arXiv subjects

Federico Zocco

Publications and source records attributed to Federico Zocco.

At least 19 recordsLinked to original sources

arXiv2026

Vision-Based Robotic Disassembly Combined with Real-Time MFA Data Acquisition

Stable and reliable supplies of rare-Earth minerals and critical raw materials (CRMs) are essential for the development of the European Union. Since a large share of these materials enters the Union from outside, a valid option for CRMs supply resilience and security is to recover them from end-of-use products. Hence, in this paper we present the preliminary phases of the development of real-time visual detection of PC desktop components running on edge devices to simultaneously achieve two goals. The first goal is to perform robotic disassembly of PC desktops, where the adaptivity of learning-based vision can enable the processing of items with unpredictable geometry caused by accidental damages. We also discuss the robot end-effectors for different PC components with the object contact points derivable from neural detector bounding boxes. The second goal is to provide in an autonomous, highly-granular, and timely fashion, the data needed to perform material flow analysis (MFA) since, to date, MFA often lacks of the data needed to accurately study material stocks and flows. The second goal is achievable thanks to the recently-proposed synchromaterials, which can generate both local and wide-area (e.g., national) material mass information in a real-time and synchronized fashion.

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arXiv2025

CiRL: Open-Source Environments for Reinforcement Learning in Circular Economy and Net Zero

The demand of finite raw materials will keep increasing as they fuel modern society. Simultaneously, solutions for stopping carbon emissions in the short term are not available, thus making the net zero target extremely challenging to achieve at scale. The circular economy (CE) paradigm is gaining attention as a solution to address climate change and the uncertainties of supplies of critical materials. Hence, in this paper, we introduce CiRL, a deep reinforcement learning (DRL) library of environments focused on the circularity control of both solid and fluid materials. The integration of DRL into the design of material circularity is possible thanks to the formalism of thermodynamical material networks, which is underpinned by compartmental dynamical thermodynamics. Along with the focus on circularity, this library has three more features: the new CE-oriented environments are in the state-space form, which is typically used in dynamical systems analysis and control design; it is based on a state-of-the-art Python library of DRL algorithms, namely, Stable-Baselines3; and it is developed in Google Colaboratory to be accessible to researchers from different disciplines and backgrounds as is often the case for circular economy researchers and engineers. CiRL is intended to be a tool to generate AI-driven actions for optimizing the circularity of supply-recovery chains and to be combined with human-driven decisions derived from material flow analysis (MFA) studies. CiRL is publicly available.

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arXiv2025

CarboNet: A Finite-Time Combustion-Tolerant Compartmental Network for Tropospheric Carbon Control

While governments and international organizations have set the net-zero target to prevent a climate event horizon, practical solutions are lacking mainly because of the impracticability in completely replacing combustion processes. To address the net-zero target problem, in this paper we first design a compartmental network whose states must remain in the nonnegative orthant for physical consistency and in which the carbon dioxide emissions result from the combustion of diesel in vehicles and gas in house heaters. Then, we design both full-state and output-feedback linear-quadratic regulators of the compartmental network to bring the mass of carbon dioxide to the pre-industrial era, which is reached in approximately 25 and 60 days, respectively. The output-feedback controller tolerates for 6 days the combustion taking place in 5,000 vehicles and in 10,000 house heating systems, meets the net-zero target, and nullifies the extraction of finite natural resources. With closed-loop control, the tropospheric temperature stabilizes approximately to the pre-industrial era reference condition, i.e., to 13.5 °C, which is 21.7 °C lower than the steady-state temperature achieved without carbon capture. This work is a first step in designing optimal network control systems for climate stability. Source code is publicly available.

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arXiv2025

CIRO7.2: A Material Network with Circularity of -7.2 and Reinforcement-Learning-Controlled Robotic Disassembler

The competition over natural reserves of minerals is expected to increase in part because of the linear-economy paradigm based on take-make-dispose. Simultaneously, the linear economy considers end-of-use products as waste rather than as a resource, which results in large volumes of waste whose management remains an unsolved problem. Since a transition to a circular economy can mitigate these open issues, in this paper we begin by enhancing the notion of circularity based on compartmental dynamical thermodynamics, namely, $\lambda$, and then, we model a thermodynamical material network processing a batch of 2 solid materials of criticality coefficients of 0.1 and 0.95, with a robotic disassembler compartment controlled via reinforcement learning (RL), and processing 2-7 kg of materials. Subsequently, we focused on the design of the robotic disassembler compartment using state-of-the-art RL algorithms and assessing the algorithm performance with respect to $\lambda$ (Fig. 1). The highest circularity is -2.1 achieved in the case of disassembling 2 parts of 1 kg each, whereas it reduces to -7.2 in the case of disassembling 4 parts of 1 kg each contained inside a chassis of 3 kg. Finally, a sensitivity analysis highlighted that the impact on $\lambda$ of the performance of an RL controller has a positive correlation with the quantity and the criticality of the materials to be disassembled. This work also gives the principles of the emerging research fields indicated as circular intelligence and robotics (CIRO). Source code is publicly available.

