Industrial human-robot collaboration: maximizing performance while maintaining safety

The goal of this thesis is to maximize performance in collaborative applications, while maintaining safety. For this, assembly workplaces are analyzed, typical tasks identified, and the potential of collaborative robots is elaborated. Current safety regulations are analyzed in order to identify the challenges in safe human-robot collaboration. Different methods are proposed to solve inefficiency in collaborative applications, in particular, intuitive programming of collaborative robots, efficient control with human-in-the-loop constraints, and a hardware solution, the Robotic Airbag.Das Ziel dieser Arbeit ist die Steigerung der Effizienz in kollaborativen Anwendungen, bei gleichzeitiger Einhaltung der Sicherheitsbestimmungen. Dazu werden Montagearbeitsplätze analysiert und das Potenzial kollaborativer Roboter erarbeitet. Aktuelle Sicherheitsvorschriften werden analysiert, um die Herausforderungen einer sicheren Mensch-Roboter-Zusammenarbeit zu identifizieren. Verschiedene Methoden wie intuitive Programmierung von kollaborativen Robotern, eine effiziente Steuerung mit Human-in-the-Loop Beschränkungen und eine Hardwarelösung - der Robotic Airbag - werden präsentiert

Industrial Human-Robot Collaboration: Maximizing Performance While Maintaining Safety

For many years, separated autonomous robotic systems have been an essential component in industrial manufacturing. In particular, these heavy-payload robots perform a wide range of tasks, where high precision and repeatability is crucial. A flexible adaptation of fast changing tasks or environments as well as the interaction with humans can rather not be realized by these types of robots. Recently, a paradigm shift regarding customer demand could be observed. Short product life-cycles as well as increasing individualization of products require flexible manufacturing processes. Therefore, novel light-weight robot technology was developed, which enables the collaboration of humans and robots. In particular, highly productive robots are combined with the high flexibility of humans. However, only a few collaborative applications have been established in industry, which is mainly due to the low efficiency, i.e., large cycle times caused by safety regulations. The goal of this thesis is to maximize performance in collaborative applications, while maintaining safety. For this, assembly workplaces are analyzed, typical tasks identified, and the potential of collaborative robots is elaborated. Current safety regulations are analyzed in order to identify the challenges in safe human-robot collaboration. Then, a novel control method is presented, which enables intuitive, safe, and efficient control of robots. The Mirroring Human Arm Motions approach presents a velocity-limited trajectory generation, in particular, for orientations in quaternion space. This method is extended to an online via-point trajectory generation in order to enable an adjustment of velocity limits for guaranteeing safety in realtime. Furthermore, in collaborative applications particularly collisions with the human arm are likely to occur. Therefore, human-arm performance is analyzed and experiments similar to typical collaborative scenarios are executed, to determine the dynamic properties. By exploiting the obtained information on human arm dynamics, a novel approach to improve the performance of robot motions is presented. From the experiments, a simplified human arm model is derived, which enables the calculation of movements of the human into the path of the robot. With this approach, a maximum robot velocity depending on kinematic limitations of robots and human-in-the-loop constraints can be determined. This idea is further developed into a nonlinear optimization problem, where minimal-time motions are found and applications with low-cycle times can be realized. In order to enable flexible robot motions within the entire workspace of the robot, a generalization method using Dynamic Movement Primitives is presented. It contains a novel real-time consideration of spacial and kinematic constraints, to fulfill the requirements on safe human-robot collaboration. Experiments on a collaborative workbench prove the effectiveness of the presented methods. Finally, a novel airbag technology is proposed, which enables a protective coverage of dangerous tools and objects and protects humans against injuries, caused by a collision with the robot. The so called Robotic Airbag is inflated with pressured air to create a cushion around sharp edges of tool and object. Intrinsic safety is guaranteed, as the airbag is always inflated before initiating a robot motion. In order to exclude an affect of the tool functionality, the Robotic Airbag can be deflated whenever required. Experiments with a crash-test dummy, and finally with a volunteer, prove the functionality and compliance with current safety standards. In Summary, the presented methods in this thesis enable a significant improvement of efficiency and safety in collaborative applications

