Problem
Research questions and friction points this paper is trying to address.
High-mix low-volume (HMLV) manufacturing
inspection systems
task-specific programming
metrological evidence
Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating
🤖 AI Summary
为了解决高混低量制造中的自适应检测问题，提出FRAME框架，通过协调操作与激光测量，确保测量证据的完整性和有效性。
📝 Abstract
High-mix low-volume (HMLV) manufacturing requires inspection systems to adapt to changing parts, specifications, and work orders without repeated task-specific programming. Existing inspection automation typically assumes predefined sensing sequences, while general purpose robot agents optimize task completion rather than the completeness and validity of metrological evidence. We formulate task-specified active metrological inspection and propose From Requirements to Admissible Metrological Evidence (FRAME), a hierarchical dual-arm framework that converts an inspection instruction and structured specification into traceable conformance evidence. FRAME coordinates learned manipulation with calibrated laser profilometry: a task manager grounds and schedules requirements, active surface correspondence verifies physical-to-specification localization, and evidence memory tracks measurement provenance, admissibility, and coverage. Learned components may propose inspection targets and physical access actions, but deterministic datum-grounded measurement, admissibility checks, coverage auditing, and conformance evaluation prevent incomplete or unverified evidence from authorizing PASS. A series of physical experiments shows that FRAME achieves higher end-to-end inspection reliability, fewer false accepts, and shorter task completion time.
Innovation
Methods, ideas, or system contributions that make the work stand out.
task-specified active metrological inspection
dual-arm framework
measurement-steered manipulation
deterministic evidence gating
metrological evidence
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