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arXiv2025

Circular Microalgae-Based Carbon Control for Net Zero

The alteration of the climate in various areas of the world is of increasing concern since climate stability is a necessary condition for human survival as well as every living organism. The main reason of climate change is the greenhouse effect caused by the accumulation of carbon dioxide in the atmosphere. In this paper, we design a networked system underpinned by compartmental dynamical thermodynamics to circulate the atmospheric carbon dioxide. Specifically, in the carbon dioxide emitter compartment, we develop an initial-condition-dependent finite-time stabilizing controller that guarantees stability within a desired time leveraging the system property of affinity in the control. Then, to compensate for carbon emissions we show that a cultivation of microalgae with a volume 625 times bigger than the one of the carbon emitter is required. To increase the carbon uptake of the microalgae, we implement the nonaffine-in-the-control microalgae dynamical equations as an environment of a state-of-the-art library for reinforcement learning (RL), namely, Stable-Baselines3, and then, through the library, we test the performance of eight RL algorithms for training a controller that maximizes the microalgae absorption of carbon through the light intensity. All the eight controllers increased the carbon absorption of the cultivation during a training of 200,000 time steps with a maximum episode length of 200 time steps and with no termination conditions. This work is a first step towards approaching net zero as a classical and learning-based network control problem. The source code is publicly available.

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arXiv2025

Synchronized Object Detection for Autonomous Sorting, Mapping, and Quantification of Materials in Circular Healthcare

The circular economy paradigm is gaining interest as a solution to reducing both material supply uncertainties and waste generation. One of the main challenges in realizing this paradigm is monitoring materials, since in general, something that is not measured cannot be effectively managed. In this paper, we propose a real-time synchronized object detection framework that enables, at the same time, autonomous sorting, mapping, and quantification of solid materials. We begin by introducing the general framework for real-time wide-area material monitoring, and then, we illustrate it using a numerical example. Finally, we develop a first prototype whose working principle is underpinned by the proposed framework. The prototype detects 4 materials from 5 different models of inhalers and, through a synchronization mechanism, it combines the detection outputs of 2 vision units running at 12-22 frames per second (Fig. 1). This led us to introduce the notion of synchromaterial and to conceive a robotic waste sorter as a node compartment of a material network. Dataset, code, and demo videos are publicly available.

cs.CV↗

arXiv2024

Circular Economy Design through System Dynamics Modeling

Nowadays, there is an increasing concern about the unsustainability of the take-make-dispose paradigm upon which traditional production and consumption systems are built. The concept of circular economy is gaining attention as a potential solution, but it is an emerging field still lacking analytical and methodological dynamics approaches. Hence, in this paper, firstly we propose a quantitative definition of circularity, namely, $λ$, predicated on compartmental dynamical thermodynamics, and then, we use it to state the optimization of the circularity $λ$ as an arg-max problem. By leveraging the derivation of Lagrange's equations of motion from the first law of thermodynamics, we apply the analytical mechanics approaches to circularity. Three examples illustrate the calculation of $λ$ for different settings of two compartmental networks. In particular, hypothesizing a repair stage followed by product reuse we highlight the memory property of $λ$. Finally, robotic repair is proposed within this framework to pave the way for circular robotics as a new area of research in which the performance of a robotic system is measured against $λ$.

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arXiv2024

A Unification Between Deep-Learning Vision, Compartmental Dynamical Thermodynamics, and Robotic Manipulation for a Circular Economy

The shift from a linear to a circular economy has the potential to simultaneously reduce uncertainties of material supplies and waste generation. However, to date, the development of robotic and, more generally, autonomous systems have been rarely integrated into circular economy implementation strategies despite their potential to reduce the operational costs and the contamination risks from handling waste. In addition, the science of circularity still lacks the physical foundations needed to improve the accuracy and the repeatability of the models. Hence, in this paper, we merge deep-learning vision, compartmental dynamical thermodynamics, and robotic manipulation into a theoretically-coherent physics-based research framework to lay the foundations of circular flow designs of materials. The proposed framework tackles circularity by generalizing the design approach of the Rankine cycle enhanced with dynamical systems theory. This differs from state-of-the-art approaches to circular economy, which are mainly based on data analysis, e.g., material flow analysis (MFA). We begin by reviewing the literature of the three abovementioned research areas, then we introduce the proposed unified framework and we report the initial application of the framework to plastics systems along with initial simulation results of reinforcement-learning control of robotic waste sorting. This shows the framework applicability, generality, scalability, and the similarity and difference between the optimization of artificial neural systems and the proposed compartmental networks. Finally, we discuss the still not fully exploited opportunities for robotics in circular economy and the future challenges in the theory and practice of the proposed circularity framework.

