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@Book{1, @Book{a,
title={Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book}, title={"Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book Chapter 1"},
author={Bruno Siciliano Lorenyo Sciavicco Luigi Villani Giuseppe Oriolo}, author={Bruno Siciliano Lorenyo Sciavicco Luigi Villani Giuseppe Oriolo},
volume={1}, volume={1},
year={2009}, year={2009},
publisher={Springer} publisher={Springer}}
}
@Article{2, @Book{a.1,
author = {Oxford English Dictionary}, title={"Artificial Intelligence – An Introduction to Robotics"},
title = {Definition Of Robots}, author={Tim Niemueller, Sumedha Widyadharma},
date = {2016},
publisher = {Oxford},
location = {Oxford, United Kingdom},
language = {english},
}
@Article{3,
author = {Brewster Kahle, Bruce Gilliat},
title = {Wayback Machine},
date = {2017},
maintitle = {Digital Archive},
volume = {A},
publisher = {Internet Archive},
location = {San Fransisco, United States},
language = {english},
}
@Article{4,
title={Contact Systems Pick and Place Robots },
author={Bruno Siciliano Lorenyo Sciavicco Luigi Villani Giuseppe Oriolo},
volume={1},
year={2008},
publisher={WayBack Machine}
}
@Article{5,
title={Smart Caddy},
author={Seegrid},
volume={1},
year={2011},
publisher={Web Archive},
title={"The Basics Of Automated Guided Vehicles"},
author={Savant Automation},
volume={1}, volume={1},
year={2013}, year={2003},
publisher={AGV Systems} url={https://niemueller.de/files/pdf/airobotics2003.pdf}
} }
@Article{6, @Book{b,
title={"The Utilization Of Robotic Space Probes in Deep Space Missions:Case Study of AI Protocols and Nuclear Power Requirements"}, title={"Introduction To Robotics Chapter 1"},
author={Proceedings of 2011 International Conference on Mechanical Engineering, Robotics and Aerospace}, author={John J. Craig},
volume={1}, volume={3},
year={2011}, year={2005},
publisher={ICMERA}, publisher={Pearson Education International},
title={"Review: Space Probe Archived"}, url={http://www.mech.sharif.ir/c/document_library/get_file?uuid=5a4bb247-1430-4e46-942c-d692dead831f&groupId=14040}
author={Jeff Foust},
volume={1},
year={2012},
publisher={Wayback Machines}
} }
@Article{7, @Article{c,
title={"In the Lab:Robots That Slink and Squirm"}, title = {"Design, fabrication and Control of Soft Robots"},
author={John Schwartz}, author = {Daniela Rus, Micheal T.Tolley},
volume = {1}, volume = {1},
year = {2015}, year = {2015},
publisher={The New York Times}, publisher = {Macmillan Publishers Limited},
title={"The Softer Side Of Robotics"}, url = {https://cyberleninka.org/article/n/1174758/viewer}
author={hp}, }
@Book{d,
title={"Elements of Robotics Chapter 1"},
author={Mordechai Ben-Ari ,Francesco Mondada},
volume={1}, volume={1},
year={2019}, year={2018},
publisher={Hewlett Packard} publisher={Springer}
} }
@Article{8,title={"Squishy Robots Now Have Squishy Computers To Control Them"},
author={Kat Eschner}, @Article{el,
title={"Personal Care Robots for Older Adults: An Overview"},
author={S H Hosseini & K M Goher },
volume={1}, volume={1},
year={2019}, year={2016},
publisher={Popular Science} publisher={Canadian Center of Science and Education},
url={http://www.ccsenet.org/journal/index.php/ass/article/view/64518}
} }
@Article{9,title={"Construction Robotics Industry Set To Double by 2023"}, @Article{hl,
author={Pollock,Emily}, title={"Healthcare Robotics"},
author={Laurel D. Riek},
volume={1},
year={2017},
publisher={ACM},
url={https://arxiv.org/pdf/1704.03931.pdf}
}
@Article{war,
title={"Automated and Robotic Warehouses: Developments and Research Opportunities"},
author={René B.M. de Koster},
volume={1}, volume={1},
year={2018}, year={2018},
publisher={engineering.com} publisher={MDPI},
url={https://papers.ssrn.com/sol3/papers.cfm?abstract_id=2977779}
} }
@Article{dro,
@Article{10, title={"Drone-Based Parcel Delivery Using the Rooftops of City Buildings: Model and Solution"},
