ADOPTION OF EMERGING TECHNOLOGY TOOLS IN LOGISTICS INDUSTRY: PRIORITIZATION USING ANP AND BOCR METHODS

This study aims to prioritize technology tools in the logistics industry. It focuses on four key technology trends: Augmented Reality (AR), the Internet of Things (IoT), Big Data, and Robotics and Automation (R&A). The objective is to determine the prioritization and ranking of these technologies in the logistics sector using the Analytic Network Process (ANP) model and analyzing using the Benefits, Opportunities, Costs, and Risks (BOCR) model. The study identified specific criteria and sub-criteria to evaluate the technologies, and experts from the fields provided judgments based on these criteria. Applying the ANP and BOCR models, the research presents the ranking of the technology trends, highlighting their importance and potential impact on the logistics industry. The findings of this research help to gain further knowledge of the technology adoption in the logistics sector and provide valuable insights for industry professionals and decision-makers

Design and implementation of a human-robot collaborative assembly workstation in a modular robotized production line

Over the last decades, the Industrial Automation domain at factory shop floors experienced an exponential growth in the use of robots. The objective of such change aims to increase the efficiency at reasonable cost. However, not all the tasks formerly performed by humans in factories, are fully substituted by robots nowadays, specially the ones requiring high-level of dexterity. In fact, Europe is moving towards implementing efficient work spaces were humans can work safely, aided by robots. In this context, industrial and research sectors have ambitious plans to achieve solutions that involve coexistence and simultaneity at work between humans and collaborative robots, a.k.a. “cobots” or co-robots, for permitting a safe interaction for the same or interrelated manufacturing processes. Many cobot producers started to present their products, but those arrived before the industry have clear and several needs of this particular technology. This work presents an approach about how to demonstrate human-robot collaborative manufacturing? How to implement a dual-arm human-robot collaborative workstation? How to integrate a human-robot collaborative workstation into a modular interconnected production line? and What are the advantages and challenges of current HRC technologies at the shop floor? by documenting the formulation of a human-robot collaborative assembly process, implemented by designing and building an assembly workstation that exemplifies a scenario of interaction between a dual arm cobot and a human operator, in order to assembly a product box, as a part of a large-scale modular robotized production line. The model produced by this work is part of the research facilities at the Future Automation Systems and Technologies Laboratory in Tampere University

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

Design and Development of Sensor Integrated Robotic Hand

Most of the automated systems using robots as agents do use few sensors according to the need. However, there are situations where the tasks carried out by the end-effector, or for that matter by the robot hand needs multiple sensors. The hand, to make the best use of these sensors, and behave autonomously, requires a set of appropriate types of sensors which could be integrated in proper manners. The present research work aims at developing a sensor integrated robot hand that can collect information related to the assigned tasks, assimilate there correctly and then do task action as appropriate. The process of development involves selection of sensors of right types and of right specification, locating then at proper places in the hand, checking their functionality individually and calibrating them for the envisaged process. Since the sensors need to be integrated so that they perform in the desired manner collectively, an integration platform is created using NI PXIe-1082. A set of algorithm is developed for achieving the integrated model. The entire process is first modelled and simulated off line for possible modification in order to ensure that all the sensors do contribute towards the autonomy of the hand for desired activity. This work also involves design of a two-fingered gripper. The design is made in such a way that it is capable of carrying out the desired tasks and can accommodate all the sensors within its fold. The developed sensor integrated hand has been put to work and its performance test has been carried out. This hand can be very useful for part assembly work in industries for any shape of part with a limit on the size of the part in mind. The broad aim is to design, model simulate and develop an advanced robotic hand. Sensors for pick up contacts pressure, force, torque, position, surface profile shape using suitable sensing elements in a robot hand are to be introduced. The hand is a complex structure with large number of degrees of freedom and has multiple sensing capabilities apart from the associated sensing assistance from other organs. The present work is envisaged to add multiple sensors to a two-fingered robotic hand having motion capabilities and constraints similar to the human hand. There has been a good amount of research and development in this field during the last two decades a lot remains to be explored and achieved. The objective of the proposed work is to design, simulate and develop a sensor integrated robotic hand. Its potential applications can be proposed for industrial environments and in healthcare field. The industrial applications include electronic assembly tasks, lighter inspection tasks, etc. Application in healthcare could be in the areas of rehabilitation and assistive techniques. The work also aims to establish the requirement of the robotic hand for the target application areas, to identify the suitable kinds and model of sensors that can be integrated on hand control system. Functioning of motors in the robotic hand and integration of appropriate sensors for the desired motion is explained for the control of the various elements of the hand. Additional sensors, capable of collecting external information and information about the object for manipulation is explored. Processes are designed using various software and hardware tools such as mathematical computation MATLAB, OpenCV library and LabVIEW 2013 DAQ system as applicable, validated theoretically and finally implemented to develop an intelligent robotic hand. The multiple smart sensors are installed on a standard six degree-of-freedom industrial robot KAWASAKI RS06L articulated manipulator, with the two-finger pneumatic SHUNK robotic hand or designed prototype and robot control programs are integrated in such a manner that allows easy application of grasping in an industrial pick-and-place operation where the characteristics of the object can vary or are unknown. The effectiveness of the actual recommended structure is usually proven simply by experiments using calibration involving sensors and manipulator. The dissertation concludes with a summary of the contribution and the scope of further work

