Approaches to the Computer Vision System Proposal on Purposes of Objects Recognition within the Human-Robot Shared Workspace Collaboration

The article deals with the present topic of solution of the tasks of a safe cooperation between human and robot within industrial applications. The attention is aimed at the utilization of state-in-art devices of computer vision and related methods of object recognition within the monitored zone of the laboratory of automated assembly. The article presents some steps of the computer vision system design with focus on the suitable sensors selection and experimental verification of their parameters for demands of monitoring the specified safety zones. The designed computer vision system is one of the elements of the complex safety system that is in the process of designing in the laboratory workplace conditions

Methods of pre-identification of TITO systems

The content of this article is the presentation of methods used to identify systems before actual control, namely decentralized control of systems with Two Inputs, Two Outputs (TITO) and with two interactions. First, theoretical assumptions and reasons for using these methods are given. Subsequently, two methods for systems identification are described. At the end of this article, these specific methods are presented as the pre-identification of the chosen example. The Introduction part of the paper deals with the description of decentralized control, adaptive control, decentralized control in robotics and problem formulation (fixing the identification time at the existing decentralized self-tuning controller at the beginning of control and at the beginning of any set-point change) with the goal of a new method of identification. The Materials and methods section describes the used decentralized control method, recursive identification using approximation polynomials and least-squares with directional forgetting, recursive instrumental variable, self-tuning controller and suboptimal quadratic tracking controller, so all methods described in the section are those ones that already exist. Another section, named Assumptions, newly formulates the necessary background information, such as decentralized controllability and the system model, for the new identification method formulated in Pre-identification section. This section is followed by a section showing the results obtained by simulations and in real-time on a Coupled Drives model in the laboratory. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.European Regional Development Fund under the project CEBIA-Tech [CZ.1.05/2.1.00/03.0089]; Ministry of Education, Science, research and Sport of the Slovak Republic [1247/2018]Ministerstvo školstva, vedy, výskumu a športu Slovenskej republiky; European Regional Development Fund, ERDF: CZ.1.05/2.1.00/03.008

The role of volunteering in NGOs working in the social sector

The thesis is thematically focused on the area of volunteering as a modern phenomenon occurring not only in the Czech Republic but in the whole world. The thesis is divided into theoretical and practical part. The first, theoretical part, explains the basic theoretical background of the non-governmental sector with an emphasis on volunteer activity in existing non-governmental organisations. The theoretical part also presents the results of the researches of foreign and domestic experts on volunteering on which the research part of the thesis is based. In the practical part of the thesis are analyzed two non-profit organisations - the Charity Ostrava and Slezská diakonie, which provide social services in the Moravian -Silesian region, and the company Arcelor Mittal, which is actively involved in the field of corporate volunteering. In the research part there are presented outcomes of the field research, which took place in the aforementioned non-profit organisations and the company, but also among public, where it was investigated what people know about non-governmental organisations in their close area, their opinion on volunteering and how they perceive volunteers. The outcomes from a field survey are then compared with foreign and domestic surveys. The aim of the thesis is to propose possible options for changes in working with volunteers in the non-governmental organisations based on the findings, which could lead to streamlining of their work, an increase of the prestige of the volunteer work and a number of volunteers working in the social sector. Based on the investigation it was found that volunteering is beneficial to everyone involved. It allows an individual to actively participate in society, help others and spend free time in a meaningful way. The obtained findings help to improve volunteer work, identify potential reserves in the individual´s work and prevent possible conflicts

Circular and quasi-circular paths for the industrial robots measuring with the Renishaw Ballbar QC20-W

Realized measuring with the Renishaw Ballbar QC20-W on industrial robots requires a special approach to measurement and creating of a circular path. In the article, two methods of the circular path creation are compared through experimental measurements. The first method is based on creating a circle using standard program commands in the FANUC programming environment. In the second method, the circular path is created as a polygon that represents the most accurate approximation of a circle required for a Ballbar measurement. The measurement methodology, the analysis of measurement data and results are presented in the article