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arXiv2024

Towards a Thermodynamical Deep-Learning-Vision-Based Flexible Robotic Cell for Circular Healthcare

The dependence on finite reserves of raw materials and the production of waste are two unsolved problems of the traditional linear economy. Healthcare, as a major sector of any nation, is currently facing them. Hence, in this paper, we report theoretical and practical advances of robotic reprocessing of small medical devices. Specifically, on the theory, we combine compartmental dynamical thermodynamics with the mechanics of robots to integrate robotics into a system-level perspective, and then, propose graph-based circularity indicators by leveraging our thermodynamic framework. Our thermodynamic framework is also a step forward in defining the theoretical foundations of circular material flow designs as it improves material flow analysis (MFA) by adding dynamical energy balances to the usual mass balances. On the practice, we report on the on-going design of a flexible robotic cell enabled by deep-learning vision for resources mapping and quantification, disassembly, and waste sorting of small medical devices.

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arXiv2023

Visual Material Characteristics Learning for Circular Healthcare

The linear take-make-dispose paradigm at the foundations of our traditional economy is proving to be unsustainable due to waste pollution and material supply uncertainties. Hence, increasing the circularity of material flows is necessary. In this paper, we make a step towards circular healthcare by developing several vision systems targeting three main circular economy tasks: resources mapping and quantification, waste sorting, and disassembly. The performance of our systems demonstrates that representation-learning vision can improve the recovery chain, where autonomous systems are key enablers due to the contamination risks. We also published two fully-annotated datasets for image segmentation and for key-point tracking in disassembly operations of inhalers and glucose meters. The datasets and source code are publicly available.

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arXiv2023

Distributed Fixed-Time Consensus Control for Multiple AUV Systems with Input Saturations

This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control protocol based on a fixed-time backstepping sliding mode control is designed, in which the consensus cooperative tracking errors for each AUV will be formulated. Then, to compensate for the saturated control torques, an adaptive auxiliary variable is introduced. Finally, a fixed-time adaptive fuzzy logic control (FLC) is derived to approximate the unknown dynamics, in which the adaptive laws of the FLC is derived such that the adaptive signals and errors can be convergent within a fixed time. The fixed time convergence is desired in practice because it provides an exciting property that the global convergence of the whole system is independent with the initial states of the AUVs. The computer simulation results for a consensus formation control of four AUVs show that the proposed formation control can provide high tracking performance with lower and smoother control efforts

eess.SY↗

arXiv2023

Digital Twins for Marine Operations: A Brief Review on Their Implementation

While the concept of a digital twin to support maritime operations is gaining attention for predictive maintenance, real-time monitoring, control, and overall process optimization, clarity on its implementation is missing in the literature. Therefore, in this review we show how different authors implemented their digital twins, discuss our findings, and finally give insights on future research directions.

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arXiv2022

Thermodynamical Material Networks for Modeling, Planning, and Control of Circular Material Flows

Waste production, carbon dioxide atmospheric accumulation, and dependence on finite natural resources are expressions of the unsustainability of the current industrial networks that supply fuels, energy, and manufacturing products. In particular, circular manufacturing supply chains and carbon control networks are urgently needed. To model and design these and, in general, any material networks, we propose to generalize the approach used for traditional networks such as water and thermal power systems by using compartmental dynamical thermodynamics and graph theory. The key idea is that the thermodynamic compartments and their connections can be added, removed or modified as needed to achieve a circular material flow. The design methodology is explained and its application is illustrated through examples. In addition, we provide a physics-based definition of circularity and, by implementing a nonlinear compartmental control, we strengthen the connection between "Industry 4.0" and "Sustainability". The paper source code is publicly available.