Roadmap for optofluidics

Optofluidics, nominally the research area where optics and fluidics merge, is a relatively new research field and it is only in the last decade that there has been a large increase in the number of optofluidic. applications, as well as in the number of research groups, devoted to the topic. Nowadays optofluidics applications include, without being limited to, lab-on-a-chip devices, fluid-based and controlled lenses, optical sensors for fluids and for suspended particles, biosensors, imaging tools, etc. The long list of potential optofluidics applications, which have been recently demonstrated, suggests that optofluidic technologies will become more and more common in everyday life in the future, causing a significant impact on many aspects of our society. A characteristic of this research field, deriving from both its interdisciplinary origin and applications, is that in order to develop suitable solutions a. combination of a deep knowledge in different fields, ranging from materials science to photonics, from microfluidics to molecular biology and biophysics,. is often required. As a direct consequence, also being able to understand the long-term evolution of optofluidics research is not. easy. In this article, we report several expert contributions on different topics. so as to provide guidance for young scientists. At the same time, we hope that this document will also prove useful for funding institutions and stakeholders. to better understand the perspectives and opportunities offered by this research field

The 2nd International Electronic Conference on Applied Sciences

This book is focused on the works presented at the 2nd International Electronic Conference on Applied Sciences, organized by Applied Sciences from 15 to 31 October 2021 on the MDPI Sciforum platform. Two decades have passed since the start of the 21st century. The development of sciences and technologies is growing ever faster today than in the previous century. The field of science is expanding, and the structure of science is becoming ever richer. Because of this expansion and fine structure growth, researchers may lose themselves in the deep forest of the ever-increasing frontiers and sub-fields being created. This international conference on the Applied Sciences was started to help scientists conduct their own research into the growth of these frontiers by breaking down barriers and connecting the many sub-fields to cut through this vast forest. These functions will allow researchers to see these frontiers and their surrounding (or quite distant) fields and sub-fields, and give them the opportunity to incubate and develop their knowledge even further with the aid of this multi-dimensional network

Stretchable Surface Electromyography Electrode Array Based on Liquid Metal and Conductive Polymer

Electromyography (EMG), the science of detecting and interpreting muscle electrical activity, plays a crucial role in clinical diagnostics and research. It enables assessment of muscle function, detection of abnormalities, and monitoring of rehabilitation progress. However, the current use of EMG devices is primarily limited to clinical settings, preventing its potential to revolutionize personal health management. If surface electromyography (sEMG) electrodes are stretchable, arrayed, reusable and able to continuously record, their applications for personal health management are broadened. Existing electrodes lack these essential features, hampering their widespread adoption. This thesis addresses these limitations by designing an adhesive dry electrode using tannic acid, polyvinyl alcohol, and PEDOT:PSS (TPP). Through meticulous optimization, TPP electrodes offer superior stretchability and adhesiveness compared to conventional Ag/AgCl electrodes. This ensures stable and long-term skin contact for recording. Furthermore, a metal-polymer electrode array patch (MEAP) is introduced, featuring liquid metal (LM) circuits and TPP electrodes. MEAPs exhibit better conformability than current commercial arrays, resulting in higher signal quality and stable recordings, even during significant skin deformations caused by muscle movements. Manufactured using scalable screen-printing, MEAPs combine stretchable materials and array architecture for real-time monitoring of muscle stress, fatigue, and tendon displacement. They hold great promise in reducing muscle and tendon injuries and enhancing performance in both daily exercise and professional sports. In addition, a pilot study compares MEAP performance in clinical electrodiagnostics with needle electrodes, demonstrating the non-invasive advantage of MEAP by successfully recording the signals from the same motor unit as the needle. These advancements position MEAP at the forefront of the EMG field, poised to drive breakthroughs in electrodiagnostics, personalized medicine, sports science, and rehabilitation

The Complementarity of Tangible and Paper Interfaces in Tabletop Environments for Collaborative Learning

