Smart Technologies for Precision Assembly

This open access book constitutes the refereed post-conference proceedings of the 9th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2020, held virtually in December 2020. The 16 revised full papers and 10 revised short papers presented together with 1 keynote paper were carefully reviewed and selected from numerous submissions. The papers address topics such as assembly design and planning; assembly operations; assembly cells and systems; human centred assembly; and assistance methods in assembly

How play moves us: Toys, technologies, and mobility in a digital world

The 21st century has been described as the Century of Play. The change in current play is particularly noticeable when looking at technological developments. This thesis deals with the technologization, digitalization, and connectedness of play between 2010–2020. The research explores forms of contemporary play, playthings, and players in a time when digitalization and connectedness have extended to various tools and realms of play—devices, toys, games, apps, and mediated playful environments. At the heart of the research are playthings and technologies conceptualized here as play machines, players using these tools within their communities and contexts, and, due to technological change, play research that increasingly expands into digital and networked cultures. Interactive digital devices have made play ubiquitous, and this includes play activities related to toys, mobile technologies, digital cameras, smartphones, digital toys, social media, and social robotics. The purpose of the thesis is to increase the understanding of what the rapid technologization of play, or what is conceptualized in the thesis as the digital leap of play, means in terms of mobilizing the players physically, cognitively, and emotionally. The thesis opens up prospects for technology-enriched play by presenting a range of empirical studies interested in the mobilization tendencies of current digital devices, toys, and connected media cultures that inform and inspire contemporary play and players of different ages as a form of digital culture that unites players and generations. The assumption is that digital technology connected to modern play experiences can move players in physical, cognitive, and emotional terms. Through six qualitative case studies, the thesis proposes to answer the central question: “How has play moved human players of the Western world in 2010–2020 in terms of physical, cognitive, and emotional mobility/movement?” The sub-question inquires what kinds of digital play are encountered in interactions of people of different ages as part of technologically enhanced leisure, learning, and environments where play is increasingly happening with and through machines and social media platforms by asking: “How are the acts of play realized in each instance of digital play through technology use, and what are the functions of the play for the players in each study?” The thesis seeks to understand the nature and various aspects of the digital transformation of play and balance the prevailing negative assumptions with more positive and optimistic views on the effect of technology-oriented play on the lives of players of different ages. The scholarly contribution of the thesis is to generate new play knowledge: The publications included in the thesis highlight various play patterns and practices among children of preschool age, adults, and seniors who engage in digital play through the use of digital devices or digital toys, either solitarily or socially, as part of intergenerational play. The findings of the thesis illustrate how changes in the ecosystem of play (primarily made possible by developing mobile technology and social media) are linked to the opportunities for players to engage in creative play activities, their documentation, and their social sharing. The connections of evolving digital technology (for example, digital toys, social media networking, and social robotics) to play are diverse; mobile devices with and without screens are used as an extension of play to enrich the experiences and outcomes of play and to empower the players by allowing them to showcase their imagination, creativity, and ability to connect with peers and other player communities. The thesis concludes that contemporary technology embodied in digital devices and Internet-connected playthings as the play machines of 2010–2020 allows for the expansion of play into human and toy interactions that non-technological playthings would not support. Technological development thus expands the historical, digital-material, and narrative dimensions of play. Social, technology-supported play triggers cultural processes that also support intergenerational interaction in play. Consequently, this thesis suggests that 1) digital technology is a driver for societal changes that affect play, 2) digital technology is a mobilizer of players in a physical, cognitive, emotional, and social sense, and 3) digital technology is an enabling, empowering, and enriching resource for contemporary digital play

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic

A Design Science Research Approach to Architecting and Developing Information Systems for Collaborative Manufacturing : A Case for Human-Robot Collaboration

