arXiv subjects

Jose Outeiro

Publications and source records attributed to Jose Outeiro.

4 recordsLinked to original sources

arXiv2026

Location-Independent Robot-Assisted Finishing Using Digital Twins and Extended Reality

This paper presents a cyber-physical system (CPS) for location-independent programming, supervision, training, and teleoperation of a Robot-Assisted Finishing (RAF) system used to post-process metal additive-manufactured (AM) components. A digital twin (DT) built in Unity is delivered to the operator as a WebGL application that supports both desktop and immersive modes through WebXR-compatible devices. Moreover, it exchanges robot state and pose commands with a collaborative robot through a Message Queuing Telemetry Transport (MQTT) broker. The DT enforces kinematic and collision constraints before a pose is released to the physical robot, and augments the virtual component with a color map of the surface topography that supports operator decisions on part repositioning or process termination. The architecture was validated on a specially designed physical RAF system. A steady-state joint synchronization error of 0.12 deg and a mean round-trip latency of 563 ms were measured, which is adequate for supervisory programming and intermittent teleoperation.

cs.HC↗

arXiv2026

Cyber-Physical Digital Factory Architecture as the Enabler of Disembodied Work

Digital Twins (DTs), Artificial Intelligence (AI), and Industrial Internet of Things (IIoT) technologies have significantly advanced manufacturing digitalization. However, these technologies are typically applied to individual manufacturing processes rather than integrated into a unified cyber-physical manufacturing environment. This paper proposes a cyber-physical digital factory architecture that enables disembodied work, where manufacturing systems can be supervised and operated remotely through eXtended Reality (XR) user interfaces in collaboration between AI-based control and human operators. The architecture integrates synchronized DTs, hierarchical cloud-edge AI, IIoT, and XR teleoperation interfaces into a cyber-physical manufacturing environment. The proposed approach is validated through representative manufacturing operations, including CNC machining, robotic-assisted abrasive finishing, and robotized disassembly. The results demonstrate the feasibility of the proposed architecture for disembodied manufacturing work and provide a reusable cyber-physical framework for future human-AI-controlled digital factories.

cs.HC↗

arXiv2026

A Cyber-Physical Machine Tool Framework with a Real-Time Machining Process Digital Twin

Digital Twins (DTs) have emerged as a key technology for improving the monitoring, optimization, and automation of manufacturing systems. However, existing Cyber-Physical Machine Tool (CPMT) implementations primarily represent the machine tool, while the machining process remains only partially synchronized with its physical counterpart. This paper extends a previously presented CPMT framework by introducing a hierarchical DT framework that simultaneously maintains DTs of both the machine tool and the machining process. The proposed framework integrates real-time CNC operational data, a voxel-based workpiece representation, synchronized process vibration measurements, and a persistent part DT repository for process replay, traceability, and future synthetic data generation. Experimental evaluation demonstrated real-time operation at a 20 Hz machining-state update rate, interactive visualization exceeding 100 frames per second, and a mean depth reconstruction error of 0.16 mm. The implementation provides a foundation for AI-assisted machining applications while preserving the machine tool monitoring and teleoperation capabilities.

cs.HC↗

arXiv2025

Digital twin and extended reality for teleoperation of the electric vehicle battery disassembly

Disassembling and sorting Electric Vehicle Batteries (EVBs) supports a sustainable transition to electric vehicles by enabling a closed-loop supply chain. Currently, the manual disassembly process exposes workers to hazards, including electrocution and toxic chemicals. We propose a teleoperated system for the safe disassembly and sorting of EVBs. A human-in-the-loop can create and save disassembly sequences for unknown EVB types, enabling future automation. An RGB camera aligns the physical and digital twins of the EVB, and the digital twin of the robot is based on the Robot Operating System (ROS) middleware. This hybrid approach combines teleoperation and automation to improve safety, adaptability, and efficiency in EVB disassembly and sorting. The economic contribution is realized by reducing labor dependency and increasing throughput in battery recycling. An online pilot study was set up to evaluate the usability of the presented approach, and the results demonstrate the potential as a user-friendly solution.

cs.RO↗