Robots and humans as co-workers? The human-centred perspective of work with autonomous systems

The design of work organisation systems with automated equipment is facing new challenges and the emergence of new concepts. The social aspects that are related with new concepts on the complex work environments (CWE) are becoming more relevant for that design. The work with autonomous systems implies options in the design of workplaces. Especially that happens in such complex environments. The concepts of “agents”, “co-working” or “human-centred technical systems” reveal new dimensions related to human-computer interaction (HCI). With an increase in the number and complexity of those human-technology interfaces, the capacities of human intervention can become limited, originating further problems. The case of robotics is used to exemplify the issues related with automation in working environments and the emergence of new HCI approaches that would include social implications. We conclude that studies on technology assessment of industrial robotics and autonomous agents on manufacturing environment should also focus on the human involvement strategies in organisations. A needed participatory strategy implies a new approach to workplaces design. This means that the research focus must be on the relation between technology and social dimensions not as separate entities, but integrated in the design of an interaction system.

Processat de vídeo aplicat a la robòtica

Aquest projecte consisteix en acoblar una càmera web uEye en una de les extremitats d'un robot industrial (ABB Irc5). Aquest robot, es mourà en cas què es detecti una cara a través de la webcam. L'objectiu és intentar que la cara es situï sempre al mig de la imatge captada per la càmera. Podem dividir les tasques d'aquest projecte amb 4 fases diferents. A continuació expliquem les diferents etapes. La Càmera uEye s'encarrega de capturar imatges i passar-les a un PC utilitzant Python. La funció de Detecció de Cares ens indica la posició i dimensions de la cara. Tot seguit, la funció LabJack s'encarrega de canviar els valors digitals de les 5 senyals mitjançant programació amb Python. Per últim el Robot ABB interpreta el valor d'aquestes 5 senyals i es desplaça mitjançant petits increments amb l'objectiu de situar la cara al mig de la imatge capturada.

Piensarjatuotannon hitsauksen robotisointi

Diplomityön tarkoituksena on selvittää hitsauksen robotisointimahdollisuudet vakiintuneelle piensarjatuotteelle. Tarkastelun kohteeksi valittiin maanpäällisen porausyksikön runkopari, joka rakentuu ylä- ja alarungosta. Hitsaus on nykytilanteessa käsinhitsausta ja tuotetta tehdään noin 300 kpl / vuosi. Hitsauksen robotisoinnilla halutaan aikaansaada kustannussäästöä hitsauksen osalta ja tuotantokapasiteetin nousua. Työn teoriaosa voidaan jakaa neljään osaan: hitsaustekniikka, robottihitsattava tuote, robotisoituhitsaus ja investointilaskelmat. Hitsaustekniikassa lähdetään liikkeelle hitsauksen kannalta oleellisimmista perusasioista, jolloin lukijalle syntyy laajempi kokonaiskuva asiasta. Hitsauksen robotisointia suunniteltaessa korostuu tuotteen hitsattavuus. Hyvin suunniteltu tuote mahdollistaa robotisoidun hitsauksen ja luo edellytykset laadukkaalle, taloudelliselle ja tuottavalle hitsaukselle. Robotisoidun hitsauksen osassa rakennetaan kokonaisuus, jolloin lopputuloksena on tehokas robottijärjestelmä. Samalla käsitellään sekä varsinaista hitsausteknistä toteutusta että robottijärjestelmän komponentteja. Investointilaskelmien avulla varmistetaan robottijärjestelmän ja koko tuotantoketjun kannattavuus. Käytännön osuudessa selvitetään robotisoidun hitsauksen mahdollisuudet valitulle tuotteelle ja robotisoinnin aikaansaamat kustannussäästöt. Tuotteen ylärungosta valitaan etuosa tarkempaa CASE tyylistä tarkastelua varten. CASE:ssa käydään läpi etuosan valmistettavuus ja selvitetään robotisoinnista aikaansaamat säästöt. Investointilaskelmien avulla selvitetään käytännön osuudessa robotisoidun hitsauksen kannattavuus tietyille robottijärjestelmille.