Konseptointi- ja suunnitteluvaiheessa sekä valmistuksen, käytön ja kehitysprosessin aikana syntyy tietoa, jonka hyödyntämisessä on valtavaa potentiaalia liike-elämän ja tuotantoprosessien muuttamiseen. Neljännen teollisen vallankumouksen ytimessä oleva digitaalinen muutos tunnistaa tämän painottaen erityisesti tämän tiedon yhdistämistä toimintojen ja järjestelmien tukemiseksi läpi tuotteen elinkaareen, mitä kutsutaan digitaaliseksi säikeen kehykseksi (digital thread framework). Tämän väitöskirjan tavoitteena on kehittää ja käyttää yhtä tällaista viitekehystä ihmisen ja robotin yhteistoiminnan asiayhteydessä. Tämä kehys pyrkii vastaamaan merkittävään ongelmaan, joka liittyy mukautuvuuden ja joustavuuden abstrakteihin ominaisuuksiin. Nykyiset ihmisen ja robotin yhteistyöjärjestelmät (human-robot collaboration (HRC)) on rakennettu pääasiassa pysyviksi järjestelmiksi, jotka sivuuttavat ihmisten intuitiivisen toiminnan asettamalla heidän roolinsa yhteistyötehtävissä etukäteen määritellyiksi. Lisäksi järjestelmien kyky vaihtaa tuotteesta toiseen on rajoittunutta. Tämä on erityisen ongelmallista nykyisellä laajan tuotevalikoiman aikakaudella, joka johtuu asiakkaiden räätälöidyistä vaatimuksista. Tähän taustaan vastaten, tämä väitöskirja käyttää design science research methodology -menetelmää suunnitellakseen, kehittääkseen ja ottaakseen käyttöön kolme pääasiallista artefaktia ihmisen ja robotin yhteistyösolussa laboratorioympäristössä. Ensimmäinen on digitaalisen säikeen kehys (digital thread framework), joka integroi tuotesuunnitteluympäristön toimijaksi monitoimijajärjestelmään käyttäen uusimpia tietoon perustuvia suunnittelujärjestelmiä, mikä tarjoaa prosessin toimijoille pääsyn tuotesuunnittelumalleihin reaaliajassa. Toinen on lisätyn todellisuuden malli, joka tarjoaa rajapinnan kokoonpanotehtävässä yhteistyöhön osallistuvan ihmisoperaattorin ja edellä mainitun kehyksen välille. Kolmas on tukitietomalli, jota yhteistyötä tekevät toimijat käyttävät tietopohjanaan täyttääkseen yhteistyössä tapahtuvan kokoonpanon tavoitteet mukautuvasti. Näitä kehitettyjä artefakteja käytettiin kokonaisuutena tapaustutkimuksissa, jotka liittyivät aidon dieselmoottorin kokoonpanoon, ja joissa todennettiin niiden hyödyllisyys ja että ne lisäävät joustavuutta, jota varten kehys (framework) suunniteltiin. Rajauslaatikoiden näyttäminen skaalautuvana informaationa, joka hahmottaa alikokoonpanon osien geometriaa, demostroi kehitettyjen artefaktien käytettävyyttä yhteistyötä tekevien toimijoiden aikomuksia heijastavien laajennetun todellisuuden projektioiden tuottamiseksi. Yhteenvetona tämän väitöskirjan tuloksena syntyi lähestymistapa älykkään ja mukautuvan robotiikan toteuttamiseksi hyödyntäen tietovirtoja ja mallinnusta ihmisen ja robotin yhteistoiminnan kontekstissa. Teollisuuden raportoima älykkäästi mukautuvien HRC-järjestelmien puute taas toimi osaltaan motivaationa tähän väitöskirjassa tehtyyn työhön. Kun tulevaisuuden tuotteet ja tuotantojärjestelmät muuttuvat monimutkaisemmiksi, tietojärjestelmiltä odotetaan suurempaa vastuuta korvaamaan ihmisen työmuistin luontaiset rajat ja mahdollistamaan siirtyminen kohti ihmiskeskeistä valmistusta, joihin viitataan termeillä Operator 4.0 ja Industry 5.0. Näin ollen on odotettavissa, että tietojärjestelmien tutkimus, kuten tämä väitöskirja, voi auttaa