title={"An Overview Of Handy Rehabilitaton Robot For The Severely Disabled"}, author={Junsu Kim, Hongbin Moon and Hosang Jung},
author={Topping ,Mike;Smith,Jane},
volume={1}, volume={1},
year={1999}, year={2020},
publisher={Center on Disabilities Conference Proceedings}, publisher={MDPI},
url={file:///tmp/mozilla_nikhil0/applsci-10-04362-v3.pdf}
title={"Welcome To The Ageing Future"}, }
author={Jeavans,Christine}, @Article{ind,
title={"Recent Development of Automation in Vehicle Manufacturing Industries" },
author={Amith A Kulkarni, Dhanush P, Chetan B S, ThammeGowda C S, Prashant Kumar Shrivastava },
volume={1}, volume={1},
year={2016}, year={2019},
publisher={BBC News}, publisher={International Journal of Innovative Technology and Exploring Engineering (IJITEE)},
url={https://www.ijitee.org/wp-content/uploads/papers/v8i6s4/F10830486S419.pdf}
title={"Statistical Handbook Of Japan:Chapter 2 Population"}, }
author={Wayback Machines}, @Article{1.1,
title={"Recent Developments in the Optimization of Space Roboticsfor Perception in Planetary Exploration"},
author={S. Ahsan Badruddin, S. M. DildarAli},
volume={1}, volume={1},
year={2013}, year={2015},
publisher={Statistics Bureau & Statistical Research and Training Institute}, publisher={International Conference on Space },
url={https://arxiv.org/pdf/1505.00496.pdf}
title={"Robotic future of patient care"}, }
author={E-Health Insider}, @Article{1.2,
title={"Review on Space Robotics: Towards Top-Level Science through Space Exploration "},
author={Yang Gao1, Steve Chien},
volume={2},
year={2017},
publisher={Science Robotics},
url={https://core.ac.uk/download/pdf/84589008.pdf}
}
@Article{1.3,
title={"The State-of-the-art in Space Robotics"},
author={Ijar M da Fonseca and Maurício N Pontuschka},
volume={1}, volume={1},
year={2007} year={2015},
publisher={IOP Publishing},
url={https://iopscience.iop.org/article/10.1088/1742-6596/641/1/012025/pdf}
} }
@Book{11, @Article{asi,
title={Elements Of Robotics}, title={"Asimov’s “Three Laws of Robotics” and Machine Metaethics" },
author={Mordechai Ben-Ari,Francesco Mondada}, author={Susan Leigh Anderson },
volume={1}, volume={1},
year={2017}, year={2005},
publisher={Springer Open} publisher={AAAI},
url={https://www.aaai.org/Papers/Symposia/Fall/2005/FS-05-06/FS05-06-002.pdf}
} }
@Article{12, @Article{hrc,
title={Evolution Of Robots Throughout History From Hephaestus To Da Vinci Robot}, title={"Human–Robot Collaboration in Manufacturing Applications: A Review"},
author={Christos Iavazzo Xanthi-Ekaterini D.Gkegke Paraskevi-Evangelia Iavazzo Ioannis D.Gkegkes}, author={Eloise Matheson, Riccardo Minto, Emanuele G.G.Zampieri, Maurizio Faccio and Giulio Rosati},
volume={1}, volume={1},
year={2014}, year={2019},
publisher={RAZVOJ ROBOTA KROZ POVIJEST DO DA VINCIJEVOG ROBOTA} publisher={MDPI},
url={https://journals.sagepub.com/doi/pdf/10.1177/1729881417716010}
} }
@Book{13, @Book{F,
title={Franka Panda User Guide}, title={"Franka Panda User Guide"},
author={Franka Emika GmbH}, author={Franka Emika GmbH},
volume={1}, volume={1},
year={2018}, year={2018},
publisher={Franka Emika GmbH} publisher={Franka Emika GmbH},
url={https://wwwpub.zih.tu-dresden.de/~s5990957/Franka-Panda-UserGuide-eng.pdf}
} }
@Article{14, @Article{RC,
title={"I,Cobot:Future collabration of man and machine"}, title={"Working Together: A Review on SafeHuman-Robot Collaboration inIndustrial Environments"},
author={Thilo Stieber}, author={S. Robla-Gomez, Victor M. Becerra, J. R. Llata,E. Gonzalez-Sarabia, C. Torre-Ferrero, And J. Perez-Oria},
volume={1}, volume={1},
year={2015}, year={2017},
publisher={The Manufacturer} publisher={IEEE Access},
} url={https://core.ac.uk/download/pdf/146493825.pdf}
@Book{15,
title={Robot Intelligence Technology and Applications 3},
author={Johg-Hwan Kim},
volume={3},
year={2015},
publisher={Springer}
} }
@Article{16, @Article{16.1,
title={Safety Issues in Human-Robot Interactions}, title={"Safety Issues in Human-Robot Interactions"},
