arXiv subjects

Sara Behdad

Publications and source records attributed to Sara Behdad.

7 recordsLinked to original sources

arXiv2026

Transforming Remanufacturing Automation with Large Language Models: A Forward-Looking Analysis with Case Studies

With growing concerns about resource scarcity and environmental degradation, remanufacturing of end-of-life (EoL) products within the circular economy is attracting increasing attention. Remanufacturing can preserve most of the original manufacturing value and materials while transforming EoL products into like-new condition. However, the variability and uncertainty of EoL products make remanufacturing highly dependent on human expertise. Recently, large language models (LLMs) have demonstrated remarkable capabilities in learning from massive, unstructured datasets, generating expert-level output across various tasks, and communicating with humans in natural language for interpretation. These advantages can align closely with the complex demands of remanufacturing, thereby mitigating the reliance on specialized expertise. However, their roles and research progress in this domain remain underexplored. In this paper, we present a forward-looking review and analysis of the role of LLMs in remanufacturing automation, grounded in a brief critical review of existing LLM-related studies relevant to remanufacturing. Building on this foundation, we introduce ReManGPT as a conceptual framework and use three representative case studies to illustrate selected modules of the framework in practical remanufacturing scenarios. We also analyze three representative remanufacturing applications, electric vehicle batteries, electronic waste, and electric motors, to illustrate how the proposed framework could address their domain-specific challenges. Finally, we discuss the current barriers to deploying this framework in practice and outline future research directions, including LLM-assisted human operation and language-action models for robotic automation.

eess.SY↗

arXiv2026

Predictive Repair Management Using a Multi-Head Attention Transformer and Online Learning

Accurate prediction of repair duration is an important challenge in product maintenance due to its implications for resource allocation, customer satisfaction, and operational performance. This study aims to develop a deep learning framework to help fleet repair shops accurately categorize repair time given product historical data. The study uses an automobile repair and maintenance dataset and creates an end-to-end predictive framework by employing a multi-head attention network designed for tabular data. The developed framework combines categorical information, transformed through embeddings and attention mechanisms, with numerical historical data to facilitate integration and learning from diverse data features. A weighted loss function is introduced to overcome class imbalance issues in large datasets. Moreover, an online learning strategy is used for continuous incremental model updates to maintain predictive accuracy in evolving operational environments. Our empirical findings demonstrate that the multi-head attention mechanism extracts meaningful interactions between vehicle identifiers and repair types compared to a feed-forward neural network and a random forest model. Also, combining historical maintenance data with an online learning strategy facilitates real-time adjustments to changing patterns and increases the model's predictive performance on new data. The model is tested on real-world repair data spanning 2013 to 2020 and achieves an accuracy of 78%, with attention weight analyses illustrating feature interactions.

cs.LG↗

arXiv2026

Redefining End-of-Life: Intelligent Automation for Electronics Remanufacturing Systems

Remanufacturing is fundamentally more challenging than traditional manufacturing due to the significant uncertainty, variability, and incompleteness inherent in end-of-life (EoL) products. At the same time, it has become increasingly essential and urgent for facilitating a circular economy, driven by the growing volume of discarded electronic products and the escalating scarcity of critical materials. In this paper, we review the existing literature and examine the key challenges as well as emerging opportunities in intelligent automation for EoL electronics remanufacturing, providing a comprehensive overview of how robotics, control, and artificial intelligence (AI) can jointly enable scalable, safe, and intelligent remanufacturing systems. This paper starts with the definition, scope, and motivation of remanufacturing within the context of a circular economy, highlighting its societal and environmental significance. Then it delves into intelligent automation approaches for disassembly, inspection, sorting, and component reprocessing in this domain, covering advanced methods for multimodal perception, decision-making under uncertainty, flexible planning algorithms, and force-aware manipulation. The paper further reviews several emerging techniques, including large foundation models, human-in-the-loop integration, and digital twins that have the potential to support future research in this area. By integrating these topics, we aim to illustrate how next-generation remanufacturing systems can achieve robust, adaptable, and efficient operation in the face of complex real-world challenges.

eess.SY↗

arXiv2026

Evaluating Large and Lightweight Vision Models for Irregular Component Segmentation in E-Waste Disassembly

