Human Robot Cooperative Control and Task Planning for a Glass Ceiling Installation Robot

Building materials and components are much larger and heavier than general industrial materials. A glass panel is a type of building material used for interior finishing. The demand for larger glass panels has increased along with the number of high-rise buildings and an increased interest in interior design. The objective of this study is to introduce robotic technology for installing a glass panel on a high ceiling. After job definition, we established a design concept for the proposed robot. Finally, we described the detailed design of the robot in a past symposium. In this paper, the control algorithm relating the human-robot cooperation to which the hardware of the integrated system is to be applied, is presented. Also, the task planning for robotized construction is applied.This research was supported by the SAMSUNG CORPORATION and the Innovation of Construction Technologies Program and funded by the Ministry of Construction & Transportation of the Korean government (06Advanced FusionC01

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Review layouts, flows, and movements of raw materials in the warehouse and production

Treball desenvolupat en el marc del programa "European Project Semester".Incorporation of new raw materials in the existing warehouse and elimination of intermediate buffers for production storage, to locate new machinery. By eliminating Kanban’s factory of raw materials of large consumption or use, ensure the efficiency of the factory during 3 production shifts and 2 warehouse shifts (ensure raw material for production during the night shift). AkzoNobel, a Dutch multinational with 30 manufacturing plants and 125 warehouses located across Europe, is the subject of this project. The focus will be on the Vilafranca del Pendès warehouse, which currently employs manual tools in certain manufacturing processes. The company has encountered limitations in its production line and requires significant changes to enhance its capacity. The project aims to improve the company through four fundamental concepts: efficiency, sustainability, competitiveness, and effectiveness. These concepts are closely associated with the main objective of this project, which can also be defined as: Increasing efficiency by automating production. Implementing automation can be a crucial step toward achieving better outcomes. By using automated multi-stations instead of relying on human resources only, labor costs and risks can be minimized and at the same time achieve much higher production outputs. This reduction in costs and human resource requirements also opens up new opportunities for future development within the company. To remain competitive in the industry, it is essential to make changes that will benefit the future of the company. As this famous naval saying by John Paul Jones, “Those Who Do Not Risk Cannot Win”. The purpose of this report is to showcase the AkzoNobel team’s work during the first part of the EPS on automating production. The report starts with an overview of the company’s background, their state of the art to see what they have achieved, benchmarking with other companies, the EPS program, our team, and the project roadmap. Followed by the project’s scope, including details on the company’s current situation, ongoing projects, their drawbacks, project objectives, and potential challenges. Additionally, the report provides a concise description of the paintfilling process and the characteristics of the barrels used. The report then presents four solutions, outlining their pros and cons, and compares one of our proposed solutions with AkzoNobel’s. After presenting these four solutions, the focus will be put on the chosen solution by AkzoNobel by presenting the final layout, detailing some safety protocols, environmental impact, and the forecasted budget. Finally, the report concludes with a summary of our future plans for the final report, conclusions, and appendices detailing the tools that were used to carry out this project.Incomin

Adaptive human force scaling via admittance control for physical human-robot interaction

The goal of this article is to design an admittance controller for a robot to adaptively change its contribution to a collaborative manipulation task executed with a human partner to improve the task performance. This has been achieved by adaptive scaling of human force based on her/his movement intention while paying attention to the requirements of different task phases. In our approach, movement intentions of human are estimated from measured human force and velocity of manipulated object, and converted to a quantitative value using a fuzzy logic scheme. This value is then utilized as a variable gain in an admittance controller to adaptively adjust the contribution of robot to the task without changing the admittance time constant. We demonstrate the benefits of the proposed approach by a pHRI experiment utilizing Fitts’ reaching movement task. The results of the experiment show that there is a) an optimum admittance time constant maximizing the human force amplification and b) a desirable admittance gain profile which leads to a more effective co-manipulation in terms of overall task performance.WOS:000731146900006Scopus - Affiliation ID: 60105072Q2ArticleUluslararası işbirliği ile yapılan - EVETOctober2021YÖK - 2021-22Eki

Enhancing Perceived Safety in Human–Robot Collaborative Construction Using Immersive Virtual Environments

Advances in robotics now permit humans to work collaboratively with robots. However, humans often feel unsafe working alongside robots. Our knowledge of how to help humans overcome this issue is limited by two challenges. One, it is difficult, expensive and time-consuming to prototype robots and set up various work situations needed to conduct studies in this area. Two, we lack strong theoretical models to predict and explain perceived safety and its influence on human–robot work collaboration (HRWC). To address these issues, we introduce the Robot Acceptance Safety Model (RASM) and employ immersive virtual environments (IVEs) to examine perceived safety of working on tasks alongside a robot. Results from a between-subjects experiment done in an IVE show that separation of work areas between robots and humans increases perceived safety by promoting team identification and trust in the robot. In addition, the more participants felt it was safe to work with the robot, the more willing they were to work alongside the robot in the future.University of Michigan Mcubed Grant: Virtual Prototyping of Human-Robot Collaboration in Unstructured Construction EnvironmentsPeer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/145620/1/You et al. forthcoming in AutCon.pdfhttps://deepblue.lib.umich.edu/bitstream/2027.42/145620/4/You et al. 2018.pdfDescription of You et al. 2018.pdf : Published Versio

A METHODOLOGY FOR AUTONOMOUS ROOF BOLT INSTALLATION USING INDUSTRIAL ROBOTICS

The mining sector is currently in the stage of adopting more automation, and with it, robotics. Autonomous bolting in underground environments remains a hot topic for the mining industry. Roof bolter operators are exposed to hazardous conditions due to their proximity to the unsupported roof, loose bolts, and heavy spinning mass. Prolonged exposure to the risk inevitably leads to accidents and injuries. The current thesis presents the development of a robotic assembly capable of carrying out the entire sequence of roof bolting operations in full and partial autonomous sensor-driven rock bolting operations to achieve a high-impact health and safety intervention for equipment operators. The automation of a complete cycle of drill steel positioning, drilling, bolt orientation and placement, resin placement, and bolt securing is discussed using an anthropomorphic robotic arm.A human-computer interface is developed to enable the interaction of the operators with the machines. Collision detection techniques will have to be implemented to minimize the impact after an unexpected collision has occurred. A robust failure-detection protocol is developed to check the vital parameters of robot operations continuously. This unique approach to automation of small materials handling is described with lessons learned. A user-centered GUI has been developed that allows for a human user to control and monitor the autonomous roof bolter. Preliminary tests have been conducted in a mock mine to evaluate the developed system\u27s performance. In addition, a number of different scenarios simulating typical missions that a roof bolter needs to undertake in an underground coal mine were tested