author={Milos Vasic1, Aude Billard}, author={Milos Vasic1, Aude Billard},
volume={1}, volume={1},
year={2013}, year={2013},
publisher={IEEE,ICRA}, publisher={IEEE,ICRA},
title={"Occupational Safety and Health Administration"}, url={http://lasa.epfl.ch/publications/uploadedFiles/VasicBillardICRA2013.pdf}
author={US Government}, }
@Article{16.2,
title={"Human Safety In Robot Applications – Review Of Safety Trends "},
author={Tanja Kerezović, Gabor Sziebig, Bjørn Solvang, Tihomir Latinovic},
volume={1}, volume={1},
year={2015}, year={2013},
publisher={United States Department Of Labor} publisher={Banja Luka, Faculty of Mechanical Engineering, University in Banja Luka},
url={https://www.researchgate.net/publication/265164505_HUMAN_SAFETY_IN_ROBOT_APPLICATIONS_-_REVIEW_OF_SAFETY_TRENDS}
}
@Article{16.3,
title={"Analysis Of Human Operators And Industrial Robots Performance And Reliability"},
author={Grzegorz Gołda, Adrian Kampa, Iwona Paprocka},
volume={9},
year={2018},
publisher={Management and Production Engineering Review},
url={http://journals.pan.pl/Content/103876/PDF/3_Analysis+of+human+operators+and+industrial+robots+performance+and+reliability..pdf?handler=pdf}
}
@Book{4,
title={"Robotics : Modelling Planning and Control Chapter 1, Chapter 4" },
author={Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani Giuseppe Oriolo},
volume={1},
year={2010},
publisher={Springer}
} }
@Article{17, @Article{17,
title={Formalizing Class Diagram In UML}, title={"Formalizing Class Diagram In UML"},
author={Alireza Souri,Mohammad ali Sharifloo,Monire Norouzi}, author={Alireza Souri,Mohammad ali Sharifloo,Monire Norouzi},
volume={1}, volume={1},
year={2007}, year={2007},
publisher={University College Of Nabi Akram ,Tabriz Iran} publisher={University College Of Nabi Akram ,Tabriz Iran}
} }
@Article{18,title={Introduction To BPMN}, @Article{18,title={"Introduction To BPMN"},
author={Stephen A. White}, author={Stephen A. White},
volume={1}, volume={1},
year={2007}, year={2007},
...@@ -170,9 +182,11 @@ ...@@ -170,9 +182,11 @@
} }
@Article{19, @Article{19,
title={On Making Robots Understand Safety:Embedding Injury Knowledge Into Control}, title={"On Making Robots Understand Safety:Embedding Injury Knowledge Into Control"},
author={Sami Haddadin, Simon Haddadin,Augusto Khoury,Tim Khoury,Sven Parusel}, author={Sami Haddadin, Simon Haddadin,Augusto Khoury,Tim Khoury,Sven Parusel},
volume={1}, volume={1},
year={2007}, year={2007},
publisher={IEEE,ICRA} publisher={IEEE,ICRA},
url={https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256?casa_token=WNTrkWb2360AAAAA:Q0L-eFPErinG5DXS-WoCqGXMl82o9ty2D4YCMEkhQGOOGmOPGhxHqQ7jqMtkgPL6iqih-PRzWmMdEA}
} }
sections/back.tex
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...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\ Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\
Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them\cite{13}.\\ Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them~\cite{F}.\\
There are various interfaces made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator.\\ There are various interfaces made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator.\\
...@@ -68,12 +68,12 @@ Apart from the above mentioned software which the work of this thesis uses there ...@@ -68,12 +68,12 @@ Apart from the above mentioned software which the work of this thesis uses there
\section{Robotic Coexistence With Humans - Meaning Of Cobots} \section{Robotic Coexistence With Humans - Meaning Of Cobots}
Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person.\\ Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person~\cite{RC}.\\
Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\ Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\
Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot. Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot.