Модель функціонування логістичного центру в аеропорту з управлінням ланцюгами поставок

Робота публікується згідно наказу ректора від 29.12.2020 р. №580/од "Про розміщення кваліфікаційних робіт вищої освіти в репозиторії НАУ" . Керівник проекту: Керівник проекту: к. фіз-мат.н., доцент Коновалюк Валентина СтаніславівнаModern development of the economy is impossible without adequate development of the transport network. It functions as a circulatory system in the human body, delivering passengers and cargo throughout the country and abroad. One of the most important components of the transport system is aviation. It is impossible to create and develop a single market of goods and services, to integrate the Ukrainian economy into the world economic system, to improve the quality of life of Ukrainians, to restore the position of Ukraine as one of the full members of the world community without the proactive development of a comprehensive national transport system. Civil aviation has always been a kind of transport for our country, ensuring access to all its territories and connecting with other countries and continents. Improvement of transport technologies and transport equipment is the main direction of increase of labor productivity at transport and the most important condition of guarantee of safety, environmental and economy of transport processes. The organization of passenger transportation by air involves the organization of such technological processes: regulatory and legal support of transportation; transportation sales; service of passengers and their luggage at the airport (service before departure and after); maintenance of aircraft of the airline; servicing passengers on board an aircraft. The basis of the scheme of research of this influence is the model of traffic of passengers and freight traffic and aircraft fleet (in terms of its technical and economic indicators). In the process of implementation of the model, recommendations for the composition of the park are developed, which corresponds to the studied streams to the greatest extent.Сучасний розвиток економіки неможливий без належного розвитку транспортної мережі. Він функціонує як кровоносна система в організмі людини, доставляючи пасажирів та вантажі по всій країні та за кордон. Однією з найважливіших складових транспортної системи є авіація. Неможливо створити і розвинути єдиний ринок товарів і послуг, інтегрувати українську економіку у світову економічну систему, поліпшити якість життя українців, відновити позиції України як одного з повноправних членів світу громади без активного розвитку всеосяжної національної транспортної системи. Цивільна авіація завжди була своєрідним транспортом для нашої країни, забезпечуючи доступ на всі її території та сполучуючи з іншими країнами та континентами. Удосконалення транспортних технологій та транспортного обладнання є основним напрямком підвищення продуктивності праці на транспорті та найважливішою умовою гарантування безпеки, екології та економії транспортних процесів. Організація пасажирських перевезень повітряним транспортом передбачає організацію таких технологічних процесів: нормативно-правове забезпечення перевезень; транспортні продажі; обслуговування пасажирів та їх багажу в аеропорту (обслуговування до вильоту та після); технічне обслуговування літаків авіакомпанії; обслуговування пасажирів на борту літака. В основі схеми дослідження цього впливу лежить модель перевезень пасажирів та вантажних перевезень та авіаційний парк (з точки зору її техніко-економічних показників). У процесі впровадження моделі розробляються рекомендації щодо композиції парку, що найбільшою мірою відповідає досліджуваним потокам