Precise segmentation of irregular and densely arranged components is essential for robotic disassembly and material recovery in electronic waste (e-waste) recycling. This study evaluates the impact of model architecture and scale on segmentation performance by comparing SAM2, a transformer-based vision model, with the lightweight YOLOv8 network. Both models were trained and tested on a newly collected dataset of 1,456 annotated RGB images of laptop components including logic boards, heat sinks, and fans, captured under varying illumination and orientation conditions. Data augmentation techniques, such as random rotation, flipping, and cropping, were applied to improve model robustness. YOLOv8 achieved higher segmentation accuracy (mAP50 = 98.8%, mAP50-95 = 85%) and stronger boundary precision than SAM2 (mAP50 = 8.4%). SAM2 demonstrated flexibility in representing diverse object structures but often produced overlapping masks and inconsistent contours. These findings show that large pre-trained models require task-specific optimization for industrial applications. The resulting dataset and benchmarking framework provide a foundation for developing scalable vision algorithms for robotic e-waste disassembly and circular manufacturing systems.

cs.CV↗

arXiv2025

Vision-Language-Action Models for Selective Robotic Disassembly: A Case Study on Critical Component Extraction from Desktops

Automating disassembly of critical components from end-of-life (EoL) desktops, such as high-value items like RAM modules and CPUs, as well as sensitive parts like hard disk drives, remains challenging due to the inherent variability and uncertainty of these products. Moreover, their disassembly requires sequential, precise, and dexterous operations, further increasing the complexity of automation. Current robotic disassembly processes are typically divided into several stages: perception, sequence planning, task planning, motion planning, and manipulation. Each stage requires explicit modeling, which limits generalization to unfamiliar scenarios. Recent development of vision-language-action (VLA) models has presented an end-to-end approach for general robotic manipulation tasks. Although VLAs have demonstrated promising performance on simple tasks, the feasibility of applying such models to complex disassembly remains largely unexplored. In this paper, we collected a customized dataset for robotic RAM and CPU disassembly and used it to fine-tune two well-established VLA approaches, OpenVLA and OpenVLA-OFT, as a case study. We divided the whole disassembly task into several small steps, and our preliminary experimental results indicate that the fine-tuned VLA models can faithfully complete multiple early steps but struggle with certain critical subtasks, leading to task failure. However, we observed that a simple hybrid strategy that combines VLA with a rule-based controller can successfully perform the entire disassembly operation. These findings highlight the current limitations of VLA models in handling the dexterity and precision required for robotic EoL product disassembly. By offering a detailed analysis of the observed results, this study provides insights that may inform future research to address current challenges and advance end-to-end robotic automated disassembly.

cs.RO↗

arXiv2023

A Review of Prospects and Opportunities in Disassembly with Human-Robot Collaboration

Product disassembly plays a crucial role in the recycling, remanufacturing, and reuse of end-of-use (EoU) products. However, the current manual disassembly process is inefficient due to the complexity and variation of EoU products. While fully automating disassembly is not economically viable given the intricate nature of the task, there is potential in using human-robot collaboration (HRC) to enhance disassembly operations. HRC combines the flexibility and problem-solving abilities of humans with the precise repetition and handling of unsafe tasks by robots. Nevertheless, numerous challenges persist in technology, human workers, and remanufacturing work, that require comprehensive multidisciplinary research to bridge critical gaps. These challenges have motivated the authors to provide a detailed discussion on the opportunities and obstacles associated with introducing HRC to disassembly. In this regard, the authors have conducted a thorough review of the recent progress in HRC disassembly and present the insights gained from this analysis from three distinct perspectives: technology, workers, and work.

cs.RO↗

arXiv2020

A Real-Time Receding Horizon Sequence Planner for Disassembly in A Human-Robot Collaboration Setting

Product disassembly is a labor-intensive process and is far from being automated. Typically, disassembly is not robust enough to handle product varieties from different shapes, models, and physical uncertainties due to component imperfections, damage throughout component usage, or insufficient product information. To overcome these difficulties and to automate the disassembly procedure through human-robot collaboration without excessive computational cost, this paper proposes a real-time receding horizon sequence planner that distributes tasks between robot and human operator while taking real-time human motion into consideration. The sequence planner aims to address several issues in the disassembly line, such as varying orientations, safety constraints of human operators, uncertainty of human operation, and the computational cost of large number of disassembly tasks. The proposed disassembly sequence planner identifies both the positions and orientations of the to-be-disassembled items, as well as the locations of human operator, and obtains an optimal disassembly sequence that follows disassembly rules and safety constraints for human operation. Experimental tests have been conducted to validate the proposed planner: the robot can locate and disassemble the components following the optimal sequence, and consider explicitly human operator's real-time motion, and collaborate with the human operator without violating safety constraints.

cs.RO↗