Vision-Based Solutions for Human-Robot Collaboration in Industrial Workcells

Industrial robots are both versatile and high performant, enabling the flexible automation typical of the modern Smart Factories. For safety reasons, however, they must be relegated inside closed fences and/or virtual safety barriers, to keep them strictly separated from human operators. This can be a limitation in some scenarios in which it is useful to combine the human cognitive skill with the accuracy and repeatability of a robot, or simply to allow a safe coexistence in a shared workspace. Collaborative robots (cobots), on the other hand, are intrinsically limited in speed and power in order to share workspace and tasks with human operators, and feature the very intuitive hand guiding programming method. Cobots, however, cannot compete with industrial robots in terms of performance, and are thus useful only in a limited niche, where they can actually bring an improvement in productivity and/or in the quality of the work thanks to their synergy with human operators. The limitations of both the pure industrial and the collaborative paradigms can be overcome by combining industrial robots with artificial vision. In particular, vision can be exploited for a real-time adjustment of the pre-programmed task-based robot trajectory, by means of the visual tracking of dynamic obstacles (e.g. human operators). This strategy allows the robot to modify its motion only when necessary, thus maintain a high level of productivity but at the same time increasing its versatility. Other than that, vision offers the possibility of more intuitive programming paradigms for the industrial robots as well, such as the programming by demonstration paradigm. These possibilities offered by artificial vision enable, as a matter of fact, an efficacious and promising way of achieving human-robot collaboration, which has the advantage of overcoming the limitations of both the previous paradigms yet keeping their strengths.

Development of numerical tools for the simulation, design and optimization of a Helicon Plasma Thruster

This work thesis focuses on the Helicon Plasma Thruster (HPT) as a candidate for generating thrust for small satellites and CubeSats. Two main topics are addressed: the development of a Global Model (GM) and a 3D self-consistent numerical tool. The GM is suitable for preliminary analysis of HPTs with noble gases such as argon, neon, krypton, and xenon, and alternative propellants such as air and iodine. A lumping methodology is developed to reduce the computational cost when modelling the excited species in the plasma chemistry. A 3D self-consistent numerical tool is also developed that can treat discharges with a generic 3D geometry and model the actual plasma-antenna coupling. The tool consists of two main modules, an EM module and a FLUID module, which run iteratively until a steady state solution is converged. A third module is available for solving the plume with a simplified semi-analytical approach, a PIC code, or directly by integration of the fluid equations. Results obtained from both the numerical tools are benchmarked against experimental measures of HPTs or Helicon reactors, obtaining very good qualitative agreement with the experimental trend for what concerns the GM, and an excellent agreement of the physical trends predicted against the measured data for the 3D numerical strategy.

Integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment

The computer controlled screwdriver is a modern technique to perform automatic screwing/unscrewing operations.The main focus is to study the integration of the computer controlled screwdriver for Robotic manufacturing in the ROS environment.This thesis describes a concept of automatic screwing mechanism composed by universal robots, in which one arm of the robot is for inserting cables and the other is for screwing the cables on the control panel switch gear box. So far this mechanism is carried out by human operators and is a fairly complex one to perform, due to the multiple cables and connections involved. It's for this reason that an automatic cabling and screwing process would be highly preferred within automotive/automation industries. A study is carried out to analyze the difficulties currently faced and a controller based algorithm is developed to replace the manual human efforts using universal robots, thereby allowing robot arms to insert the cables and screw them onto the control panel switch gear box. Experiments were conducted to evaluate the insertion and screwing strategy, which shows the result of inserting and screwing cables on the control panel switch gearbox precisely.

Robotic Manipulation of DLOs for Wiring Harness Assembly: a Machine Learning Approach

In recent times, a significant research effort has been focused on how deformable linear objects (DLOs) can be manipulated for real world applications such as assembly of wiring harnesses for the automotive and aerospace sector. This represents an open topic because of the difficulties in modelling accurately the behaviour of these objects and simulate a task involving their manipulation, considering a variety of different scenarios. These problems have led to the development of data-driven techniques in which machine learning techniques are exploited to obtain reliable solutions. However, this approach makes the solution difficult to be extended, since the learning must be replicated almost from scratch as the scenario changes. It follows that some model-based methodology must be introduced to generalize the results and reduce the training effort accordingly. The objective of this thesis is to develop a solution for the DLOs manipulation to assemble a wiring harness for the automotive sector based on adaptation of a base trajectory set by means of reinforcement learning methods. The idea is to create a trajectory planning software capable of solving the proposed task, reducing where possible the learning time, which is done in real time, but at the same time presenting suitable performance and reliability. The solution has been implemented on a collaborative 7-DOFs Panda robot at the Laboratory of Automation and Robotics of the University of Bologna. Experimental results are reported showing how the robot is capable of optimizing the manipulation of the DLOs gaining experience along the task repetition, but showing at the same time a high success rate from the very beginning of the learning phase.

