| 1. |
- Alenljung, Beatrice, 1971-, et al.
(författare)
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Towards a Framework of Human-Robot Interaction Strategies from an Operator 5.0 Perspective
- 2023
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Ingår i: Advances in Manufacturing Technology XXXVI. - Amsterdam, Netherlands : IOS Press. - 9781643684666 - 9781643684673 ; , s. 81-86
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Konferensbidrag (refereegranskat)abstract
- The industrial transition to Industrie 4.0 and subsequently Industrie 5.0 requires robots to be able to share physical and social space with humans in such a way that interaction and coexistence are positively experienced by the humans and where it is possible for the human and the robot to mutually perceive, interpret and act on each other's actions and intentions. To achieve this, strategies for humanrobot interaction are needed that are adapted to operators’ needs and characteristics in an industrial context, i.e., Operator 5.0. This paper presents a research design for the development of a framework for human-robot interaction strategies based on ANEMONE, which is an evaluation framework based on activity theory, the seven stages of action model, and user experience (UX) evaluation methodology. At two companies, ANEMONE is applied in two concrete use cases, collaborative kitting and mobile robot platforms for chemical laboratory assignments. The proposed research approach consists of 1) evaluations of existing demonstrators, 2) development of preliminary strategies that are implemented, 3) re-evaluations and 4) cross-analysis of results to produce an interaction strategy framework. The theoretically and empirically underpinned framework-to-be is expected to, in the long run, contribute to a sustainable work environment for Operator 5.0.
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| 2. |
- Dahl, Martin, 1984, et al.
(författare)
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Control components for Collaborative and Intelligent Automation Systems
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; 2019-September, s. 378-384
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Konferensbidrag (refereegranskat)abstract
- Collaborative and intelligent automation systems need intelligent control systems. Some of this intelligence exist on a per-component basis in the form of vision, sensing, motion, and path planning algorithms. To fully take advantage of this intelligence, also the coordination of subsystems need to exhibit intelligence. While there exist middleware solutions that eases communication, development, and reuse of such subsystems, for example the Robot Operating System (ROS), good coordination also requires knowledge about how control is supposed to be performed, as well as expected behavior of the subsystems. This paper introduces lightweight components that wraps ROS2 nodes into composable control components from which an intelligent control system can be built. The ideas are implemented on a use case involving collaborative robots with on-line path planning, intelligent tools, and human operators.
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| 3. |
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| 4. |
- Erös, Endre, 1990, et al.
(författare)
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Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2
- 2021
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Ingår i: Studies in Computational Intelligence. - Cham : Springer International Publishing. - 1860-9503 .- 1860-949X. ; , s. 3-29
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In many modern automation solutions, manual off-line programming is being replaced by online algorithms that dynamically perform tasks based on the state of the environment. Complexities of such systems are pushed even further with collaboration among robots and humans, where intelligent machines and learning algorithms are replacing more traditional automation solutions. This chapter describes the development of an industrial demonstrator using a control infrastructure called Sequence Planner (SP), and presents some lessons learned during development. SP is based on ROS2 and it is designed to aid in handling the increased complexity of these new systems using formal models and online planning algorithms to coordinate the actions of robots and other devices. During development, SP can auto generate ROS nodes and message types as well as support continuous validation and testing. SP is also designed with the aim to handle traditional challenges of automation software development such as safety, reliability and efficiency. In this chapter, it is argued that ROS2 together with SP could be an enabler of intelligent automation for the next industrial revolution.
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| 5. |
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| 6. |
- Hanna, Atieh, et al.
(författare)
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Deliberative safety for industrial intelligent human-robot collaboration: Regulatory challenges and solutions for taking the next step towards industry 4.0
- 2022
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Ingår i: Robotics and Computer-Integrated Manufacturing. - : Elsevier BV. - 0736-5845 .- 1879-2537. ; 78
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Tidskriftsartikel (refereegranskat)abstract
- In previous scholarly literature, safety is understood as a main obstacle for introducing human-robot collaboration in industrial production. This interdisciplinary paper is concerned with the safety and regulation of human-robot collaboration and contribute to this debate through a case study of stakeholders in Sweden, exploring the views of the involved stakeholders which is largely absent in previous research literature. The case study concludes that while stressing some potential benefits, stakeholders within the industry are generally reluctant to human-robot collaboration. Current regulation and safety standards are understood to be one of the prominent obstacles to such solutions. Based on the perspectives of the stakeholders as well as an analysis of current regulation and safety standards, the paper identifies the following problems with current regulation: (i) existing categories and conceptualizations used to guide safety evaluation are problematic, (ii) intelligence and autonomous aspects of collaborative systems are not sufficiently addressed, (iii) current standards do not enable evaluation of the trade off between safety, efficiency and flexibility, and (iv) the regulation has a lack of focus on active safety and using the control system as a safety measure.In an attempt to address these identified problems, the difference between traditional collaborative robots and intelligent human-robot collaboration is analyzed in the paper and a new safety approach is suggested, called Deliberative safety, which allows the humans and robots to switch between different safety measures based on the need for flexibility or efficiency to reach production goals. While considering system performance, we propose a taxonomy to better support the design of deliberative safety as well as five safety measures to use in a deliberative safety approach. These measures include available measures like perimeter safety, zone safety and reactive safety to more advanced measures like planned and active safety, and when used together, they can enable intelligent human-robot collaboration.
