4,909 research outputs found
Assistive trajectories for human-in-the-loop mobile robotic platforms
Autonomous and semi-autonomous smoothly interruptible trajectories are developed which are highly suitable for application in tele-operated mobile robots, operator on-board military mobile ground platforms, and other mobility assistance platforms. These trajectories will allow a navigational system to provide assistance to the operator in the loop, for purpose built robots or remotely operated platforms. This will allow the platform to function well beyond the line-of-sight of the operator, enabling remote operation inside a building, surveillance, or advanced observations whilst keeping the operator in a safe location. In addition, on-board operators can be assisted to navigate without collision when distracted, or under-fire, or when physically disabled by injury
Towards the Safety of Human-in-the-Loop Robotics: Challenges and Opportunities for Safety Assurance of Robotic Co-Workers
The success of the human-robot co-worker team in a flexible manufacturing
environment where robots learn from demonstration heavily relies on the correct
and safe operation of the robot. How this can be achieved is a challenge that
requires addressing both technical as well as human-centric research questions.
In this paper we discuss the state of the art in safety assurance, existing as
well as emerging standards in this area, and the need for new approaches to
safety assurance in the context of learning machines. We then focus on robotic
learning from demonstration, the challenges these techniques pose to safety
assurance and indicate opportunities to integrate safety considerations into
algorithms "by design". Finally, from a human-centric perspective, we stipulate
that, to achieve high levels of safety and ultimately trust, the robotic
co-worker must meet the innate expectations of the humans it works with. It is
our aim to stimulate a discussion focused on the safety aspects of
human-in-the-loop robotics, and to foster multidisciplinary collaboration to
address the research challenges identified
Performance of modified jatropha oil in combination with hexagonal boron nitride particles as a bio-based lubricant for green machining
This study evaluates the machining performance of newly developed modified jatropha oils (MJO1, MJO3 and MJO5), both with and without hexagonal boron nitride (hBN) particles (ranging between 0.05 and 0.5 wt%) during turning of AISI 1045 using minimum quantity lubrication (MQL). The experimental results indicated that, viscosity improved with the increase in MJOs molar ratio and hBN concentration. Excellent tribological behaviours is found to correlated with a better machining performance were achieved by MJO5a with 0.05 wt%. The MJO5a sample showed the lowest values of cutting force, cutting temperature and surface roughness, with a prolonged tool life and less tool wear, qualifying itself to be a potential alternative to the synthetic ester, with regard to the environmental concern
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