Processat de vídeo aplicat a la robòtica

Aquest projecte consisteix en acoblar una càmera web uEye en una de les extremitats d'un robot industrial (ABB Irc5). Aquest robot, es mourà en cas què es detecti una cara a través de la webcam. L'objectiu és intentar que la cara es situï sempre al mig de la imatge captada per la càmera. Podem dividir les tasques d'aquest projecte amb 4 fases diferents. A continuació expliquem les diferents etapes. La Càmera uEye s'encarrega de capturar imatges i passar-les a un PC utilitzant Python. La funció de Detecció de Cares ens indica la posició i dimensions de la cara. Tot seguit, la funció LabJack s'encarrega de canviar els valors digitals de les 5 senyals mitjançant programació amb Python. Per últim el Robot ABB interpreta el valor d'aquestes 5 senyals i es desplaça mitjançant petits increments amb l'objectiu de situar la cara al mig de la imatge capturada.

Mallinsovitusta käyttävä konenäköohjelmisto teollisuusrobotin ohjaukseen

Tässä työssä kehitettiin teollisuusrobottijärjestelmiin soveltuva, mallinsovitusta hyödyntävä konenäköohjelmisto. Yleiskäyttöiseksi tarkoitettuun ohjelmistoon tehtiin toiminnot konenäköjärjestelmän kalibrointiin, mallinsovitukseen käytettävien mallien hallintaan ja tulosten välitykseen teollisuusroboteille. Ohjelmiston tuli olla myös niin helppokäyttöinen, että sen käyttö onnistuu lyhyellä koulutuksella. Ohjelmistoa sovellettiin puuikkunapuitteiden robotisoituun maalausjärjestelmään. Maalausjärjestelmästä onnistuttiin tekemään automaattinen, tuotteisiin mukautuva ja virhetilanteista toipuva pitkälti toimitetun konenäköjärjestelmän ansiosta.

Telerobotics: Methodology for the Development of a Through-the-Internet Robotic Teleoperated System

This work presents a methodology for the development of Teleoperated Robotic Systems through the Internet. Initially, it is presented a bibliographical review of the Telerobotic systems that uses Internet as way of control. The methodology is implemented and tested through the development of two systems. The first is a manipulator with two degrees of freedom commanded remotely through the Internet denominated RobWebCam (http://www.graco.unb.br/robwebcam). The second is a system which teleoperates an ABB (Asea Brown Boveri) Industrial Robot of six degrees of freedom denominated RobWebLink (http://webrobot.graco.unb.br). RobWebCam is composed of a manipulator with two degrees of freedom, a video camera, Internet, computers and communication driver between the manipulator and the Unix system; and RobWebLink composed of the same components plus the Industrial Robot. With the use of this technology, it is possible to move far distant positioning objects minimizing transport costs, materials and people; acting in real time in the process that is wanted to be controller. This work demonstrates that the teleoperating via Internet of robotic systems and other equipments is viable, in spite of using rate transmission data with low bandwidth. Possible applications include remote surveillance, control and remote diagnosis and maintenance of machines and equipments.

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.

Novel concepts for a planetary surface exploration rover

Purpose - This paper aims to address some of the needs of present and upcoming rover designs, and introduces novel concepts incorporated in a planetary surface exploration rover design that is currently under development. Design/methodology/approach - The Multitasking Rover (MTR) is a highly re-configurable system that aims to demonstrate functionality that will cover many of the current and future needs such as rough-terrain mobility, modularity and upgradeability. It comprises a surface mobility platform which is highly re-configurable, which offers centre of mass re-allocation and rough terrain stability, and also a set of science/tool packs - individual subsystems encapsulated in packs which the rover picks up, transports and deploys. Findings - Early testing of the suspension system suggests exceptional performance characteristics. Originality/value - Principles employed in the design of the MTR can be used in future rover systems to reduce associated mission costs and at the same time provide multiples the functionality.

Joint servoing for robust manipulator force control

An experimental and theoretical comparison is made of force control performance with different types of innerloop joint servoing techniques. The problem of disturbance rejection and sensitivity to plant dynamics variations (robustness) is addressed. Position, velocity, strain gauge derived joint torque, and current servos are designed and implemented on a specially instrumented industrial robot, and the end-effector force feedback performances achieved are compared. Joint strain derived torque servoing is found to provide the best overall robust force control performance. Experimental results of the robust hard-on-hard contact achieved with the novel force controller implementation based on joint torque sensing are provided. Conclusions are drawn on the force control performance achievable on a geared robot given the joint servoing technique.