Neural network-based H(infinity) control for fully actuated and underactuated cooperative manipulators

This paper develops H(infinity) control designs based on neural networks for fully actuated and underactuated cooperative manipulators. The neural networks proposed in this paper only adapt the uncertain dynamics of the robot manipulators. They work as a complement of the nominal model. The H(infinity) performance index includes the position errors as well the squeeze force errors between the manipulator end-effectors and the object, which represents a complete disturbance rejection scenario. For the underactuated case, the squeeze force control problem is more difficult to solve due to the loss of some degrees of manipulator actuation. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented. (C) 2008 Elsevier Ltd. All rights reserved.

Sensory evaluation and physicochemical optimisation of soy-based desserts using response surface methodology

The objective of this study was to develop a dessert that contains soy protein (SP) (1%, 2%, 3%) and guava juice (GJ) (22%, 27%, 32%) using Response Surface Methodology (RSM) as the optimisation technique. Water activity, physical stability, colour, acidity, pH, iron, and carotenoid contents were analysed. Affective tests were performed to determine the degree of liking of colour, creaminess, and acceptability. The results showed that GJ increased the values of redness, hue angle, chromaticity, acidity, and carotenoid content, while SP reduced water activity. Optimisation suggested a dessert containing 32% GJ and 1.17% SP as the best proportion of these components. This sample was considered a source of fibres, ascorbic acid, copper, and iron and garnered scores above the level of `slightly liked` for sensory attributes. Moreover, RSM was shown to be an adequate approach for modelling the physicochemical parameters and the degree of liking of creaminess of desserts. (C) 2010 Elsevier Ltd. All rights reserved.

Spatial aspects of trade liberalization in Colombia: A general equilibrium approach

This paper offers some preliminary steps in the marriage of some of the theoretical foundations of new economic geography with spatial computable general equilibrium models. Modelling the spatial economy of Colombia using the traditional assumptions of computable general equilibrium (CGE) models makes little sense when one territorial unit, Bogota, accounts for over one quarter of GDP and where transportation costs are high and accessibility low compared to European or North American standards. Hence, handling market imperfections becomes imperative as does the need to address internal spatial issues from the perspective of Colombia`s increasing involvement with external markets. The paper builds on the Centro de Estudios de Economia Regional (CEER) model, a spatial CGE model of the Colombian economy; non-constant returns and non-iceberg transportation costs are introduced and some simulation exercises carried out. The results confirm the asymmetric impacts that trade liberalization has on a spatial economy in which one region, Bogota, is able to more fully exploit scale economies vis--vis the rest of Colombia. The analysis also reveals the importance of different hypotheses on factor mobility and the role of price effects to better understand the consequences of trade opening in a developing economy.

Valuation of tourism's natural resources

Discusses the implications of the economic valuation of natural resources used for tourism and relates this valuation to the concept of total economic valuation. It demonstrates how applications of the concept of total economic valuation can be supportive of the conservation of natural resources used for tourism. Techniques for valuing tourism’s natural resources are then outlined and critically evaluated. Consideration is given to travel cost methods, contingent valuation methods, and hedonic pricing approaches before concentrating on current developments of valuation techniques, such as choice modelling. The general limitations of existing methods are considered and it is argued that more attention should be given to developing guidelines that will identify ‘optimally imperfect methods’. An overall assessment concludes this article.

Post-antibiotic growth suppression of linezolid against Gram-positive bacteria

The in vitro post-antibiotic effects (PAEs) of eight different concentrations of linezolid against Gram-positive cocci were investigated and the results analysed using the sigmoid E-max model for mathematically modelling the PAE. Mean maximal linezolid PAEs against strains of Staphylococcus aureus, Staphylococcus epidermidis, Enterococcus faecalis, Enterococcus faecium and Streptococcus pneumoniae were 2.2, 1.8, 2.8, 2.0 and 3.0 h, respectively. Resistance to methicillin (for the staphylococci), vancomycin (for the enterococci) and penicillin (for the pneumococci) had no effect on the duration of the PAE. Results of PAE testing support twice-daily dosing of linezolid in humans.

