Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Effects of shoot pruning and inflorescence thinning on plant growth, yield and fruit quality of greenhouse tomatoes in a tropical climate

The combined effects of shoot pruning (one or two stems) and inflorescence thinning (five or ten flowers per inflorescence) on greenhouse tomato yield and fruit quality were studied during the dry season (DS) and rainy season (RS) in Central Thailand. Poor fruit set, development of undersized (mostly parthenocarpic) fruits, as well as the physiological disorders blossom-end rot (BER) and fruit cracking (FC) turned out to be the prevailing causes deteriorating fruit yield and quality. The proportion of marketable fruits was less than 10% in the RS and around 65% in the DS. In both seasons, total yield was significantly increased when plants were cultivated with two stems, resulting in higher marketable yields only in the DS. While the fraction of undersized fruits was increased in both seasons when plants were grown with a secondary stem, the proportions of BER and FC were significantly reduced. Restricting the number of flowers per inflorescence invariably resulted in reduced total yield. However, in neither season did fruit load considerably affect quantity or proportion of the marketable yield fraction. Inflorescence thinning tended to promote BER and FC, an effect which was only significant for BER in the RS. In conclusion, for greenhouse tomato production under climate conditions as they are prevalent in Central Thailand, the cultivation with two stems appears to be highly recommendable whereas the measures to control fruit load tested in this study did not proof to be advisable.