System State Monitoring to Facilitate Safe and Efficient Human-Robot Collaboration in Hybrid Assembly Cells

2017 ◽  
Author(s):  
Carlos W. Morato ◽  
Krishnanand N. Kaipa ◽  
Satyandra K. Gupta
Keyword(s):  
Hybrid Cell ◽  
System State ◽  
Hybrid Assembly ◽  
State Monitoring ◽  
Matching Algorithm ◽  
Plan Generation ◽  
3D Printed ◽  
Assembly Tasks ◽  
Human Robot Collaboration

Hybrid assembly cells allow humans and robots to collaborate on assembly tasks. We consider a model of the hybrid cell in which a human and a robot asynchronously collaborate to assemble a product. The human retrieves parts from a bin and places them in the robot’s workspace, while the robot picks up the placed parts and assembles them into the product. Realizing hybrid cells requires -automated plan generation, system state monitoring, and contingency handling. In this paper we describe system state monitoring and present a characterization of the part matching algorithm. Finally, we report results from human-robot collaboration experiments using a KUKA robot and a 3D-printed mockup of a simplified jet-engine assembly to illustrate our approach.

scholarly journals Design of Hybrid Cells to Facilitate Safe and Efficient Human–Robot Collaboration During Assembly Operations

2018 ◽  
Vol 18 (3) ◽  
Author(s):  
Krishnanand N. Kaipa ◽  
Carlos W. Morato ◽  
Satyandra K. Gupta
Keyword(s):  
Three Dimensional ◽  
System State ◽  
Hybrid Cells ◽  
Generation System ◽  
State Monitoring ◽  
Plan Generation ◽  
3D Printed ◽  
Assembly Operations ◽  
Human Robot Collaboration

This paper presents a framework to build hybrid cells that support safe and efficient human–robot collaboration during assembly operations. Our approach allows asynchronous collaborations between human and robot. The human retrieves parts from a bin and places them in the robot's workspace, while the robot picks up the placed parts and assembles them into the product. We present the design details of the overall framework comprising three modules—plan generation, system state monitoring, and contingency handling. We describe system state monitoring and present a characterization of the part tracking algorithm. We report results from human–robot collaboration experiments using a KUKA robot and a three-dimensional (3D)-printed mockup of a simplified jet-engine assembly to illustrate our approach.

A Framework for Hybrid Cells That Support Safe and Efficient Human-Robot Collaboration in Assembly Operations

2014 ◽  
Author(s):  
Carlos W. Morato ◽  
Krishnanand N. Kaipa ◽  
Jiashun Liu ◽  
Satyandra K. Gupta
Keyword(s):  
Human Model ◽  
System State ◽  
Hybrid Cells ◽  
Generation System ◽  
State Monitoring ◽  
Virtual Cell ◽  
Plan Generation ◽  
Collaboration Model ◽  
Assembly Operations ◽  
Human Robot Collaboration

In this paper, we present a framework to build hybrid cells that support safe and efficient human-robot collaboration during assembly operations. Our approach considers a representative one-robot one-human model in which a human and a robot asynchronously work toward assembling a product. Whereas the human retrieves parts from a bin and brings them into the robot workspace, the robot picks up parts from its workspace and assembles them into the product. Using this collaboration model, we explicate the design details of the overall framework comprising three modules — plan generation, system state monitoring, and contingency handling. We provide details of the virtual cell and the physical cell used to implement our framework. Finally, we report results from human-robot collaboration experiments to illustrate our approach.

TEMPERATURE MODELS FOR GRINDING SYSTEM STATE MONITORING

2019 ◽  
Vol 2 (3) ◽  
pp. 216-229
Author(s):  
Vasily Larshin ◽  
Natalia Lishchenko
Keyword(s):  
System State ◽  
State Monitoring ◽  
Grinding System

Preliminary Study of Alginates Extracted from Brown Algae (Sargassum sp.) Available in Madura Island as Composite Based Hydrogel Materials

2019 ◽  
Vol 964 ◽  
pp. 240-245 ◽  
Author(s):  
Amaliya Rasyida ◽  
Thalyta Rizkha Pradipta ◽  
Sigit Tri Wicaksono ◽  
Vania Mitha Pratiwi ◽  
Yeny Widya Rakhmawati
Keyword(s):  
Sodium Alginate ◽  
Brown Algae ◽  
Extraction Process ◽  
Composition Analysis ◽  
3D Printer ◽  
X Ray Diffraction ◽  
X Ray ◽  
3D Printed ◽  
Preliminary Study

Utilization of brown algae especially in Madura, where it’s close to Surabaya, only limited for food. This become a reference for developing and increasing the potential of this algae by extracting one of the ingredients, namely alginate. This paper deals with the characterization of sodium alginate extracted from sargassum sp. using modified-purified calcium routes. The extracted sodium alginate will be further used as composite hydrogel materials and compared with commercial sodium alginate. Hereafter, the synthesized composite is expected to be bio-ink for 3d printer. Chemical composition analysis were analyzed using X-Ray Fluorosense (XRF) followed by Fourier-transform infrared spectroscopy (FTIR) analysis to identify the functional group of composite and X-Ray Diffraction (XRD). Furthermore, viscosity bath is performed to compare the viscosity of extracted and commercial one. The result shows that modified-purified calcium routes in the extraction process of sodium alginate is desirable for improving their properties. Interestingly enough, with the goal of using it as bio-ink in 3d printed fabrication, the synthesized composite shows viscosity, 300 cSt, which meets the criteria for bio-ink in 3d printer.

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