Marco Carricato

Università di Bologna, DIN - Dept. of Industrial Engineering, Faculty Member

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Marco Carricato received the M.Sc. degree (with honors) in Mechanical Engineering in 1998, and the Ph.D. degree in Mechanics of Machines in 2002. He has been with the University of Bologna since 2004. He is currently a Full Professor in the Department of Industrial Engineering, where he is the head of the IRMA L@B (Industrial Robotics, Mechatronics & Automation Lab @ Bologna). He is the Rector Delegate for the PhD Programs of the University of Bologna.

He was visiting researcher at the Center for Intelligent Machines and Robotics of the University of Florida, USA, in 1998; at the Robotics Laboratory of the Laval University, Canada, in 2007; at the Dept. of Mechanical Engineering of the University of Guanajuato, México, in 2008; at the French National Institute for Research in Computer Science and Control, Sophia Antipolis, France, in 2009; at the École Centrale of Nantes, France, and at the Hong Kong University of Science and Technology, China, in 2013.

He is an associate editor of the journal Mechanism and Machine Theory.

He was awarded the AIMETA Junior Prize 2011 by the Italian Association of Theoretical and Applied Mechanics for outstanding research results in the field of Mechanics of Machines.

His research interests include robotic systems, servo-actuated automatic machinery and the theory of mechanisms, with a particular emphasis on parallel manipulators (displacement analysis, kinematics, dynamics, synthesis, gravity compensation, cable drives), mobile collaborative robotics, efficiency and optimization of servomechanisms, and the theory of 'screws'. His work in the aforementioned areas has been the subject of a number of scientific publications in international conferences and journals.
Phone: +39 051 2093443
Address: DIN – Dept. of Industrial Engineering
ICIR MAM - Center for Industrial Research on Advanced Mechanics and Materials
IRMA L@B - Industrial Robotics, Mechatronics & Automation Lab @ Bologna
University of Bologna
Viale Risorgimento 2, 40136 Bologna, Italy

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Autonomous Scanning and Cleanliness Classification of Pharmaceutical Bins Through Artificial Intelligence and Robotics

IEEE Access, Aug 21, 2024

In the pharmaceutical industry, bins need to be cleaned up to a critical level because the produc... more In the pharmaceutical industry, bins need to be cleaned up to a critical level because the products that they contain are often incompatible with each other, and their mixture can facilitate the formation of bacterial fauna. In this work, a strategy is presented to fully automatize the procedure of cleanliness quality inspection of a pharmaceutical bin through a robotic arm and the use of both traditional and artificialintelligence-based computer-vision techniques. An autonomous mobile robot is used to mimic the approach of a manipulator to a bin inserted in a washing cabin with an uncertain position. The manipulator is equipped with an eye-on-hand color camera and it carries out the binary classification of the bin surface status (e.g. clean vs dirty) through a convolutional neural network based on ResNet. The viewpoints from which the images are taken are the result of an optimization that, starting from the digital three-dimensional model of the bin and exploiting a virtual-twin-based planning scene, minimizes their number while maximizing the visible area of the bin from the current location of the robot. The results of this optimization are used to set up a pipeline that is entirely bin-independent. The same procedure may also be employed to generate the best washing trajectories to be performed by the cleaning robot, by simply replacing the inspection camera mounted on the robot end-effector with a washing nozzle. Though a complete tuning session is still required, preliminary experimental results are very promising, reaching a classifier accuracy (namely a capability of distinguishing clean and dirty surfaces) of 98% on conditioned data, showing that this work has the potential of becoming an effective and versatile industrial product.

Marco Carricato

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