Notes on Newton-Euler formulation of robotic manipulators

The equations corresponding to Newton-Euler iterative method for the determination of forces and moments acting on the rigid links of a robotic manipulator are given a new treatment using composed vectors for the representation of both kinematical and dynamical quantities. It is shown that Lagrange equations for the motion of a holonomic system are easily found from the composed vectors defined in this note. Application to a simple model of an industrial robot shows that the method developed in these notes is efficient in solving the dynamics of a robotic manipulator. An example is developed, where it is seen that with the application of appropriate control moments applied to each arm of the robot, starting from a given initial position, it is possible to reach equilibrium in a final pre-assigned position.

Projeto e desenvolvimento de robô cartesiano de baixo custo para manipulação de produtos em linhas de média cadência

Pós-graduação em Engenharia Elétrica - FEB

Amorphous piezoresistive and piezoelectric sensors for robotics applications

Ultrasonic transducers have often been used in the development of sensory systems for robotics applications. In most cases, these sensory systems are based on the determination of times of flight for signals from every transducer. In this work we have used piezoresistive and piezoelectric materials to measure the instant and position collision in metallic structures by using the difference of the times of propagation of an acoustic wave when it is produced over a ferromagnetic (iron, steel or another material) based structure. An immediate application of the proposed method is the detection and location of impacts over the metallic links of an industrial robot or the collision position in a metallic structure for an automated inspection

Analyzing energy-efficient configurations in hexapod robots for demining applications

Purpose – Reducing energy consumption in walking robots is an issue of great importance in field applications such as humanitarian demining so as to increase mission time for a given power supply. The purpose of this paper is to address the problem of improving energy efficiency in statically stable walking machines by comparing two leg, insect and mammal, configurations on the hexapod robotic platform SILO6. Design/methodology/approach – Dynamic simulation of this hexapod is used to develop a set of rules that optimize energy expenditure in both configurations. Later, through a theoretical analysis of energy consumption and experimental measurements in the real platform SILO6, a configuration is chosen. Findings – It is widely accepted that the mammal configuration in statically stable walking machines is better for supporting high loads, while the insect configuration is considered to be better for improving mobility. However, taking into account the leg dynamics and not only the body weight, different results are obtained. In a mammal configuration, supporting body weight accounts for 5 per cent of power consumption while leg dynamics accounts for 31 per cent. Originality/value – As this paper demonstrates, the energy expended when the robot walks along a straight and horizontal line is the same for both insect and mammal configurations, while power consumption during crab walking in an insect configuration exceeds power consumption in the mammal configuration.

Design of a training tool for improving the use of hand-held detectors in humanitarian demining

Purpose – The purpose of this paper is to introduce the design of a training tool intended to improve deminers' technique during close-in detection tasks. Design/methodology/approach – Following an introduction that highlights the impact of mines and improvised explosive devices (IEDs), and the importance of training for enhancing the safety and the efficiency of the deminers, this paper considers the utilization of a sensory tracking system to study the skill of the hand-held detector expert operators. With the compiled information, some critical performance variables can be extracted, assessed, and quantified, so that they can be used afterwards as reference values for the training task. In a second stage, the sensory tracking system is used for analysing the trainee skills. The experimentation phase aims to test the effectiveness of the elements that compose the sensory system to track the hand-held detector during the training sessions. Findings – The proposed training tool will be able to evaluate the deminers' efficiency during the scanning tasks and will provide important information for improving their competences. Originality/value – This paper highlights the need of introducing emerging technologies for enhancing the current training techniques for deminers and proposes a sensory tracking system that can be successfully utilised for evaluating trainees' performance with hand-held detectors.

