Abstract
Quality inspection inspection systems are critical for maintaining product integrity. Being a repetitive task, when performed by operators only, it can be slow and error-prone. This paper introduces an automated inspection system for quality assessment in casting aluminum parts resorting to a robotic system. The method comprises two processes: filing detection and hole inspection. For filing detection, five deep learning modes were trained. These models include an object detector and four instance segmentation models: YOLOv8, YOLOv8n-seg, YOLOv8s-seg, YOLOv8m-seg, and Mask R-CNN, respectively. Among these, YOLOv8s-seg exhibited the best overall performance, achieving a recall rate of 98.10%, critical for minimizing false negatives and yielding the best overall results. Alongside, the system inspects holes, utilizing image processing techniques like template-matching and blob detection, achieving a 97.30% accuracy and a 2.67% Percentage of Wrong Classifications. The system improves inspection precision and efficiency while supporting sustainability and ergonomic standards, reducing material waste and reducing operator fatigue.

Abstract
The growing demand for high-quality components in various industries, particularly in the automotive sector, requires advanced and reliable inspection methods to maintain competitive standards and support innovation. Manual quality inspection tasks are often inefficient and prone to errors due to their repetitive nature and subjectivity, which can lead to attention lapses and operator fatigue. The inspection of reflective aluminum parts presents additional challenges, as uncontrolled reflections and glare can obscure defects and reduce the reliability of conventional vision-based methods. Addressing these challenges requires optimized illumination strategies and robust image processing techniques to enhance defect visibility. This work presents the development of an automated optical inspection system for reflective parts, focusing on components made of high-pressure diecast aluminum used in the automotive industry. The reflective nature of these parts introduces challenges for defect detection, requiring optimized illumination and imaging methods. The system applies deep learning algorithms and uses dome light to achieve uniform illumination, enabling the detection of small defects on reflective surfaces. A collaborative robotic manipulator equipped with a gripper handles the parts during inspection, ensuring precise positioning and repeatability, which improves both the efficiency and effectiveness of the inspection process. A flow execution-based software platform integrates all system components, enabling seamless operation. The system was evaluated with Schmidt Light Metal Group using three custom datasets to detect surface porosities and inner wall defects post-machining. For surface porosity detection, YOLOv8-Mosaic, trained with cropped images to reduce background noise, achieved a recall value of 84.71% and was selected for implementation. Additionally, an endoscopic camera was used in a preliminary study to detect defects within the inner walls of holes. The industrial trials produced promising results, demonstrating the feasibility of implementing a vision-based automated inspection system in various industries. The system improves inspection accuracy and efficiency while reducing material waste and operator fatigue.

Abstract
This paper presents an indoor benchmarking study of state-of-the-art 3D LiDAR-based Simultaneous Localization and Mapping (SLAM) algorithms using the newly developed IILABS 3D - iilab Indoor LiDAR-based SLAM 3D dataset. Existing SLAM datasets often focus on outdoor environments, rely on a single type of LiDAR sensor, or lack additional sensor data such as wheel odometry in ground-based robotic platforms. Consequently, the existing datasets lack data diversity required to comprehensively evaluate performance under diverse indoor conditions. The IILABS 3D dataset fills this gap by providing a sensor-rich, indoor-exclusive dataset recorded in a controlled laboratory environment using a wheeled mobile robot platform. It includes four heterogeneous 3D LiDAR sensors - Velodyne VLP-16, Ouster OS1-64, RoboSense RS-Helios-5515, and Livox Mid-360 - featuring both mechanical spinning and non-repetitive scanning patterns, as well as an IMU and wheel odometry for sensor fusion. The dataset also contains calibration sequences, challenging benchmark trajectories, and high-precision ground-truth poses captured with a motion capture system. Using this dataset, we benchmark nine representative LiDAR-based SLAM algorithms across multiple sequences, analyzing their performance in terms of accuracy and consistency under varying sensor configurations. The results provide a comprehensive performance comparison and valuable insights into the strengths and limitations of current SLAM algorithms in indoor environments. The dataset, benchmark results, and related tools are publicly available at https://jorgedfr.github.io/3d_lidar_slam_benchmark_at_iilab/

Abstract

Abstract
Even for the strongest human being, maintaining an elevated arm position for an extended duration represents a significant challenge, as fatigue inevitably accumulates over time. The physical strain is further intensified when the individual is engaged in repetitive tasks, particularly those involving the use of tools or heavy equipment. Such activities increase the probability of developing muscle fatigue or injuries due to overuse or improper posture. Over time, this can result in the development of chronic conditions, which may impair the individual's ability to perform tasks effectively and potentially lead to long-term physical impairment. Exoskeletons play a transformative role by reducing the perceived load on the muscles and providing mechanical support, mitigating the risk of injuries and alleviating the physical burden associated with strenuous activities. In addition to injury prevention, these devices also promise to facilitate the rehabilitation of individuals who have sustained musculoskeletal injuries. This document examines the various types of exoskeletons, investigating their design, functionality, and applications. The objective of this study is to present a comprehensive understanding of the current state of these devices, highlighting advancements in the field and evaluating their real-world impact. Furthermore, it analyzes the crucial insights obtained by other researchers, and by summarizing these findings, this work aims to contribute to the ongoing efforts to enhance exoskeleton performance and expand their accessibility across different sectors, including agriculture, healthcare, industrial work, and beyond.

Abstract
Agriculture needs to produce more with fewer resources to satisfy the world's demands. Labor shortages, especially during harvest seasons, emphasize the need for agricultural automation. However, the high cost of commercially available robotic manipulators, ranging from EUR 3000 to EUR 500,000, is a significant barrier. This research addresses the challenges posed by low-cost manipulators, such as inaccuracy, limited sensor feedback, and dynamic uncertainties. Three control strategies for a low-cost agricultural SCARA manipulator were developed and benchmarked: a Sliding Mode Controller (SMC), a Reinforcement Learning (RL) Controller, and a novel Proportional-Integral (PI) controller with a self-tuning feedforward element (PIFF). The results show the best response time was obtained using the SMC, but with joint movement jitter. The RL controller showed sudden breaks and overshot upon reaching the setpoint. Finally, the PIFF controller showed the smoothest reference tracking but was more susceptible to changes in system dynamics.