These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence\cite{14}. These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence.
Cobots are built for an industry setting workspace and have different hardware and software to run them along with above mentioned features of safety. Some of essential features of cobots are - Cobots are built for an industry setting workspace and have different hardware and software to run them along with above mentioned features of safety. Some of essential features of cobots are -
...@@ -93,7 +93,7 @@ This is a part of robotics that is not very well developed and this forms basis ...@@ -93,7 +93,7 @@ This is a part of robotics that is not very well developed and this forms basis
\section{Accidents Due To Malfunctions and Consequences} \section{Accidents Due To Malfunctions and Consequences}
Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here\cite{15}.\\ Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here.\\
There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse. Some of them are recognized to be - There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse. Some of them are recognized to be -
...@@ -112,18 +112,18 @@ Software is essential to modern day robots and this need programming. Code in an ...@@ -112,18 +112,18 @@ Software is essential to modern day robots and this need programming. Code in an
\subsection{Human Operator Errors} \subsection{Human Operator Errors}
Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault.\\ Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault~\cite{16.3}.\\
Robots are continuously incorporated with artificial intelligence features making them safer every day but this is a subject of research which is continuously developed and it is not possible to make a robot equally intelligent to a human being. Robots are continuously incorporated with artificial intelligence features making them safer every day but this is a subject of research which is continuously developed and it is not possible to make a robot equally intelligent to a human being.
\section{Making Robots Safer And Safe Deployment Practices } \section{Making Robots Safer And Safe Deployment Practices }
Collaborative robots or cobots are all about latest technology trend that is gathering pace with the advent of all new technology coming up in various fields like self driving cars and manufacturing in factory supply chains. The technology is itself developing and so are its components that can be used interchangeably across industries to develop an ecosystem of new age artificially intelligent cobots at an affordable price. This technology offer amazing advantages as they can safely work alongside humans and provide cost and time benefits that is hard to beat in industry setting where cycle time and productivity are key issues\cite{16}.\\ Collaborative robots or cobots are all about latest technology trend that is gathering pace with the advent of all new technology coming up in various fields like self driving cars and manufacturing in factory supply chains. The technology is itself developing and so are its components that can be used interchangeably across industries to develop an ecosystem of new age artificially intelligent cobots at an affordable price. This technology offer amazing advantages as they can safely work alongside humans and provide cost and time benefits that is hard to beat in industry setting where cycle time and productivity are key issues~\cite{16.1}.\\
As was mentioned before that cobotic technology is still evolving and developing and assuming it to come at a level where they behave like a living being may take more decades of time and the example is self driving cars that many prominent organizations are working on but have not been able to successfully integrate that finesse and level of safety so far. There have been accidents with attempts to integrate artificial intelligence in to cobots and using machine learning to train the cobot with experiences and then implement this with assured safety or at least equal to a level of humans decision power. This means that companies are spending large amounts of money to develop such technologies and help them evolve. All because the accidents can be serious and can cause injuries and loss of human life.\\ As was mentioned before that cobotic technology is still evolving and developing and assuming it to come at a level where they behave like a living being may take more decades of time and the example is self driving cars that many prominent organizations are working on but have not been able to successfully integrate that finesse and level of safety so far. There have been accidents with attempts to integrate artificial intelligence in to cobots and using machine learning to train the cobot with experiences and then implement this with assured safety or at least equal to a level of humans decision power. This means that companies are spending large amounts of money to develop such technologies and help them evolve. All because the accidents can be serious and can cause injuries and loss of human life.\\
There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury.\\ There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury~\cite{16.2}.\\
The accidents caused by robots can be classified based on the type of dangerous situations a human may end up with the robot. They are described in the following cases.\\ The accidents caused by robots can be classified based on the type of dangerous situations a human may end up with the robot. They are described in the following cases.\\
......