The current trend in Human-Computer Interaction aims at bridging the gap between the digital and the real world, exploring novel ways to engage users with computational devices. Computers take new forms that are better integrated into our environment and can be embedded in buildings, furniture or clothes. Novel forms of interfaces take advantage of people's intuitive knowledge of everyday objects to offer more direct and natural interactions. Tangible User Interfaces (TUIs) allow users to interact with digital objects through tangible artifacts, building on their rich physical affordances. Paper User Interfaces (PUIs) add digital capabilities to paper documents, synchronizing for instance their content with their digital counterpart. Unique properties of paper are also used to create engaging and intuitive interfaces to computer applications. This dissertation is interested in the complementarity of tangible and paper interfaces in tabletop environments. We introduce the concept of Tangible and Paper Environments (TaPEs) where Interactive Paper Forms (IPFs), a particular type of PUIs based on the paper form metaphor, are used as a complementary interface to a TUI. We evaluate the potential of IPFs to overcome two main shortcomings of TUIs, in terms of scalability and pedagogy. The scalability issue comes from the limited expressiveness of task-specific physical artifacts, which offer rich physical affordances but limit the complexity of applications that can be controlled by a TUI. The pedagogy issue is raised by the lack of consistent evidence regarding the use of physical manipulatives in educational settings, which is one of the main application domain of TUIs. IPFs overcome the scalability issue by offering a set of generic interaction elements that allow TaPEs to cope with applications of any complexity. In a pedagogical setting, IPFs present learners with abstract representation which facilitate understanding by the embodied and concrete representations offered by tangible artifacts. A TaPE, the Tinker Environment, has been developed with two logistics teachers in the context of the Swiss vocational training system. It consists of a warehouse physical small-scale model (TUI) and TinkerSheets, our implementation of IPFs. It aims at helping apprentices understand theoretical concepts presented at schools. We followed a Design-based Research (DBR) approach: ten studies were conducted during the development of the Tinker Environment in authentic classroom settings. Controlled experiments were conducted to address specific questions. v The general research questions concern the respective affordances of paper and tangible components of TaPEs. The analysis is not limited to usability aspects but also considers their impact on group problem-solving activities and their potential in terms of integration of the system in its context of use. A descriptive model is proposed, built around three interaction circles: individual (usability), group (collaboration) and context (integration). Results identify design guidelines that limit the impact of the less direct interaction modality offered by IPFs, allowing TaPEs to overcome the scalability issue while supporting rich interactions. At the group level, observations of groups of apprentices solving problems around the Tinker Environment show that the consistent physical interaction modality offered by TaPEs naturally supports collaborative interactions. Apprentices tend to take implicit roles based on their location around the system. Regarding the context circle, we observed that carefully designed IPFs play the role of bridges between offline and online activities and contribute to a tight integration of the system in a its context (i.e. a classroom). The specific research questions address the potential of the Tinker Environment in this pedagogical context and its appropriation by teachers. The observations conducted with the Tinker Environment show that the warehouse small-scale model reduces the complexity of problems and allows apprentices to engage in meaningful problem-solving activities. Controlled experiments comparing a TUI to a mulitouch interface demonstrate that tangible artifacts lead to a higher learning gain and an increased performance in a problem-solving activity. Collaboration quality and perceived playfulness are also improved. The teacher plays a central role in the use of the environment, guiding apprentices through activities and encouraging reflections during debriefing sessions. The design of IPFs, emphasizing either their interface or document nature, has a strong influence on their ability to support teachers. We finally discuss the two-way adaptation process that took place between teachers and the system during the development of the Tinker Environment

The world is what you make it: an application of virtual reality to the tourism industry

The tourism industry is a highly information intensive-industiy. In few other areas of activity are the generation, gathering, processing, application and communication of information as important for dayto- day operations as they are for the tourism industry (Buhalis 1994). Traditional sources of tourism information, images, text, sound, animation and video, provide potential tourists with short and often rather limited glimpses of tourism destinations which may be inadequate to enable them to make informed decisions (Cheong 1995). In addition, these sources of tourist information provide only a passive experience as they often possess little involvement on the part of the potential tourist. Virtual Reality (VR), on the other hand, enables potential tourists to interact with and experience each tourist destination in high detail and provides them with enough information to make a well-informed tourist decision. When considering its application within the tourism industry, VR will offer the ability not only to view a destination, but also, to participate in the activities offered at the destination. Through VR the tourist advances from being a passive observer to being an active participant (Williams & Hobson 1994). This thesis addresses issues associated with the design and evaluation of a VR application to the tourism industry that provides users with all the traditional types of tourist information along with allowing them to experience a multi-participant, realistic, interactive and real-time walkthrough of real-life tourist destinations. In order to develop these walkthroughs, the basic concepts of VR had first to be analysed. This was achieved by gaining hands-on experience of the different types of VR hardware and software available in conjunction with an in-depth literature review. Following the completion of this analysis, an overview of the tourism industry was developed. This overview identified certain properties of the tourism product that lend themselves readily to the application of VR Once this was completed the final stage of the research was concerned with the development of the walkthroughs and the elicitation of knowledge from the development of these walkthroughs. There were many conclusions uncovered by this research but the most important was that VR can indeed be applied successfully to the tourism industry. The main areas of application will be in the areas of tourism policy and planning and the marketing of the tourism product. Another conclusion that was drawn from this research was that VR applications can help to generate realistic impressions and expectations of what can be experienced at a tourism location. The final outstanding conclusion drawn from this research was that potential tourists viewed the VR application as a decision making tool that increases their desire to actually visit a tourist location and not as a tourism substitute

