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.
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Publication details
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Cite this article
APA 7
Chen, Z., Ge, J., Chen, R., Castanier, M. P., Gorsich, D., & Imani, F. (2026). Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating. https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating
MLA 9
Chen, Zhiling, et al. "Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating." https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating.
Chicago (author–date)
Chen, Zhiling, Jingzhan Ge, Ruimin Chen, Matthew P. Castanier, David Gorsich, and Farhad Imani. 2026. "Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating." https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating.
Harvard
Chen, Z., Ge, J., Chen, R., Castanier, M. P., Gorsich, D. and Imani, F. (2026) 'Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating', Available at: https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating.
Vancouver
Chen Z, Ge J, Chen R, Castanier MP, Gorsich D, Imani F. Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating. https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating
IEEE
Z. Chen, J. Ge, R. Chen, M. P. Castanier, D. Gorsich, and F. Imani, "Task-Specified Active Metrological Inspection with Measurement-Steered VLA Manipulation and Deterministic Evidence Gating," https://omanscience.com/en/articles/task-specified-active-metrological-inspection-with-measurement-steered-vla-manipulation-and-deterministic-evidence-gating.