A Proactive Strategy for Safe Human-Robot Collaboration based on a Simplified Risk Analysis

In an increasing demand for human-robot collaboration systems, the need for safe robots is crucial. This paper presents a proactive strategy to enable an awareness of the current risk for the robot. The awareness is based upon a map of historically occupied space by the operator. The map is built based on a risk evaluation of each pose presented by the operator. The risk evaluation results in a risk field that can be used to evaluate the risk of a collaborative task. Based on this risk field, a control algorithm that constantly reduces the current risk within its task constraints was developed. Kinematic redundancy was exploited for simultaneous task performance within task constraints, and risk minimization. Sphere-based geometric models were used both for the human and robot. The strategy was tested in simulation, and implemented and experimentally tested on a NACHI MR20 7-axes industrial robot

Abronia macrocarpa (Native)

Abronia macrocarpa, Plants setting fruit. Family Nyctaginaceae, Subclass Caryophyllidae. Origin: Native

BUILDING MECHATRONICS SIMULATION SYSTEM

In international references a net zero-energy building (NZEB) is defined as a residential or commercial building with greatly reduced energy needs through efficiency gains such that the balance of energy needs can be supplied with renewable technologies. According to this general term definition, the essence of the concept is that by using low-cost and locally available nonpolluting sources, they generate energy onsite, in a quantity equal or greater than the total amount of energy consumed onsite in the building. By using integrated design and building technologies, designer engineers are able to determine which energy efficiency strategies and what type of renewable onsite generation will contribute to higher energy performance to meet the requirements of the residential or commercial building considered. Therefore, it can be clearly established what kind of design and development strategies must be adopted in order to ensure an adequate energy balance, and as a result, comfortable and healthy home or workplace is possible to be created, with general characteristics that make NZEB buildings desirable and financially rewarding as well