Vertical fluxes of sediment in oscillatory sheet flow

Time series of vertical sediment fluxes are derived from concentration time series in sheet flow under waves. While the concentrations C(z,t) vary very little with time for \z\ < 10d(50), the measured vertical sediment fluxes Q(zs)(z,t) vary strongly with time in this vertical band and their time variation follows, to some extent, the variation of the grain roughness Shields parameter 02,5(t). Thus, sediment distribution models based on the pickup function boundary condition are in some qualitative agreement with the measurements. However, the pickup function models are only able to model the upward bursts of sediment during the accelerating phases of the flow. They are, so far, unable to model the following strong downward sediment fluxes, which are observed during the periods of flow deceleration. Classical pickup functions, which essentially depend on the Shields parameter, are also incapable of modelling the secondary entrainment fluxes, which sometimes occur at free stream velocity reversal. The measured vertical fluxes indicate that the effective sediment settling velocity in the high [(0.3 < C(z,t) < 0.4] concentration area is typically only a few percent of the clear water settling velocity, while the measurements of Richardson and Jeronimo [Chem. Eng. Sci. 34 (1979) 1419], from a different physical setting, lead to estimates of the order 20%. The data does not support gradient diffusion as a model for sediment entrainment from the bed. That is, detailed modelling of the observed near-bed fluxes would require diffusivities that go negative during periods of flow deceleration. An observed general trend for concentration variability to increase with elevation close to the bed is also irreconcilable with diffusion models driven by a bottom boundary condition. (C) 2002 Published by Elsevier Science B.V.

Indirect evidence of density-dependent population regulation in Aponomma hydrosauri (Acari : Ixodidae), an ectoparasite of reptiles

The extent to which density-dependent processes regulate natural populations is the subject of an ongoing debate. We contribute evidence to this debate showing that density-dependent processes influence the population dynamics of the ectoparasite Aponomma hydrosauri (Acari: Ixodidae), a tick species that infests reptiles in Australia. The first piece of evidence comes from an unusually long-term dataset on the distribution of ticks among individual hosts. If density-dependent processes are influencing either host mortality or vital rates of the parasite population, and those distributions can be approximated with negative binomial distributions, then general host-parasite models predict that the aggregation coefficient of the parasite distribution will increase with the average intensity of infections. We fit negative binomial distributions to the frequency distributions of ticks on hosts, and find that the estimated aggregation coefficient k increases with increasing average tick density. This pattern indirectly implies that one or more vital rates of the tick population must be changing with increasing tick density, because mortality rates of the tick's main host, the sleepy lizard, Tiliqua rugosa, are unaffected by changes in tick burdens. Our second piece of evidence is a re-analysis of experimental data on the attachment success of individual ticks to lizard hosts using generalized linear modelling. The probability of successful engorgement decreases with increasing numbers of ticks attached to a host. This is direct evidence of a density-dependent process that could lead to an increase in the aggregation coefficient of tick distributions described earlier. The population-scale increase in the aggregation coefficient is indirect evidence of a density-dependent process or processes sufficiently strong to produce a population-wide pattern, and thus also likely to influence population regulation. The direct observation of a density-dependent process is evidence of at least part of the responsible mechanism.

Fast, scalable master equation solution algorithms. III. Direct time propagation accelerated by a diffusion approximation preconditioned iterative solver

In this paper we propose a novel fast and linearly scalable method for solving master equations arising in the context of gas-phase reactive systems, based on an existent stiff ordinary differential equation integrator. The required solution of a linear system involving the Jacobian matrix is achieved using the GMRES iteration preconditioned using the diffusion approximation to the master equation. In this way we avoid the cubic scaling of traditional master equation solution methods and maintain the low temperature robustness of numerical integration. The method is tested using a master equation modelling the formation of propargyl from the reaction of singlet methylene with acetylene, proceeding through long lived isomerizing intermediates. (C) 2003 American Institute of Physics.