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| 7. |
- Hanna, Atieh, et al.
(författare)
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Industrial Challenges when Planning and Preparing Collaborative and Intelligent Automation Systems for Final Assembly Stations
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728103037 ; 2019-September, s. 400-406
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Konferensbidrag (refereegranskat)abstract
- During the last five decades, automation and robotics have transformed the automotive industry by increasing efficiency and improving the product quality. However, future trucks that will be autonomous, electrical and connected will require a completely new type of flexibility and intelligence in the production systems, especially in the final assembly. To handle the increased complexity of the products, production processes and logistic systems, final assembly must be transformed into collaborative and intelligent automation systems. These systems will include collaborative and deliberative robots (cobots), advanced vision-based control, adaptive safety systems, online optimization and learning algorithms and connected and well-informed human operators. But it will be a huge undertaking to transform current trucks industry such that they can design, implement and maintain large scale collaborative and intelligent automation systems. This paper presents the challenges with current planning and preparation processes for final assembly as well as the requirement and possible solutions for the future processes. An industrial use case at Volvo Trucks based on Sequence Planner and ROS2 is used to evaluate the proposed planning and preparation processes.
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| 8. |
- Hanna, Atieh, et al.
(författare)
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Requirements for designing and controlling autonomous collaborative robots system-an industrial case
- 2018
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Ingår i: Advances in Transdisciplinary Engineering. - : IOS Press BV. ; 8, s. 139-144, s. 139-144
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Konferensbidrag (refereegranskat)abstract
- Automation and Robotics have been described as two of the enabling technologies for the Industry 4.0 paradigm, especially the use of autonomous and collaborative robot systems that can work together with humans and other machines. In manual assembly for example, these so-called co-bot systems (that also includes autonomous transportation and specialized machines) can improve the automation level, product quality, as well as human working conditions. However, in order to fully benefit from co-bot systems, many challenges need to be addressed before it can be introduced in complex industries e.g. the truck industry. This paper presents a number of challenges and requirements identified during an industrial use case, where autonomous co-bot systems have been introduced into an existing manual assembly station. These requirements are related to safe and intuitive interactions, smart tools, the need to manage variability as well as the need for highly flexible communication and control. During the use case, a number of initial solutions was developed where the implemented control architecture was based on the framework Robot Operation System (ROS) and Sequence Planner (SP).
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| 9. |
- Hanna, Atieh
(författare)
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Risk Assessment and Safety Measures for Intelligent and Collaborative Automation
- 2023
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- In the truck industry, manual final assembly and material handling processes can be complex and crowded, making their automation difficult using traditional industrial robots. Collaborative robot systems, on the other hand, offer a flexible and user-friendly alternative that can free up human workers from repetitive and non-ergonomic tasks, allowing them to focus on more value-adding operations. Despite the considerable efforts made by researchers and within the industry to promote collaborative robots, they are often underused and their use is limited to handling simple automation tasks without perimeter fences.The aim of this thesis is to enhance our understanding of human-robot collaboration and the challenges faced by complex industries when implementing intelligent and collaborative automation. The goal is to create a sustainable workplace where robots and humans can work together safely and efficiently in a flexible environment.Through several industrial use cases, two demonstration setups were developed to identify a set of industrial challenges and requirements. These requirements include safe, efficient, and intuitive interactions, as well as deliberative and robust control, reliable communication, variant handling, and an efficient engineering process. However, the most critical requirement is ensuring the safety of both machines and humans. It was found that current safety standards trade safety for efficiency, flexibility, and cost, which limits the implementation of intelligent and adaptive collaborative systems in complex applications.To address these issues, a new safety approach called deliberative safety is proposed, which allows for switching between different safety measures depending on whether flexibility or efficiency is required to attain production goals. A taxonomy is proposed to better support the design of deliberative safety, along with five safety measures ranging from currently existing measures like perimeter safety to planned and active safety. These measures can enable intelligent human-robot collaboration.However, incorporating intelligence and using the deliberative safety concept may introduce new types of risks, which necessitates the development of new risk assessment and risk reduction methods. To address this, a risk assessment method based on reliability theory is combined with a novel method based on system theory to identify system requirements in the early stages of development and to identify risky scenarios and related risk reduction methods.The findings of this research will be beneficial to manufacturing industries seeking to use intelligent and collaborative automation to increase flexibility when automating. Additionally, they will provide valuable inputs for the development of related safety standards and risk assessment procedures.
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