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.

Smallholder pig production systems along a periurban-rural gradient in the Western provinces of the Democratic Republic of the Congo

In the Democratic Republic of the Congo (DRC), pigs are raised almost exclusively by smallholders either in periurban areas of major cities such as Kinshasa or in rural villages. Unfortunately, little information is available regarding pig production in the Western part of the DRC, wherefore a survey was carried out to characterize and compare 319 pig production systems in their management and feeding strategies, along a periurban - rural gradient inWestern provinces of the DRC. Pig breeding was the main source of income (43%) and half of respondents were active in mixed pig and crop production, mainly vegetable garden. Depending on the location, smallholders owned on average 18 pigs, including four sows. Piglet mortality rate varied from 9.5 to 21.8% while average weaned age ranged between 2.2 and 2.8 months. The major causes of mortality reported by the farmers were African swine fever 98 %, swine erysipelas (60 %), erysipelas trypanosomiasis (31 %), swine worm infection (17 %), and diarrhoea (12 %). The majority of the pigs were reared in pens without free roaming and fed essentially with locally available by-products and forage plants whose nature varied according with the location of the farm. The pig production systems depended on the local environment; particularly in terms of workforces, herd structure and characteristics, production parameters, pig building materials, selling price and in feed resources. It can be concluded that an improvement of Congolese pig production systems should consider (1) a reduction of inbreeding, (2) an improvement in biosafety to reduce the incidence of African swine fever and the spread of other diseases, and (3) an improvement in feeding practices.