Модель функціонування логістичного центру в аеропорту з управлінням ланцюгами поставок

Робота публікується згідно наказу ректора від 29.12.2020 р. №580/од "Про розміщення кваліфікаційних робіт вищої освіти в репозиторії НАУ" . Керівник проекту: Керівник проекту: к. фіз-мат.н., доцент Коновалюк Валентина СтаніславівнаModern development of the economy is impossible without adequate development of the transport network. It functions as a circulatory system in the human body, delivering passengers and cargo throughout the country and abroad. One of the most important components of the transport system is aviation. It is impossible to create and develop a single market of goods and services, to integrate the Ukrainian economy into the world economic system, to improve the quality of life of Ukrainians, to restore the position of Ukraine as one of the full members of the world community without the proactive development of a comprehensive national transport system. Civil aviation has always been a kind of transport for our country, ensuring access to all its territories and connecting with other countries and continents. Improvement of transport technologies and transport equipment is the main direction of increase of labor productivity at transport and the most important condition of guarantee of safety, environmental and economy of transport processes. The organization of passenger transportation by air involves the organization of such technological processes: regulatory and legal support of transportation; transportation sales; service of passengers and their luggage at the airport (service before departure and after); maintenance of aircraft of the airline; servicing passengers on board an aircraft. The basis of the scheme of research of this influence is the model of traffic of passengers and freight traffic and aircraft fleet (in terms of its technical and economic indicators). In the process of implementation of the model, recommendations for the composition of the park are developed, which corresponds to the studied streams to the greatest extent.Сучасний розвиток економіки неможливий без належного розвитку транспортної мережі. Він функціонує як кровоносна система в організмі людини, доставляючи пасажирів та вантажі по всій країні та за кордон. Однією з найважливіших складових транспортної системи є авіація. Неможливо створити і розвинути єдиний ринок товарів і послуг, інтегрувати українську економіку у світову економічну систему, поліпшити якість життя українців, відновити позиції України як одного з повноправних членів світу громади без активного розвитку всеосяжної національної транспортної системи. Цивільна авіація завжди була своєрідним транспортом для нашої країни, забезпечуючи доступ на всі її території та сполучуючи з іншими країнами та континентами. Удосконалення транспортних технологій та транспортного обладнання є основним напрямком підвищення продуктивності праці на транспорті та найважливішою умовою гарантування безпеки, екології та економії транспортних процесів. Організація пасажирських перевезень повітряним транспортом передбачає організацію таких технологічних процесів: нормативно-правове забезпечення перевезень; транспортні продажі; обслуговування пасажирів та їх багажу в аеропорту (обслуговування до вильоту та після); технічне обслуговування літаків авіакомпанії; обслуговування пасажирів на борту літака. В основі схеми дослідження цього впливу лежить модель перевезень пасажирів та вантажних перевезень та авіаційний парк (з точки зору її техніко-економічних показників). У процесі впровадження моделі розробляються рекомендації щодо композиції парку, що найбільшою мірою відповідає досліджуваним потокам