ottamaan merkittäviä askeleita tähän suuntaan.Information generated from the conceptualization, design, manufacturing, and use of a product has immense potential in transforming both the business and manufacturing processes of the manufacturing enterprise. The digital transformation at the heart of the fourth industrial revolution has acknowledged this with a special emphasis on weaving a thread of this information to support functions and systems throughout the life cycle of the product with what is known as a digital thread framework. This dissertation aims to develop and use one such framework in the context of human-robot collaborative assembly. The overarching problem that the framework aims to solve can be attributed to the abstract qualities of adaptability and flexibility. The human-robot collaboration (HRC) systems of today are built predominantly as static systems and ignore the intuitive role of humans by having their roles in collaborative tasks pre-defined. Furthermore, their ability to switch between products during product changeovers is also limited. This is especially problematic in the current era of product variety, stemming from the customised requirements of customers. To this end, this dissertation employs the design science research methodology to design, develop, and deploy predominantly three artefacts in a human-robot work cell in a laboratory setting. The first is the digital thread framework that integrates the product design environment using state-of-the-art knowledge-based engineering systems, as an agent of a multi-agent system, which provide the collaborative human-robot agents with access to product design models at run time. The second is a constituent mixed-reality model that provides an interface for the foregoing framework for the human operator engaged in collaborative assembly. The third is a supporting information model that the agents use as their knowledge base to fulfil adaptively the goals of collaborative assembly. Together, these developed artefacts were employed in case studies involving a real diesel engine assembly during which they were observed to provide utility and support the cause of adaptability for which the framework was designed. The identification of bounding boxes as a scalable information construct, that approximates the part geometry of the sub-assembly components, demonstrates the utility of the developed artefacts for spatially augmenting them as projections as intentions of collaborating agents. In summary, this dissertation contributes with an approach towards realising intelligent and adaptive robotics within the realms of information flows and modelling in the context of human-robot collaboration. The lack of intelligently adaptable HRC systems reported by the industry in part motivated the work undertaken in this dissertation. As future products and production systems become more complex, information systems are expected to assume greater responsibility to compensate for the inherent limits of the human working memory and enable transition towards a human-centred manufacturing, the current likes of which are labelled as Operator 4.0 and Industry 5.0. Thus, the expectation is that information systems research, such as this dissertation, can help take significant strides forward in this direction

Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents

207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic

Formal Digital Description of Production Equipment Modules for supporting System Design and Deployment

The requirements for production systems are moving towards higher flexibility, adaptability and reactivity. Increasing volatility in global and local economies, shorter product life cycles and the ever-increasing number of product variants arising from product customization have led to a demand for production systems which can respond more rapidly to these changing requirements. Therefore, whenever a new product, or product variant, enters production, the production system designer must be able to create an easily-reconfigurable production system which not only meets the User Requirements (UR) but is quick and cost-efficient to set up. Modern production systems must be able to integrate new product variants with minimum effort. In the event of a product changeover or an unforeseen incident, such as the mechanical failure of a production resource, it must be possible to reconfigure the production system smoothly and seamlessly by adding, removing or altering the resources. Ideally, auto-configuration should obviate the need to manually re-programme the system once it has been reconfigured.The cornerstone of any solution to the above-mentioned challenges is the concept of being able to create formalised, comprehensive descriptions of all production resources. Providing universally-recognised digital representations of all the multifarious resources used in a production system would enable a standardised exchange of information between the different actors involved in building a new production system. Such freely available and machine-readable information could also be utilised by the wide variety of software tools that come into play during the different life cycle phases of a production system, thus considerably extending its useful life. These digital descriptions would also offer a multi-faceted foundation for the reconfiguration of production systems. The production paradigms presented here would support state-of-the-art production systems, such as Reconfigurable Manufacturing Systems (RMSs), Holonic Manufacturing Systems (HMSs) and Evolvable Production Systems (EPSs).The methodological framework for this research is Design Research Methodology (DRM) supported with Systems Engineering, Action Research, and case-based research. The first two were used to develop the concept and data models for the resource descriptions, through a process of iterative development. The case-based research was used for verification, through the modelling and analysis of two separate production systems used in this research. The concept, on which this thesis is based, is itself based on the triplicity of production system design, i.e. Product, Process and Resource. The processes, are implemented through the capabilities of the resources, which are thus directly linked to the product requirements. The driving force behind this new approach to production system design is its strong emphasis on making production systems that can be reconfigured easily. Successful system reconfiguration can only be achieved, however, if all the required production resources can be quickly and easily compared to all the available production resources in one unified, and universally accepted form. These descriptions must not only be able to capture all of a production system’s capabilities, but must also include information about its interfaces, kinematics, technical properties and its control and communication abilities.The answer to this lies in the Emplacement Concept, which is described and developed in this thesis. The Emplacement Concept proposes the creation of a multi-layered Generic Model containing information about production resources in three different layers. These are the Abstract Module Description (AMD), the Module Description (MD), and the Module Instance Description (MID). Each of these layers has unique characteristics which can be utilised in the different phases of designing, commissioning and reconfiguring a production system. The AMD is the most abstract (general) descriptive layer and can be used for initial system design iterations. It ensures that the proposed resources for the production system are exchangeable and interchangeable, and thus guides the selection of production resources and the implementation (or reconfiguration) of a production system. The MD is the next level down, and provides a more detailed description of the type of production resource, providing ’finer granularity’ for the descriptions. The MID provides the finest level of granularity and contains invaluable information about the individual instances of a particular production resource. This research involves two practical implementations of the Generic Model. These are used to model and digitally represent all the production resources used in the two use-case environments. All the modules in the production systems (25 in all) were modelled and described with the data models developed here. In fact, we were able to freeze the data models after the first case study, as they didn’t need any major changes in order to model the production resources of the second use-case environment. This demonstrates the general applicability of the proposed approach for modelling modular production resources.The advantages of being able to describe production resources in a unified digital form are many and varied. For example, production systems which are described in this way are much more agile. They can react faster to changes in demand and can be reconfigured easily and quickly. The resource descriptions also improve the sustainability of production systems because they provide detailed information about the exact capabilities and characteristics of all the available resources. This means that production system designers are better placed to utilise ready-made modules, (design by re-use). Being able to use readily available production modules means that the Time to Market and Time to Volume are improved, as new production systems can be built or reconfigured using tested and fully operational modules, which can easily be integrated into an already operational production system. Finally, the resource descriptions are an essential source of information for auto-configuration tools, allowing automated, or semi-automated production system design. However, harvesting the full benefits of all these outcomes requires that the tools used to create new production systems can understand and utilise the modular descriptions proposed by this concept. This, in turn, presupposes that the all the formalised descriptions of the production modules provided here will be made publicly available, and will form the basis for an ever-expanding library of such descriptions

The Use of digital games to enhance the physical exercise activity of the elderly : a case of Finland

