Transparency in Port-Hamiltonian-Based Telemanipulation

After stability, transparency is the major issue in the design of a telemanipulation system. In this paper, we exploit the behavioral approach in order to provide an index for the evaluation of transparency in port-Hamiltonian-based teleoperators. Furthermore, we provide a transparency analysis of packet switching scattering-based communication channels

Position Drift Compensation in Port-Hamiltonian Based Telemanipulation

Passivity based bilateral telemanipulation schemes are often subject to a position drift between master and slave if the communication channel is implemented using scattering variables. The magnitude of this position mismatch can be significant during interaction tasks. In this paper we propose a passivity preserving scheme for compensating the position drift arising during contact tasks in port-Hamiltonian based telemanipulation improving the kinematic perception of the remote environment felt by the human operato

COMPARISON OF DIFFERENT AGILE METHODOLOGIES AND FIT ASSESSMENT IN AN INDUSTRIAL CONTEXT

The paper collects together and describes the main and most known Agile methodologies. Those methodologies are then compared in order to assess their fit in the context of highly innovative non-software companies. In particular, the focus is on a full system supplier for food processing and packaging equipment, packaging material and services. The fit between the Agile methodologies and the company is performed considering the innovation and development processes in place into the Research and Development department of the company itself. By doing so the paper aims at contributing to the theme of Agile application in non-software industries. Moreover, it will support in the choice of which method or framework suits better having clear the needs and characteristics of that specific context. Finally, the paper provides also a suggestion about how to approach this kind of choices

Sampled data systems passivity and discrete port-Hamiltonian systems

In this paper, we present a novel way to approach the interconnection of a continuous and a discrete time physical system first presented in [1][2] [3]. This is done in a way which preserves passivity of the coupled system independently of the sampling time T. This strategy can be used both in the field of telemanipulation, for the implementation of a passive master/slave system on a digital transmission line with varying time delays and possible loss of packets (e.g., the Internet), and in the field of haptics, where the virtual environment should `feel¿ like a physical equivalent system

The two-machine one-buffer continuous time model with restart policy

This paper deals with the performance evaluation of production lines in which well defined machine start/stop control policies are applied. A modeling approach has been developed in order to reduce the complexity of a two-machine one-buffer line where a specific control policy, called “restart policy”, is adopted. The restart policy exercises control over the start/stop condition of the first machine: when the buffer gets full and, as a consequence, the first machine is forced to stop production (i.e., it is blocked), the control policy keeps the first machine in an idle state until the buffer becomes empty again. The rationale behind this policy is to reduce the blocking frequency of the first machine, i.e. the probability that a blockage occurs on the first machine due to the buffer filling up. Such a control policy is adopted in practice when outage costs (e.g., waste production) are related to each restart of the machine. The two-machine one-buffer line with restart policy (RP line) is here modeled as a continuous time Markov process so as to consider machines having different capacities and working in an asynchronous manner. The mathematical RP model is described along with its analytical solution. Then, the most critical line performance measures are derived and, finally, some numerical examples are reported to show the effects of such a policy on the blocking frequency of the first machine

collision avoidance for multiple lagrangian dynamical systems with gyroscopic forces

This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system's desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose

A passivity-based strategy for manual corrections in human-robot coaching

In recent years, new programming techniques have been developed in the human-robot collaboration (HRC) field. For example, walk-through programming allows to program the robot in an easy and intuitive way. In this context, a modification of a portion of the trajectory usually requires the teaching of the path from the beginning. In this paper we propose a passivity-based method to locally change a trajectory based on a manual human correction. At the beginning the robot follows the nominal trajectory, encoded through the Dynamical Movement Primitives, by setting high control gains. When the human grasps the end-effector, the robot is made compliant and he/she can drive it along the correction. The correction is optimally joined to the nominal trajectory, resuming the path tracking. In order to avoid unstable behaviors, the variation of the control gains is performed exploiting energy tanks, preserving the passivity of the interaction. Finally, the correction is spatially fixed so that a variation in the boundary conditions (e.g., the initial/final points) does not affect the modification

Interacting with a multi AGV system

This paper introduces a novel Human Machine Interface (HMI) that allows users to interact with a fleet of Automated Guided Vehicles (AGVs) used for logistics operations in industrial environments. The interface is developed for providing operators with information regarding the fleet of AGVs, and the status of the industrial environment. Information is provided in an intuitive manner, utilizing a three-dimensional representation of the elements in the environment. The HMI also allows operators to influence the behavior of the fleet of AGVs, manually inserting missions to be accomplished

Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance

In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The for- mation shape and the avoidance of collisions between robots are ob- tained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. More- over, results of simulations and experiments on real robots are provided for validation purposes

A General Methodology for Adapting Industrial HMIs to Human Operators

Modern production systems are becoming more and more complex to comply with diversified market needs, flexible production, and competitiveness. Despite technological progress, the presence of human operators is still fundamental in production plants, since they have the important role of supervising and monitoring processes, by interacting with such complex machines. The complexity of machines implies an increased complexity of human-machine interfaces (HMIs), which are the main point of contact between the operator and the machine. Thus, HMIs cannot be considered anymore an accessory to the machine and their improvement has become an important part of the design of the whole machines, to enable a nonstressful interaction and make them easy to also use less skilled operators. In this article, we present a general framework for the design of HMIs that adapt to the skills and capabilities of the operator, with the ultimate aim of enabling a smooth and efficient interaction and improving user's situation awareness. Adaptation is achieved by considering three different levels: Perception (i.e., how information is presented), cognition (i.e., what information is presented), and interaction (i.e., how interaction is enabled). For each level, general guidelines for adaptation are provided, thus defining a meta-HMI independent of the application. Finally, some examples of how the proposed adaptation patterns can be applied to the case of procedural and extraordinary maintenance tasks are presented. Note to Practitioners-This article was motivated by the problem of facilitating the interaction of human operators with human-machine interfaces (HMIs) of complex industrial systems. Standard industrial HMIs are static and do not consider the user's characteristics. As a consequence, least-skilled operators are prevented from their use and/or have poor performance. In this article, we suggest a novel methodology to the design of adaptive industrial HMIs that adapt to the skills and capabilities of operators and compensate their limitations (e.g., due to age or inexperience). In particular, we propose a methodological framework that consists of general rules to accommodate the user's characteristics. Adaptation is achieved at three different levels: Perception (i.e., how information is presented), cognition (i.e., what information is presented), and interaction (i.e., how interaction is enabled). The presented rules are independent of the target application. Nevertheless, we establish a relationship between such design rules and user's impairments and capabilities and kind of working tasks. Hence, designers of HMIs are called to instantiate them considering the specific requirements and characteristics of the users and the working tasks of the application at hand