Various methods of circular interpolation performance analysis

The paper discusses the possibilities and methodology of utilizing software, designed to be used with a double ball bar device to analyze CNC machine tool positioning performance, to analyze measurements measured by a different method. The Renishaw Ballbar system is a special tool designed to allow rapid and highly effective checks of positioning performance of any numerically controlled cartesian structure, such as a CNC machine tool, and at the same time allows monitoring its condition and to some extent predict its future development. The system uses sophisticated algorithms to decompose the overall measured inaccuracy of examined machine to values of individual errors and offers possible actions to remove such errors. The ability to push different measurements of circularity, such as measurement of circularity of machined surface on a coordinate measuring machine, would allow checking the presence of various errors without the necessity to measure with a double ball bar device. Therefore, the paper presents the custom software, that shows such possibilities, which was developed at the Department of Automation and Production Systems, Faculty of Mechanical Engineering, University of Zilina

Circular and quasi-circular paths for the industrial robots measuring with the Renishaw Ballbar QC20-W

Realized measuring with the Renishaw Ballbar QC20-W on industrial robots requires a special approach to measurement and creating of a circular path. In the article, two methods of the circular path creation are compared through experimental measurements. The first method is based on creating a circle using standard program commands in the FANUC programming environment. In the second method, the circular path is created as a polygon that represents the most accurate approximation of a circle required for a Ballbar measurement. The measurement methodology, the analysis of measurement data and results are presented in the article

Testing the Performance Characteristics of Manipulating Industrial Robots

The article is aimed at an issue of assessment of performance criteria of manipulating industrial robots with focusing on positioning performance. There are presented: the testing of one-directional pose accuracy and repeatability on Robot Fanuc LR Mate 200iC within the Laboratory of the Department of Automation and Production Systems and processing of the measured data. The laser interferometer Renishaw and digital indicator Mitutoyo Digimatic were used for performing the testing experiments

Determination of the Industrial Robot Positioning Performance

Position performance is one of most important parameters in terms industrial robotics and CNC machine tools. These performance criteria are changed during machine operation and therefore it is necessary to measure device parameters in regular intervals. This measurement should be as fast and easy as possible. In the case of CNC machine tools, the Renishaw Ballbar device is commonly used for such purposes. This device fits both requirements regardless it does not offer same amount of useful information for CNC machine tools and industrial robots that require special approach to measurement and data analysis which is main topic of presented article

Analysis of Laser Sensors and Camera Vision in the Shoe Position Inspection System

Inspection systems are currently an evolving field in the industry. The main goal is to provide a picture of the quality of intermediates and products in the production process. The most widespread sensory system is camera equipment. This article describes the implementation of camera devices for checking the location of the upper on the shoe last. The next part of the article deals with the analysis of the application of laser sensors in this task. The results point to the clear advantages of laser sensors in the inspection task of placing the uppers on the shoe’s last. The proposed method defined the resolution of laser scanners according to the type of scanned surface, where the resolution of point cloud ranged from 0.16 to 0.5 mm per point based on equations representing specific points approximated to polynomial regression in specific places, which are defined in this article. Next, two inspection systems were described, where one included further development in the field of automation and Industry 4.0 and with a high perspective of development into the future. The main aim of this work is to conduct analyses of sensory systems for inspection systems and their possibilities for further work mainly based on the resolution and quality of obtained data. For instance, dependency on scanning complex surfaces and the achieved resolution of scanned surfaces

Utilisation of Kinect Sensors for the Design of a Human-Robot Collaborative Workcell

The paper deals with a present topic of utilisation of nonconventional sensors for solving the tasks of a human-robot collaboration within a shared workcell. The attention is primary focused on an exploring of possibilities of utilisation of low-cost Kinect sensors. The paper presents the methodical steps of solution of a sensor subsystem proposal within conditions of the laboratory robotised workcell, methods applied for the sensors intrinsic parameters calibration and their verification