According to the World Health Organization (WHO), population ageing is a global phenomenon, which brings both challenges and opportunities for society. The current longer expected lifespan can create opportunities for the elderly to contribute in many ways to their families and communities. However, it greatly depends on their quality of life, which is affected by many factors, including physical and functional health, social well-being, and cognitive abilities. The WHO (2012) states that physical health is one of the indicators for the elderly’s quality of life, and it declines with increasing age. Participation in regular physical exercises can help the elderly improve their physical and mental health, and this has been aided by the use of modern technologies to promote the elderly’s physical and functional health. Of these latest technologies, digital games have shown promise to improve and enhance the elderly’s physical activities through fun and engaging gameplay. The literature highlights that some commercial games in the market (e.g. Microsoft Kinect- Sports and Nintendo Wii Sports games) have the potential to improve the elderly’s physical health such as gait, balance, and fall prevention. However, researchers argue that these commercial games are not designed specifically for the elderly and their physical exercise activities. They state that most commercial games are not user-friendly for the elderly whose functional and physical abilities are limited due to their advanced years. The literature points out that more studies need to be undertaken to understand the usability and usefulness of digital games for physical exercise activities so that game designers can create elderly-friendly digital games in the future. In Finland, the government has been focusing on promoting healthy ageing and increasing home care services for the elderly. In recent years, Finnish researchers have used digital games to promote older Finns’ healthy and active ageing. The existing literature, whilst showing the potential of digital games for elderly Finns’ physical health, also acknowledges further research is needed particularly in the context of Finland. Thus, in this study, we aimed at investigating digital games to specifically assess their applications for older Finns’ physical activities, focusing on the quality of users’ experiences, and their reported ease of use and perceived usefulness. We used the mixed methods approach, which applies both qualitative and quantitative research methods. The study design included four stages: requirements gathering, analysis and design, prototyping, and evaluation. Firstly, we conducted pre-studies to elicit users’ requirements. This was followed by the analysis of the resulting data to identify trends and patterns, which fuelled ideas in the brainstorming game design and development phases. The final product was a digital game-based physical exercise called the Skiing Game. We then evaluated the Skiing Game in Finland with 21 elderly Finns (M=7, F=14, Average Age =76). By using questionnaires, observation, and interviews, we investigated user experiences, focusing on the game’s usability, and usefulness for enhancing the physical activity and wellbeing of the elderly. We also conducted a comparative test of the Skiing Game in Japan with 24 elderly Japanese participants (M=12, F=12, Average Age = 72) to further understand non-Finnish elderly users’ experiences. The findings from the usability study of the Skiing Game in Finland demonstrated that elderly Finns had a positive experience in the gameplay, and their motivation was noticeably high. It also confirmed that elderly Finns have a genuine interest in digital game-based exercises and strong intentions to play digital games as a form of physical exercise in the future. Although prior to the study most of them had negative views and misconceptions about digital games, after the gameplay their attitudes were decidedly positive. They acknowledged that whilst playing digital games could be an alternative way of exercising for them their use would primarily be when they don’t have access to their usual non-digital physical exercise. The Japanese usability of the Skiing Game showed that the elderly Japanese people also had positive user experiences in playing digital games, and also intend to use them in the future. Similarly, after playing the game they reported that their attitudes towards digital games become positive, and indicated playing digital games could be an alternative way of exercising. Although the comparison of the two studies suggests that the elderly Finns had relatively more positive experiences whilst playing the Skiing Game, compared to their Japanese counterparts, in general, both groups had a positive experience in the gameplay and showed interest in digital games as an alternative exercise. Based on the usability lessons learned from these two studies, recommendations for practitioners and designers regarding improvements in game design and development are made in this report. Implementing these modifications into future designs and further development of digital games for the elderly will improve their commercial viability and user uptake. The findings from this study can provide valuable insights, particularly for Finnish policymakers and healthcare practitioners who are keen to introduce digital games into the aged-care sector in Finland. The studies have also provided valuable insights into the optimal methods for introducing Finnish digital games to international markets, in particular, digital games tailored specifically for the physical exercise needs and motivations of the elderly. By taking into consideration the limitations of the study, we provide our future studies and further improvements of the game to be conducted

Proceedings of the 10th international conference on disability, virtual reality and associated technologies (ICDVRAT 2014)

The proceedings of the conferenc

Computational Transformation of the Public Sphere : Theories and Case Studies

This book is an edited collection of MA research paper on the digital revolution of the public and governance. It covers cyber governance in Finland, and the securitization of cyber security in Finland. It investigates the cases of Brexit, the 2016 US presidental election of Donald Trump, the 2017 presidential election of Volodymyr Zelensky, and Brexit. It examines the environmental concerns of climate change and greenwashing, and the impact of digital communication giving rise to the #MeToo and Incel movements. It considers how digitilization can serve to emancipate women through ride-sharing, and how it leads to the question of robot rights. It considers fake news and algorithmic governance with respect to case studies of the Chinese social credit system, the US FICO credit score, along with Facebook, Twitter, Cambridge Analytica and the European effort to regulate and protect data usage.Non peer reviewe

Computational transformation of the public sphere : theories and case studies

Computational Transformation of the Public Sphere is the organic product of what turned out to be an effective collaboration between MA students and their professor in the Global Politics and Communication program in the Faculty of Social Sciences at the University of Helsinki, in the Fall of 2019. The course, Philosophy of Politics and Communication, is a gateway course into this MA program. As I had been eager to conduct research on the impact of new digital technologies and artificial intelligence (AI) on democratic governance, I saw this course as an opportunity to not only share, but also further develop my knowledge of this topic