Prototypenentwicklung eines oberflächen-integrierten Mikrosensor Systems für 3D Traktionskraftmessungen durch DHM/DIC

In times of a rapid development and growing market in robotics, high-tech protheses and the personalization of medicine, biomimicking natural materials like artificial tissue are of central interest within research and industry. To fully understand the structure-function relations within living systems, comprehensive knowledge about the smallest living block, the cell, and its biomechanics are a central topic in world-wide research. However, there is so far no comprehensive technique established that can measure 3D cell forces simultaneously and quantitatively. In this project, a novel surface-integrated mechano-optical microsensor system has therefore been conceptualized, prototyped and tested, which allows for the record of pico- to micronewton traction forces in three dimensions simultaneously. First, adequate microsensor elements were designed via topology optimization and linear static finite element analysis. These designs were fabricated by micromachining processes of biocompatible thin films of nickel-titanium and amorphous silicon. Furthermore, a plasma etching process was developed to fabricate polydimethylsiloxane sensor elements. For accurate and quantitative traction force measurements, AFM cantilever based calibrations of the out-of-plane and in-plane sensor element spring constants were established. For the first time, a diamagnetic levitation force calibrator was used as an adequate pre-calibration method for the sensor elements with a high accuracy of 1 %. For the cost-efficient, simple, compact, variable and sensitive mechano-optical readout, a setting was conceptualized and tested based on the combination of digital holography and digital image correlation. To control cell adhesion, a high-throughput micro-nano structuring method was developed based on the fusion of ink-jet printing with the established method of diblock-copolymer micelle nanolithography.In Zeiten schneller Entwicklung und wachsender Märkte in der Robotik, der high-tech Prothetik und der personalisierten Medizin ist die Biomimetik natürlicher Materialien wie beispielsweise künstliche Haut von zentralem Interesse in Forschung und Industrie. Um die Struktur-Funktions-Beziehungen in lebenden Systemen umfassend zu verstehen ist die umfangreiche Wissenserweiterung hinsichtlich des kleinsten lebenden Bausteins, der Zelle, und seiner Biomechanik Gegenstand weltweiter Forschungsprojekte. Dennoch gab es bis jetzt keine Methode, die 3D Zellkräfte simultan und quantitativ messen kann. In diesem Projekt wurde ein neuartiges, oberflächen-integriertes, mechano-optisches Mikrosensorsystem konzeptioniert, prototypisiert und getestet, das die Messung piko-bis mikronewton kleiner Zugkräfte gleichzeitig in alle drei Dimensionen ermöglicht. Die Sensorelemente wurden mittels Topologieoptimierung und linear statischer Finite Elementanalyse konzipiert. Diese Designs wurden in Mikromaterialbearbeitungsprozessen aus biokompatiblen Nickel-Titan und amorphen Silizium-Dünnschschichten hergestellt. Desweiteren wurde ein Prozess entwickelt, um Polydimethylsiloxan basierte Sensorelemente herzustellen. Für genaue, quantitative Zugkraftmessungen wurden AFM-Cantilever basierte Kalibrierungen der axialen und lateralen Sensorelement-Federkonsten etabliert. Zum ersten Mal wurde dabei ein diamagnetischer Levitationskraftkalibrator mit einer Genauigkeit von 1% als geeignete Kalibrierungsmethode für die Sensorelemente genutzt. Für eine günstige, einfache, kompakte, variable und im Nanometerbereich empfindliche mechano-optische Datenauslesung wurde ein Aufbau konzeptioniert und getestet, in dem digitale Holographie und digitale Bildkorrelation kombiniert werden. Zur Zell-Adhäsionskontrolle wurde eine Hochdurchsatz-Mikro-Nanostrukturierungsmethode entwickelt, die auf der Kombination von Ink-Jet Drucken mit der etablierten Methode der Diblock-Copolymer Mizellen Nanolithographie basiert

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp