Worker-robot cooperation and integration into the manufacturing workcell via the holonic control architecture

Cooperative manufacturing is a new field of research, which addresses new challenges beyond the physical safety of the worker. Those new challenges appear due to the need to connect the worker and the cobot from the informatics point of view in one cooperative workcell. This requires developing an appropriate manufacturing control system, which fits the nature of both the worker and the cobot. Furthermore, the manufacturing control system must be able to understand the production variations, to guide the cooperation between worker and the cobot and adapt with the production variations.Die kooperative Fertigung ist ein neues Forschungsgebiet, das sich neuen Herausforderungen stellt. Diese neuen Herausforderungen ergeben sich aus der Notwendigkeit, den Arbeiter und den Cobot aus der Sicht der Informatik in einem kooperativen Arbeitsplatz zu verbinden. Dies erfordert die Entwicklung eines geeigneten Produktionskontrollsystems, das sowohl der Natur des Arbeiters als auch der des Cobots entspricht. Darüber hinaus muss die Fertigungssteuerung in der Lage sein, die Produktionsschwankungen zu verstehen, um die Zusammenarbeit zwischen Arbeiter und Cobot zu steuern

an evaluation methodology for the conversion of manual assembly systems into human robot collaborative workcells

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Exploiting visual cues for safe and flexible cyber-physical production systems

Human workers are envisioned to work alongside robots and other intelligent factory modules, and fulfill supervision tasks in future smart factories. Technological developments, during the last few years, in the field of smart factory automation have introduced the concept of cyber-physical systems, which further expanded to cyber-physical production systems. In this context, the role of collaborative robots is significant and depends largely on the advanced capabilities of collision detection, impedance control, and learning new tasks based on artificial intelligence. The system components, collaborative robots, and humans need to communicate for collective decision-making. This requires processing of shared information keeping in consideration the available knowledge, reasoning, and flexible systems that are resilient to the real-time dynamic changes on the industry floor as well as within the communication and computer network infrastructure. This article presents an ontology-based approach to solve industrial scenarios for safety applications in cyber-physical production systems. A case study of an industrial scenario is presented to validate the approach in which visual cues are used to detect and react to dynamic changes in real time. Multiple scenarios are tested for simultaneous detection and prioritization to enhance the learning surface of the intelligent production system with the goal to automate safety-based decisions

Proceedings of the 1st Standardized Knowledge Representation and Ontologies for Robotics and Automation Workshop

Welcome to IEEE-ORA (Ontologies for Robotics and Automation) IROS workshop. This is the 1st edition of the workshop on! Standardized Knowledge Representation and Ontologies for Robotics and Automation. The IEEE-ORA 2014 workshop was held on the 18th September, 2014 in Chicago, Illinois, USA. In!the IEEE-ORA IROS workshop, 10 contributions were presented from 7 countries in North and South America, Asia and Europe. The presentations took place in the afternoon, from 1:30 PM to 5:00 PM. The first session was dedicated to “Standards for Knowledge Representation in Robotics”, where presentations were made from the IEEE working group standards for robotics and automation, and also from the ISO TC 184/SC2/WH7. The second session was dedicated to “Core and Application Ontologies”, where presentations were made for core robotics ontologies, and also for industrial and robot assisted surgery ontologies. Three posters were presented in emergent applications of ontologies in robotics. We would like to express our thanks to all participants. First of all to the authors, whose quality work is the essence of this workshop. Next, to all the members of the international program committee, who helped us with their expertise and valuable time. We would also like to deeply thank the IEEE-IROS 2014 organizers for hosting this workshop. Our deep gratitude goes to the IEEE Robotics and Automation Society, that sponsors! the IEEE-ORA group activities, and also to the scientific organizations that kindly agreed to sponsor all the workshop authors work

Unifying Skill-Based Programming and Programming by Demonstration through Ontologies

Smart manufacturing requires easily reconfigurable robotic systems to increase the flexibility in presence of market uncertainties by reducing the set-up times for new tasks. One enabler of fast reconfigurability is given by intuitive robot programming methods. On the one hand, offline skill-based programming (OSP) allows the definition of new tasks by sequencing pre-defined, parameterizable building blocks termed as skills in a graphical user interface. On the other hand, programming by demonstration (PbD) is a well known technique that uses kinesthetic teaching for intuitive robot programming, where this work presents an approach to automatically recognize skills from the human demonstration and parameterize them using the recorded data. The approach further unifies both programming modes of OSP and PbD with the help of an ontological knowledge base and empowers the end user to choose the preferred mode for each phase of the task. In the experiments, we evaluate two scenarios with different sequences of programming modes being selected by the user to define a task. In each scenario, skills are recognized by a data-driven classifier and automatically parameterized from the recorded data. The fully defined tasks consist of both manually added and automatically recognized skills and are executed in the context of a realistic industrial assembly environment

A Semantic Data Model to Represent Building Material Data in AEC Collaborative Workflows

The specification of building material is required in multiple phases of engineering and construction projects towards holistic BIM implementations. Building material information plays a vital role in design decisions by enabling different simulation processes, such as energy, acoustic, lighting, etc. Utilization and sharing of building material information between stakeholders are some of the major influencing factors on the practical implementation of the BIM process. Different meta-data schemas (e.g. IFC) are usually available to represent and share material information amongst partners involved in a construction project. However, these schemas have their own constraints to enable efficient data sharing amongst stakeholders. This paper explains these constraints and proposes a methodological approach for the representation of material data using semantic web concepts aiming to support the sharing of BIM data and interoperability enhancements in collaboration workflows. As a result, the DICBM (https://w3id.org/digitalconstruction/BuildingMaterials) ontology was developed which improves the management of building material information in the BIM-based collaboration process.:Abstract 1. Introduction and Background 1.1 Building Information Modeling for collaboration 1.2 Information management in AEC using semantic web technologies 2 DICBM: Digital Construction Building Material Ontology 2.1 Building Material Data in IFC 2.2 Overview of the building material ontology 2.3 Integration of external ontology concepts and roles 2.4 Material Definition 2.5 Material, Material Type, and Material Property 2.6 Data Properties in DICBM 3 Conclusions Acknowledgments Reference

Enabling the Digital Thread for Product Aware Human and Robot Collaboration - An Agent-oriented System Architecture

Customized product requirements are driving the need for variety oriented assemblies even in collaborative environments between humans and robots. This calls for the need for robots and humans to be intelligent in order to be aware of and adapt to different product needs. To address this, this study presents a novel approach and architecture to realize a digital thread that allows human and robot agents access to the product model at system run-time. The approach entails modelling a knowledge-based engineering (KBE) software as an agent which actively participates with collaborative agents via communication mechanisms standardized by the IEEE Computer Society. The architecture is described by four concurrent views and is discussed for its advantages and design rationale.acceptedVersionPeer reviewe