sections/intro.tex
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sections/motiv.tex
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\chapter{NEED-PLAN-IMPETUS}\label{ch:evaluation} \chapter{INSPIRATION AND DRIVING FORCE}\label{ch:evaluation}
The topic of this thesis is about design and implementation of a model based architecture for cobotic cells. With the advent of tactile internet, regularizing coexistence of robots and humans has become imperative, meaning the so called "Cobots" need a new use case architecture for its unit cell to operate safely alongside humans and real world objects and obstacles. This architecture is based on multiple models each describing one aspect of use case aiding in functionality of cobots. For this the thesis described three models namely world model, application model and safety model which are described using different notations.\\ The topic of this thesis is about design and implementation of a model based architecture for cobotic cells. With the advent of tactile internet, regularizing coexistence of robots and humans has become imperative, meaning the so called "cobots", need a new use case architecture for its unit cell to operate safely alongside humans and real world objects and obstacles. This architecture is based on multiple models each describing one aspect of use case aiding in functionality of cobots. For this the thesis described three models namely world model, application model and safety model which are described using different notations.\\
The world model is a global model describing the cobot and other things in its environment, giving "on the whole" information about the components in real world a cobot has, this includes one or more humans who can be moving in and out of cobotic world zone, then some obstacles and grasp object which can be a ball or cube.\\ The world model is a global model describing the cobot and other things in its environment, giving "on the whole" information about the components in real world a cobot has, this includes one or more humans who can be moving in and out of cobotic world zone, then some obstacles and grasp object which can be a ball or cube.\\
The application model describes the flow of individual actions of grasping that can be performed by Cobot according to a motion trajectory to accomplish the given task. This model is all about performing the task and action of the cobot. Lastly, the safety model shows how a Cobot achieves goal of not causing any harm to humans or other objects in its proximity and how to respond to them by moving around them appropriately in cases imminent collisions are detected . \\ The application model describes the flow of individual actions of grasping that can be performed by cobot according to a motion trajectory to accomplish the given task. This model is all about performing the task and action of the cobot. Lastly, the safety model shows how a cobot achieves the goal of not causing any harm to humans or other objects in its proximity and how to respond to them by moving around them appropriately in cases imminent collisions are detected. \\
The real life problem scenario can be described as follows. Robot is expected to perform some job and to make it to do that with safety i.e. detect and evade obstacles / humans, this safety and application can be achieved in two different step cases. The models designed and described ,address to this task or problem of first, to train the robot for performing actions according to a preconceived plan using inbuilt “teaching” feature of robot and then doing it safely in real world conditions.\\ The real life problem scenario can be described as follows. Robot is expected to perform some job and to make it to do that with safety i.e. detect and evade obstacles / humans, this safety and application can be achieved in two different step cases. The models designed and described ,address to this task or problem of first, to train the robot for performing actions according to a preconceived plan using inbuilt “teaching” feature of robot and then doing it safely in real world conditions.\\
The use case can be understood by seeing a scenario where we can train the robot in a laboratory / ideal conditions and give a working functionality to it by giving a design which shows how to perform a task which robot can use to work accordingly and this is known as application model implementation. The Franka Panda robot has a teaching mode where we can set a series of poses and grasp actions manually which can train the robot to perform a task according to a plan and this can be done repetitively by the robot later in scenario 2 which is real world and has added conditions of realism.\\ The use case can be understood by seeing a scenario where we can train the robot in a laboratory / ideal conditions and give a working functionality to it by giving a design which shows how to perform a task which robot can use to work accordingly and this is known as application model implementation. This robot has a teaching mode where we can set a series of poses and grasp actions manually which can train the robot to perform a task according to a plan and this can be done repetitively by the robot later in scenario 2 which is real world and has added conditions of realism.\\
For this ,complex condition are added to application model about how to respond when it detects a human in proximity and obstacles in trajectory paths and in addition this real world simulation adds real world conditions like adding torque to joints as is in real world to see if arm can for example really life an object. For this ,complex condition are added to application model about how to respond when it detects a human in proximity and obstacles in trajectory paths and in addition this real world simulation adds real world conditions like adding torque to joints as is in real world to see if arm can for example really life an object.