Micro and Desktop Factory Roadmap

Terms desktop and microfactory both refer to production equipment that is miniaturized down to the level where it can placed on desktop and manually moved without any lifting aids. In this context, micro does not necessarily refer to the size of parts produced or their features, or the actual size or resolution of the equipment. Instead, micro refers to a general objective of downscaling production equipment to the same scale with the products they are manufacturing. Academic research literature speculates with several advantages and benefits of using miniaturized production equipment. These range from reduced use of energy and other resources (such as raw material) to better operator ergonomics and from greater equipment flexibility and reconfigurability to ubiquitous manufacturing (manufacturing on-the-spot, i.e. manufacturing the end product where it is used). Academic research has also generated several pieces of equipment and application demonstrations, and many of those are described in this document. Despite of nearly two decades of academic research, wider industrial breakthrough has not yet taken place and, in fact, many of the speculated advantages have not been proven or are not (yet) practical. However, there are successful industrial examples including miniaturized machining units; robotic, assembly and process cells; as well as other pieces of desktop scale equipment. These are also presented in this document. Looking at and analysing the current state of micro and desktop production related academic and commercial research and development, there are notable gaps that should be addressed. Many of these are general to several fields, such as understanding the actual needs of industry, whereas some are specific to miniaturised production field. One such example is the size of the equipment: research equipment is often “too small” to be commercially viable alternative. However, it is important to seek the limits of miniaturisation and even though research results might not be directly adaptable to industrial use, companies get ideas and solution models from research. The field of desktop production is new and the future development directions are not clear. In general, there seems to be two main development directions for micro and desktop factory equipment: 1) Small size equipment assisting human operators at the corner of desk 2) Small size equipment forming fully automatic production lines (including line components, modules, and cells) These, and other aspects including visions of potential application areas and business models for system providers, are discussed in detail in this roadmap. To meet the visions presented, some actions are needed. Therefore, this document gives guidelines for various industrial user groups (end users of miniaturized production equipment, system providers/integrators and component providers) as well as academia for forming their strategies in order to exploit the benefits of miniaturized production. To summarise, the basic guidelines for different actors are: • Everyone: Push the desktop ideology and awareness of the technology and its possibilities. Market and be present at events where potential new fields get together. Tell what is available and what is needed. • Equipment end users: Specify and determine what is needed. Be brave to try out new ways of doing things. Think what is really needed – do not over specify. • System providers / integrators: Organize own operations and product portfolios so that supplying equipment fulfilling the end user specifications can be done profitably. • Component providers: Design and supply components which are cost-efficient and easy to integrate to and to take into use in desktop scale equipment. • Academia: Look further into future, support industrial sector in their shorter term development work and act as a facilitator for cooperation between different actors

A Helping Hand for Europe: The Competitive Outlook for the EU Robotics Industry

This report is one of a series resulting from a project entitled ¿Competitiveness by Leveraging Emerging Technologies Economically¿ (COMPLETE), carried out by JRC-IPTS. Each of the COMPLETE studies illustrates in its own right that European companies are active on many fronts of emerging and disruptive ICT technologies and are supplying the market with relevant products and services. Nevertheless, the studies also show that the creation and growth of high tech companies is still very complex and difficult in Europe, and too many economic opportunities seem to escape European initiatives and ownership. COMPLETE helps to illustrate some of the difficulties experienced in different segments of the ICT industry and by growing potential global players. Hopefully, COMPLETE will contribute to a better understanding of the opportunities and help shape better market conditions (financial, labour and product markets) to sustain European competitiveness and economic growth. This report deals with robotics applications in general, and in two specific areas selected because of potential market and EU capability in these areas: robotics applications in SMEs, and robotics safety. It starts by introducing the state of the art in robotics, their applications, market size, value chains and disruptive potential of emerging robotics technologies. For each of the two specific areas, the report describes the EU landscape, potential market, benefits, difficulties, and how these might be overcome. The last chapter draws together the findings of the study, to consider EU competitiveness in robotics, opportunities and policy implications. The work is based on desk research and targeted interviews with industry experts in Europe and beyond. The results were reviewed by experts and in a dedicated workshop.JRC.DDG.J.4-Information Societ

A ROS-based software architecture for a versatile collaborative dual-armed autonomous mobile robot for the manufacturing industry

