Manipulation Planning and Control for Shelf Replenishment

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those needed in the in-store logistics domain. Supermarkets contain a large variety of objects to be placed on the shelf layers with specific constraints, doing this with a robot is a challenge and requires a high dexterity. However, an integration of reactive grasping control and motion planning can allow robots to perform such tasks even with grippers with limited dexterity. The main contribution of the paper is a novel method for planning manipulation tasks to be executed using a reactive control layer that provides more control modalities, i.e., slipping avoidance and controlled sliding. Experiments with a new force/tactile sensor equipping the gripper of a mobile manipulator show that the approach allows the robot to successfully perform manipulation tasks unfeasible with a standard fixed grasp.Comment: 8 pages, 12 figures, accepted at RA

TCMS operations and maintenance philosophy

The purpose is to describe the basic philosophies of operating and maintaining the Test, Control, and Monitor System (TCMS) equipment. TCMS is a complex and sophisticated checkout system. Operations and maintenance processes developed to support it will be based upon current experience, but will be focused on the specific needs of TCMS in support of Space Station Freedom Program (SSFP) and related activities. An overview of the operations and maintenance goals and philosophies are presented. The assumptions, roles and responsibilities, concepts and interfaces for operation, on-line maintenance, off-line support, and Operations and Maintenance (O&M) personnel training on all TCMS equipment located at KSC are described

Business process and technology lessons learned, recommendations and best practices for new adopters

Thesis (M. Eng. in Logistics)--Massachusetts Institute of Technology, Engineering Systems Division, 2006."June 2006."Includes bibliographical references (leaves 117-118).This thesis focuses on documenting learnings from a RFID data exchange pilot in the fast moving consumer goods industry. The pilot we studied is a collaborative effort between two of the largest retailers in the world and five of their major suppliers, facilitated by EPCglobal and the MIT Auto-ID labs. Currently, manufacturers and suppliers are building the infrastructure to exchange EPC data to validate standards and proof of concepts for RFID adoption. The outcome of these pilots will essentially set the stage for large scale RFID adoption worldwide. Our thesis attempts to document issues relating to data exchange from business process, organizational and technical perspectives. We have synthesized the findings and consolidated the lessons learned during the pilot in an attempt to form a set of actionable recommendations for new companies looking to start on RFID pilot projects.by Rida Chan [and] Sangeeth Ram.M.Eng.in Logistic

Handover Control for Human-Robot and Robot-Robot Collaboration

Modern scenarios in robotics involve human-robot collaboration or robot-robot cooperation in unstructured environments. In human-robot collaboration, the objective is to relieve humans from repetitive and wearing tasks. This is the case of a retail store, where the robot could help a clerk to refill a shelf or an elderly customer to pick an item from an uncomfortable location. In robot-robot cooperation, automated logistics scenarios, such as warehouses, distribution centers and supermarkets, often require repetitive and sequential pick and place tasks that can be executed more efficiently by exchanging objects between robots, provided that they are endowed with object handover ability. Use of a robot for passing objects is justified only if the handover operation is sufficiently intuitive for the involved humans, fluid and natural, with a speed comparable to that typical of a human-human object exchange. The approach proposed in this paper strongly relies on visual and haptic perception combined with suitable algorithms for controlling both robot motion, to allow the robot to adapt to human behavior, and grip force, to ensure a safe handover. The control strategy combines model-based reactive control methods with an event-driven state machine encoding a human-inspired behavior during a handover task, which involves both linear and torsional loads, without requiring explicit learning from human demonstration. Experiments in a supermarket-like environment with humans and robots communicating only through haptic cues demonstrate the relevance of force/tactile feedback in accomplishing handover operations in a collaborative task

Value Co-creation in the Interface between City Logistics Provider and In-store Processes

AbstractThis paper develops a framework for understanding how city logistics service co-creates value with users. The users’ perspective in city logistics research is limited, and value added services are rarely emphasized. The framework developed is based on literature on value in business markets, and in-store processes. Two case stores and their use of city logistics demonstrate how value is co-created when changes in delivery patterns and value added services affect especially the use of store employees. Further, we show that there is a barrier to the co-creation of value when services get close to core activities in-store operations

Evaluating the impact of adopting 3d printing services on the retailers

As additive manufacturing technology becomes more responsive to consumers’ demand, one important question for the retailers is whether they should provide 3D printing services in their brick-and-mortar store in addition to the traditional off-the-shelf product? If so, what should be the retailers pricing scheme to achieve a higher profit? What should be the optimal inventory level of off-the-shelf products? What is the optimal capacity of 3D printers? In this study, stochastic models are examined to capture the joint optimal 3D product price and capacity of 3D printers to maximize retailer’s expected profit while considering consumer product choices. Moreover, a stochastic model is developed to capture joint optimal pre-made inventory level and 3D product price to maximize retailer’s expected profit considering 3D services are offered in the off-the-shelf stock-out situations as a one-way substitution. Utilizing the Markov Decision Process, a framework for queuing systems is developed to examine the performance of various production/inventory strategies that optimize the system’s performance. Here, four strategies are developed: (i) providing only off-the-shelf products, (ii) providing only 3D printed products, (iii) substituting the shortage of the off-the-shelf products by 3D printed products, and (iv) providing consumers the options of selecting either the off-the-shelf product or the customized product produced by additive manufacturing. In essence, this approach assists decision makers in both capacity planning and inventory management. For all models, analytical results and numerical examples are given in order to demonstrate managerial insights

Supply chain optimization in a retail environment

Thesis (M.B.A.)--Massachusetts Institute of Technology, Sloan School of Management; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Civil and Environmental Engineering; in conjunction with the Leaders for Manufacturing Program at MIT, 2003.Includes bibliographical references (p. 53).by Stephanie K. Hsu.S.M.M.B.A