin in Safety-Critical Robotics Applications: Opportunities and Challenges
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DOI：
10.1109/ipccc55026.2022.9894313
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发表时间：
2022-09
期刊：
影响因子：
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通讯作者：
S. Baidya;S. Das;M. H. Uddin;Chase Kosek;Christopher Summers
中科院分区：
文献类型：
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作者：
S. Baidya;S. Das;M. H. Uddin;Chase Kosek;Christopher Summers
数字孪生技术被认为是现代工业发展的一个组成部分。随着物联网（IoT）技术的快速发展和自动化趋势的不断增强，虚拟世界和物理世界之间的集成现在可以实现，以产生实用的数字双胞胎。然而，现有的数字孪生的定义是不完整的，有时是模糊的。在此，我们进行历史回顾并分析数字孪生的现代通用观点，以创建其新的扩展定义。我们还回顾和讨论了数字孪生在安全关键机器人应用中的现有工作。特别是，由于环境挑战，数字孪生在工业应用中的使用需要自主和远程操作。然而，环境中的不确定性可能需要机器人的密切监测和快速适应，这需要安全性和成本效益。我们展示了一个案例研究，开发一个框架的安全关键的机器人手臂应用程序，并提出了系统的性能，以显示其优势，并讨论了未来的挑战和范围。
Digital Twin technology is being envisioned to be an integral part of the industrial evolution in modern generation. With the rapid advancement in the Internet-of-Things (IoT) technology and increasing trend of automation, integration between the virtual and the physical world is now realizable to produce practical digital twins. However, the existing definitions of digital twin is incomplete and sometimes ambiguous. Herein, we conduct historical review and analyze the modern generic view of digital twin to create its new extended definition. We also review and discuss the existing work in digital twin in safety-critical robotics applications. Especially, the usage of digital twin in industrial applications necessitates autonomous and remote operations due to environmental challenges. However, the uncertainties in the environment may need close monitoring and quick adaptation of the robots which need to be safety-proof and cost effective. We demonstrate a case study on developing a framework for safety-critical robotic arm applications and present the system performance to show its advantages, and discuss the challenges and scopes ahead.