Introduction: improving manufacturing performance through technology diffusion, implementation and management

The role of technology management in achieving improved manufacturing performance has been receiving increased attention as enterprises are becoming more exposed to competition from around the world. In the modern market for manufactured goods the demand is now for more product variety, better quality, shorter delivery and greater flexibility, while the financial and environmental cost of resources has become an urgent concern to manufacturing managers. This issue of the International Journal of Technology Management addresses the question of how the diffusion, implementation and management of technology can improve the performance of manufacturing industries. The authors come from a large number of different countries and their contributions cover a wide range of topics within this general theme. Some papers are conceptual, others report on research carried out in a range of different industries including steel production, iron founding, electronics, robotics, machinery, precision engineering, metal working and motor manufacture. In some cases they describe situations in specific countries. Several are based on presentations made at the UK Operations Management Association's Sixth International Conference held at Aston University at which the conference theme was 'Achieving Competitive Edge: Getting Ahead Through Technology and People'. The first two papers deal with questions of advanced manufacturing technology implementation and management. Firstly Beatty describes a three year longitudinal field study carried out in ten Canadian manufacturing companies using CADICAM and CIM systems. Her findings relate to speed of implementation, choice of system type, the role of individuals in implementation, organization and job design. This is followed by a paper by Bessant in which he argues that a more a strategic approach should be taken towards the management of technology in the 1990s and beyond. Also considered in this paper are the capabilities necessary in order to deploy advanced manufacturing technology as a strategic resource and the way such capabilities might be developed within the firm. These two papers, which deal largely with the implementation of hardware, are supplemented by Samson and Sohal's contribution in which they argue that a much wider perspective should be adopted based on a new approach to manufacturing strategy formulation. Technology transfer is the topic of the following two papers. Pohlen again takes the case of advanced manufacturing technology and reports on his research which considers the factors contributing to successful realisation of AMT transfer. The paper by Lee then provides a more detailed account of technology transfer in the foundry industry. Using a case study based on a firm which has implemented a number of transferred innovations a model is illustrated in which the 'performance gap' can be identified and closed. The diffusion of technology is addressed in the next two papers. In the first of these, by Lowe and Sim, the managerial technologies of 'Just in Time' and 'Manufacturing Resource Planning' (or MRP 11) are examined. A study is described from which a number of factors are found to influence the adoption process including, rate of diffusion and size. Dahlin then considers the case of a specific item of hardware technology, the industrial robot. Her paper reviews the history of robot diffusion since the early 1960s and then tries to predict how the industry will develop in the future. The following two papers deal with the future of manufacturing in a more general sense. The future implementation of advanced manufacturing technology is the subject explored by de Haan and Peters who describe the results of their Dutch Delphi forecasting study conducted among a panel of experts including scientists, consultants, users and suppliers of AMT. Busby and Fan then consider a type of organisational model, 'the extended manufacturing enterprise', which would represent a distinct alternative pure market-led and command structures by exploiting the shared knowledge of suppliers and customers. The three country-based papers consider some strategic issues relating manufacturing technology. In a paper based on investigations conducted in China He, Liff and Steward report their findings from strategy analyses carried out in the steel and watch industries with a view to assessing technology needs and organizational change requirements. This is followed by Tang and Nam's paper which examines the case of machinery industry in Korea and its emerging importance as a key sector in the Korean economy. In his paper which focuses on Venezuela, Ernst then considers the particular problem of how this country can address the problem of falling oil revenues. He sees manufacturing as being an important contributor to Venezuela's future economy and proposes a means whereby government and private enterprise can co-operate in development of the manufacturing sector. The last six papers all deal with specific topics relating to the management manufacturing. Firstly Youssef looks at the question of manufacturing flexibility, introducing and testing a conceptual model that relates computer based technologies flexibility. Dangerfield's paper which follows is based on research conducted in the steel industry. He considers the question of scale and proposes a modelling approach determining the plant configuration necessary to meet market demand. Engstrom presents the results of a detailed investigation into the need for reorganising material flow where group assembly of products has been adopted. Sherwood, Guerrier and Dale then report the findings of a study into the effectiveness of Quality Circle implementation. Stillwagon and Burns, consider how manufacturing competitiveness can be improved individual firms by describing how the application of 'human performance engineering' can be used to motivate individual performance as well as to integrate organizational goals. Finally Sohal, Lewis and Samson describe, using a case study example, how just-in-time control can be applied within the context of computer numerically controlled flexible machining lines. The papers in this issue of the International Journal of Technology Management cover a wide range of topics relating to the general question of improving manufacturing performance through the dissemination, implementation and management of technology. Although they differ markedly in content and approach, they have the collective aim addressing the concepts, principles and practices which provide a better understanding the technology of manufacturing and assist in achieving and maintaining a competitive edge.