\newpage \newpage
In scenario one the architecture of robot`s world model is already known and has thus been used ,its teaching capability to train it to move to a coordinate position and then start a trajectory for instance at position X to move a position close to an object that is needed to be say picked up and then it can use its gripper to pickup the object and again move arm to another desired location where it want to drop the object and there it releases the gripper to put that object down and thus completing the task at position Y. This is part of Application Model as described before.\\ In scenario one the architecture of robot`s world model is already known and has thus been used ,its teaching capability to train it to move to a coordinate position and then start a trajectory for instance at position X to move a position close to an object that is needed to be say picked up and then it can use its gripper to pickup the object and again move arm to another desired location where it want to drop the object and there it releases the gripper to put that object down and thus completing the task at position Y. This is part of application model as described before.\\
This is smaller use case replication of saying a robot actually moved but here the idea is restricted to only moving arm which is the same when it comes to functionality achieved by robot moving itself vs moving its arm as previously mentioned, and this is fulfilling the same work of detecting things in proximity and achieving the tasks by completing trajectory as well as at same time to do it safely by responding appropriately as per intended use case programmed for safety.\\ This is smaller use case replication of saying a robot actually moved but here the idea is restricted to only moving arm which is the same when it comes to functionality achieved by robot moving itself vs moving its arm as previously mentioned, and this is fulfilling the same work of detecting things in proximity and achieving the tasks by completing trajectory as well as at same time to do it safely by responding appropriately as per intended use case programmed for safety.\\
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...@@ -6,7 +6,7 @@ This robotics project revolves around the idea of motion planning. It is about d ...@@ -6,7 +6,7 @@ This robotics project revolves around the idea of motion planning. It is about d
A robot is present and then one or more humans are in proximity along with one or more obstacles are also present in the real world. The base of Robot is fixed and the arm is moving and there is a gripper which need to do a pickup and release job. The robot has to be programmed to move and not just move but move with safety by detecting obstacles / humans around the robot continuously.\\ A robot is present and then one or more humans are in proximity along with one or more obstacles are also present in the real world. The base of Robot is fixed and the arm is moving and there is a gripper which need to do a pickup and release job. The robot has to be programmed to move and not just move but move with safety by detecting obstacles / humans around the robot continuously.\\
To start with a fictitious plan, the robot uses a motion planner to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. So far this plan is only about doing the task but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion which would thus require an alteration to planned trajectory right at that time instant when sensors detect obstacle and move around the obstacle to reach a coordinate position around the obstacle to a point in pre decided motion plan and then continue motion from there onwards. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be.\\ To start with a fictitious plan, the robot uses a motion planner to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. So far this plan is only about doing the task but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion which would thus require an alteration to planned trajectory right at that time instant when sensors detect obstacle and move around the obstacle to reach a coordinate position around the obstacle to a point in pre decided motion plan and then continue motion from there onwards. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be~\cite{4}.\\
To demonstrate such a concept a world is shown which contains the robot Panda, its arm, obstacle object which can be a ball or cube box and human beings. The thesis work designs a world model , an application model, and safety model for which different diagram forms are used and they are discussed further. To demonstrate such a concept a world is shown which contains the robot Panda, its arm, obstacle object which can be a ball or cube box and human beings. The thesis work designs a world model , an application model, and safety model for which different diagram forms are used and they are discussed further.