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arXiv2022

Circularity of Thermodynamical Material Networks: Indicators, Examples, and Algorithms

The transition towards a circular economy has gained importance over the last years since the traditional linear take-make-dispose paradigm is not sustainable in the long term. Recently, thermodynamical material networks (TMNs) [1] have been proposed as an approach to design material flows based on the idea that any supply chain can be seen as a set of thermodynamic compartments that can be added, removed, modified or connected differently. Compared to the well-established material flow analysis (MFA), TMNs leverage dynamical energy balances and ordinary differential equations along with the usual mass balances, thus tackling circular economy as a material network design problem analogous to traditional engineering design approaches (e.g., design of thermodynamic cycles, electrical and hydraulic networks) rather than as an analysis of stock-and-flow data. Hence, TMNs allow the depiction of highly dynamic material stocks and flows whose variations can occur in less than 1 minute; achieving such modelling accuracy with MFA would be more data intensive. In this paper, we first develop several circularity indicators of TMNs using a graph-based formalism. Then, we illustrate their calculation using two numerical examples for the case of fluid materials and one numerical example for the case of solid materials, for which the detailed hybrid dynamical equations and simulation outputs are provided. The paper source code is publicly available.

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arXiv2022

Material Measurement Units for a Circular Economy: Foundations through a Review

Long-term availability of minerals and industrial materials is a necessary condition for sustainable development as they are the constituents of any manufacturing product. To enhance the efficiency of material management, we define a computer-vision-enabled material measurement system and provide a review of works relevant to its development with particular emphasis on the foundations. A network of such systems for wide-area material stock monitoring is also covered. Finally, challenges and future research directions are discussed. As the first article bridging industrial ecology and advanced computer vision, this review is intended to support both research communities towards more sustainable manufacturing.

cs.CV↗

arXiv2022

Towards More Efficient EfficientDets and Low-Light Real-Time Marine Debris Detection

Marine debris is a problem both for the health of marine environments and for the human health since tiny pieces of plastic called "microplastics" resulting from the debris decomposition over the time are entering the food chain at any levels. For marine debris detection and removal, autonomous underwater vehicles (AUVs) are a potential solution. In this letter, we focus on the efficiency of AUV vision for real-time and low-light object detection. First, we improved the efficiency of a class of state-of-the-art object detectors, namely EfficientDets, by 1.5% AP on D0, 2.6% AP on D1, 1.2% AP on D2 and 1.3% AP on D3 without increasing the GPU latency. Subsequently, we created and made publicly available a dataset for the detection of in-water plastic bags and bottles and trained our improved EfficientDets on this and another dataset for marine debris detection. Finally, we investigated how the detector performance is affected by low-light conditions and compared two low-light underwater image enhancement strategies both in terms of accuracy and latency. Source code and dataset are publicly available.

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arXiv2022

Lazy FSCA for Unsupervised Variable Selection

Various unsupervised greedy selection methods have been proposed as computationally tractable approximations to the NP-hard subset selection problem. These methods rely on sequentially selecting the variables that best improve performance with respect to a selection criterion. Theoretical results exist that provide performance bounds and enable "lazy greedy" efficient implementations for selection criteria that satisfy a diminishing returns property known as submodularity. This has motivated the development of variable selection algorithms based on mutual information and frame potential. Recently, the authors introduced Forward Selection Component Analysis (FSCA) which uses variance explained as its selection criterion. While this criterion is not submodular, FSCA has been shown to be highly effective for applications such as measurement plan optimisation. In this paper a "lazy" implementation of the FSCA algorithm (L-FSCA) is proposed, which, although not equivalent to FSCA due to the absence of submodularity, has the potential to yield comparable performance while being up to an order of magnitude faster to compute. The efficacy of L-FSCA is demonstrated by performing a systematic comparison with FSCA and five other unsupervised variable selection methods from the literature using simulated and real-world case studies. Experimental results confirm that L-FSCA yields almost identical performance to FSCA while reducing computation time by between 22% and 94% for the case studies considered.

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arXiv2020

Recovery of Linear Components: Reduced Complexity Autoencoder Designs

Reducing dimensionality is a key preprocessing step in many data analysis applications to address the negative effects of the curse of dimensionality and collinearity on model performance and computational complexity, to denoise the data or to reduce storage requirements. Moreover, in many applications it is desirable to reduce the input dimensions by choosing a subset of variables that best represents the entire set without any a priori information available. Unsupervised variable selection techniques provide a solution to this second problem. An autoencoder, if properly regularized, can solve both unsupervised dimensionality reduction and variable selection, but the training of large neural networks can be prohibitive in time sensitive applications. We present an approach called Recovery of Linear Components (RLC), which serves as a middle ground between linear and non-linear dimensionality reduction techniques, reducing autoencoder training times while enhancing performance over purely linear techniques. With the aid of synthetic and real world case studies, we show that the RLC, when compared with an autoencoder of similar complexity, shows higher accuracy, similar robustness to overfitting, and faster training times. Additionally, at the cost of a relatively small increase in computational complexity, RLC is shown to outperform the current state-of-the-art for a semiconductor manufacturing wafer measurement site optimization application.

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