Actively shielded multi-layer gradient coil designs with improved cooling properties

In standard cylindrical gradient coils consisting of a single layer of wires, a limiting factor in achieving very large magnetic field gradients is the rapid increase in coil resistance with efficiency. This is a particular problem in small-bore scanners, such as those used for MR microscopy. By adopting a multi-layer design in which the coil wires are allowed to spread out into multiple layers wound at increasing radii, a more favourable scaling of resistance with efficiency is achieved, thus allowing the design of more powerful gradient coils with acceptable resistance values. Previously this approach has been applied to the design of unshielded, longitudinal, and transverse gradient coils. Here, the multi-layer approach has been extended to allow the design of actively shielded multi-layer gradient coils, and also to produce coils exhibiting enhanced cooling characteristics. An iterative approach to modelling the steady-state temperature distribution within the coil has also been developed. Results indicate that a good level of screening can be achieved in multi-layer coils, that small versions of such coils can yield higher efficiencies at fixed resistance than conventional two-layer (primary and screen) coils, and that performance improves as the number of layers of increases. Simulations show that by optimising multi-layer coils for cooling it is possible to achieve significantly higher gradient strengths at a fixed maximum operating temperature. A four-layer coil of 8 mm inner diameter has been constructed and used to test the steady-state temperature model. (C) 2003 Elsevier Inc. All rights reserved.

Aprendizagem por imitação através de mapeamento Visuomotor baseado em imagens omnidirecionais

Este trabalho propõe uma metodologia de aprendizagem que permite a um robô aprender uma tarefa adaptando-a e representando-a de acordo com a sua capacidade motora e sensorial. Primeiramente, um mapeamento sensoriomotor é criado e converte informação sensorial em informação motora. Depois, através de imitação, o robô aprende um conjunto de ações elementares formando um vocabulário motor. A imitação é baseada nas representações motoras obtidas com o mapeamento sensoriomotor. O vocabulário motor criado é então utilizado para aprender e realizar tarefas mais sofisticadas, compostas por seqüências ou combinações de ações elementares. Esta metodologia é ilustrada através de uma aplicação de mapeamento e navegação topológica com um robô móvel. O automovimento é utilizado como mapeamento visuomotor, convertendo o fluxo óptico em imagens omnidirecionais em informação motora (translação e rotação), a qual é usada para a criação de um vocabulário motor. A seguir, o vocabulário é utilizado para mapeamento e navegação topológica. Os resultados obtidos são interessantes e a abordagem proposta pode ser estendida a diferentes robôs e aplicações.

Uma contribuição ao estudo de sinais de EEG para avaliar estados emocionais e mentais de crianças com autismo na interação com robô móvel

O Transtorno do Espectro do Autismo (TEA) caracteriza-se por uma série de distúrbios cognitivos e neurocomportamentais e sua prevalência mundial é estimada em 1 criança com TEA a cada 160 crianças com típico desenvolvimento (TD). Indivíduos com TEA apresentam dificuldade em interpretar as emoções alheias e em expressar sentimentos. As emoções podem ser associadas à manifestação de sinais fisiológicos, e, dentre eles, os sinais cerebrais têm sido muito abordados. A detecção dos sinais cerebrais de crianças com TEA pode ser benéfica para o esclarecimento de suas emoções e expressões. Atualmente, muitas pesquisas integram a robótica ao tratamento pedagógico do TEA, através da interação com crianças com esse transtorno, estimulando habilidades sociais, como a imitação e a comunicação. A avaliação dos estados mentais de crianças com TEA durante a sua interação com um robô móvel é promissora e assume um aspecto inovador. Assim, os objetivos deste trabalho foram captar sinais cerebrais de crianças com TEA e de crianças com TD, como grupo controle, para o estudo de seus estados emocionais e para avaliar seus estados mentais durante a interação com um robô móvel, e avaliar também a interação dessas crianças com o robô, através de escalas quantitativas. A técnica de registro dos sinais cerebrais escolhida foi a eletroencefalografia (EEG), a qual utiliza eletrodos colocados de forma não invasiva e não dolorosa sobre o couro cabeludo da criança. Os métodos para avaliar a eficiência do uso da robótica nessa interação foram baseados em duas escalas internacionais quantitativas: Escala de Alcance de Metas (do inglês Goal Attainment Scaling - GAS) e Escala de Usabilidade de Sistemas (do inglês System Usability Scale - SUS). Os resultados obtidos mostraram que, pela técnica de EEG, foi possível classificar os estados emocionais de crianças com TD e com TEA e analisar a atividade cerebral durante o início da interação com o robô, através dos ritmos alfa e beta. Com as avaliações GAS e SUS, verificou-se que o robô móvel pode ser considerado uma potencial ferramenta terapêutica para crianças com TEA.