...@@ -41,7 +41,7 @@ This world model class diagram has been designed to contain ten classes. The mai ...@@ -41,7 +41,7 @@ This world model class diagram has been designed to contain ten classes. The mai
\item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\ \item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\
Business Process Modelling Notation(BPMN) For application model using Modelio was chosen for application model. Depicted in Figure 4.3.\cite{18}\\ Business Process Modelling Notation(BPMN) For application model using Modelio was chosen for application model. Depicted in Figure 4.3~\cite{18}\\
This was found to be good choice to show application process as this shows cells which depict each component in the world model diagram and then allowed to depict the relationship and connection between their components and showing their flow which have a comprehensive and logical consistency among cells. It uses start and end event states and then “if” conditions as well as flow lines with process events and intermediate events to other components of world diagram to construct application model. In detail components are described as - \\ This was found to be good choice to show application process as this shows cells which depict each component in the world model diagram and then allowed to depict the relationship and connection between their components and showing their flow which have a comprehensive and logical consistency among cells. It uses start and end event states and then “if” conditions as well as flow lines with process events and intermediate events to other components of world diagram to construct application model. In detail components are described as - \\
...@@ -65,7 +65,7 @@ Events, Activities and Gateways. Objects are connected using Sequence Flows , Me ...@@ -65,7 +65,7 @@ Events, Activities and Gateways. Objects are connected using Sequence Flows , Me
\label{fig:app4} \label{fig:app4}
\end{figure} \end{figure}
In Fig.4.4 The start and end events denote the process starting and end. The transition T1 is about human presence. The robot motion begins according to motion already planned using MoveIT but then if the human presence is detected by sensors, it calls MoveIT for new trajectory and proceeds with motion but once again checks if human is detected using if condition and if so then return to human present condition from this state and once again a new motion is planned by MoveIT until a state is achieved where a human is absent and a final transition T2 is executed which proceed to the end event finally. This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K Loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system\cite{18}.\\ In Fig.4.4 The start and end events denote the process starting and end. The transition T1 is about human presence. The robot motion begins according to motion already planned using MoveIT but then if the human presence is detected by sensors, it calls MoveIT for new trajectory and proceeds with motion but once again checks if human is detected using if condition and if so then return to human present condition from this state and once again a new motion is planned by MoveIT until a state is achieved where a human is absent and a final transition T2 is executed which proceed to the end event finally. This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K Loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system~\cite{18}.\\
\begin{figure} \begin{figure}
\centering \centering
...@@ -74,7 +74,7 @@ In Fig.4.4 The start and end events denote the process starting and end. The tra ...@@ -74,7 +74,7 @@ In Fig.4.4 The start and end events denote the process starting and end. The tra
\label{fig:3-figure4-1} \label{fig:3-figure4-1}
\end{figure} \end{figure}
Fig.4.5 There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. It has built the robot with technology ranging from making the robot understanding safety i.e by making them softer in approach when operating to preventing any physical collision by embedding injury knowledge into controls. The robot surfaces are made softer and force reduced when in proximity to collision objects up to a level where the robot can affirmatively detect the kind of object in proximity and classify that as a serious or not so seriously unsafe object. Extensive testing has been done on injuring pig skin\cite{19}. Fig.4.5 There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. It has built the robot with technology ranging from making the robot understanding safety i.e by making them softer in approach when operating to preventing any physical collision by embedding injury knowledge into controls. The robot surfaces are made softer and force reduced when in proximity to collision objects up to a level where the robot can affirmatively detect the kind of object in proximity and classify that as a serious or not so seriously unsafe object. Extensive testing has been done on injuring pig skin~\cite{19}.
\end{enumerate} \end{enumerate}
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