The industrial context is changing rapidly due to advancements in technology fueled by the Internet and Information Technology. The fourth industrial revolution counts integration, flexibility, and optimization as its fundamental pillars, and, in this context, Human-Robot Collaboration has become a crucial factor for manufacturing sustainability in Europe. Collaborative robots are appealing to many companies due to their low installation and running costs and high degree of flexibility, making them ideal for reshoring production facilities with a short return on investment. The ROSSINI European project aims to implement a true Human-Robot Collaboration by designing, developing, and demonstrating a modular and scalable platform for integrating human-centred robotic technologies in industrial production environments. The project focuses on safety concerns related to introducing a cobot in a shared working area and aims to lay the groundwork for a new working paradigm at the industrial level. The need for a software architecture suitable to the robotic platform employed in one of three use cases selected to deploy and test the new technology was the main trigger of this Thesis. The chosen application consists of the automatic loading and unloading of raw-material reels to an automatic packaging machine through an Autonomous Mobile Robot composed of an Autonomous Guided Vehicle, two collaborative manipulators, and an eye-on-hand vision system for performing tasks in a partially unstructured environment. The results obtained during the ROSSINI use case development were later used in the SENECA project, which addresses the need for robot-driven automatic cleaning of pharmaceutical bins in a very specific industrial context. The inherent versatility of mobile collaborative robots is evident from their deployment in the two projects with few hardware and software adjustments. The positive impact of Human-Robot Collaboration on diverse production lines is a motivation for future investments in research on this increasingly popular field by the industry

Intelligent collision avoidance system for industrial manipulators

Mestrado de dupla diplomação com a UTFPR - Universidade Tecnológica Federal do ParanáThe new paradigm of Industry 4.0 demand the collaboration between robot and humans. They could help (human and robot) and collaborate each other without any additional security, unlike other conventional manipulators. For this, the robot should have the ability of acquire the environment and plan (or re-plan) on-the-fly the movement avoiding the obstacles and people. This work proposes a system that acquires the space of the environment, based on a Kinect sensor, verifies the free spaces generated by a Point Cloud and executes the trajectory of manipulators in these free spaces. The simulation system should perform the path planning of a UR5 manipulator for pick-and-place tasks, while avoiding the objects around it, based on the point cloud from Kinect. And due to the results obtained in the simulation, it was possible to apply this system in real situations. The basic structure of the system is the ROS software, which facilitates robotic applications with a powerful set of libraries and tools. The MoveIt! and Rviz are examples of these tools, with them it was possible to carry out simulations and obtain planning results. The results are reported through logs files, indicating whether the robot motion plain was successful and how many manipulator poses were needed to create the final movement. This last step, allows to validate the proposed system, through the use of the RRT and PRM algorithms. Which were chosen because they are most used in the field of robot path planning.Os novos paradigmas da Indústria 4.0 exigem a colaboração entre robôs e seres humanos. Estes podem ajudar e colaborar entre si sem qualquer segurança adicional, ao contrário de outros manipuladores convencionais. Para isto, o robô deve ter a capacidade de adquirir o meio ambiente e planear (ou re-planear) on-the-fly o movimento evitando obstáculos e pessoas. Este trabalho propõe um sistema que adquire o espaço do ambiente através do sensor Kinect. O sistema deve executar o planeamento do caminho de manipuladores que possuem movimentos de um ponto a outro (ponto inicial e final), evitando os objetos ao seu redor, com base na nuvem de pontos gerada pelo Kinect. E devido aos resultados obtidos na simulação, foi possível aplicar este sistema em situações reais. A estrutura base do sistema é o software ROS, que facilita aplicações robóticas com um poderoso conjunto de bibliotecas e ferramentas. O MoveIt! e Rviz são exemplos destas ferramentas, com elas foi possível realizar simulações e conseguir os resultados de planeamento livre de colisões. Os resultados são informados por meio de arquivos logs, indicando se o movimento do UR5 foi realizado com sucesso e quantas poses do manipulador foram necessárias criar para atingir o movimento final. Este último passo, permite validar o sistema proposto, através do uso dos algoritmos RRT e PRM. Que foram escolhidos por serem mais utilizados no ramo de planeamento de trajetória para robôs