From 7e78a9276a822b320cacbd3da81d7e55d62c5e88 Mon Sep 17 00:00:00 2001
From: Nikhil Ambardar <202-nikaviator@users.noreply.git-st.inf.tu-dresden.de>
Date: Mon, 2 Nov 2020 02:31:00 +0100
Subject: [PATCH] new
---
Bibliography.bib | 19 ++++++++++---------
sections/back.tex | 7 +++----
sections/intro.tex | 4 ++--
sections/motiv.tex | 1 -
4 files changed, 15 insertions(+), 16 deletions(-)
diff --git a/Bibliography.bib b/Bibliography.bib
index 1afa922..acef81f 100644
--- a/Bibliography.bib
+++ b/Bibliography.bib
@@ -6,7 +6,7 @@
year={2009},
publisher={Springer}}
-@Book{a.1,
+@Book{a1,
title={"Artificial Intelligence – An Introduction to Robotics"},
author={Tim Niemueller, Sumedha Widyadharma},
volume={1},
@@ -73,13 +73,13 @@
}
@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 },
+ author={Amith A Kulkarni, Dhanush P, Chetan B S, ThammeGowda C S, Prashant Kumar Shrivastava},
volume={1},
year={2019},
publisher={International Journal of Innovative Technology and Exploring Engineering (IJITEE)},
url={https://www.ijitee.org/wp-content/uploads/papers/v8i6s4/F10830486S419.pdf}
}
-@Article{1.1,
+@Article{11,
title={"Recent Developments in the Optimization of Space Roboticsfor Perception in Planetary Exploration"},
author={S. Ahsan Badruddin, S. M. DildarAli},
volume={1},
@@ -87,7 +87,7 @@
publisher={International Conference on Space },
url={https://arxiv.org/pdf/1505.00496.pdf}
}
-@Article{1.2,
+@Article{12,
title={"Review on Space Robotics: Towards Top-Level Science through Space Exploration "},
author={Yang Gao1, Steve Chien},
volume={2},
@@ -95,7 +95,7 @@
publisher={Science Robotics},
url={https://core.ac.uk/download/pdf/84589008.pdf}
}
-@Article{1.3,
+@Article{13,
title={"The State-of-the-art in Space Robotics"},
author={Ijar M da Fonseca and Maurício N Pontuschka},
volume={1},
@@ -135,7 +135,7 @@
publisher={IEEE Access},
url={https://core.ac.uk/download/pdf/146493825.pdf}
}
-@Article{16.1,
+@Article{161,
title={"Safety Issues in Human-Robot Interactions"},
author={Milos Vasic1, Aude Billard},
volume={1},
@@ -143,7 +143,7 @@
publisher={IEEE,ICRA},
url={http://lasa.epfl.ch/publications/uploadedFiles/VasicBillardICRA2013.pdf}
}
-@Article{16.2,
+@Article{162,
title={"Human Safety In Robot Applications – Review Of Safety Trends "},
author={Tanja Kerezović, Gabor Sziebig, Bjørn Solvang, Tihomir Latinovic},
volume={1},
@@ -151,7 +151,7 @@
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,
+@Article{163,
title={"Analysis Of Human Operators And Industrial Robots Performance And Reliability"},
author={Grzegorz Gołda, Adrian Kampa, Iwona Paprocka},
volume={9},
@@ -174,7 +174,8 @@
publisher={University College Of Nabi Akram ,Tabriz Iran}
}
-@Article{18,title={"Introduction To BPMN"},
+@Article{18,
+ title={"Introduction To BPMN"},
author={Stephen A. White},
volume={1},
year={2007},
diff --git a/sections/back.tex b/sections/back.tex
index 8c6f667..409a240 100644
--- a/sections/back.tex
+++ b/sections/back.tex
@@ -19,7 +19,6 @@ There are many more robots developed but this thesis describes only about the ro
\label{fig:frankaemika}
\end{figure}
-\newpage
\section{Franka Panda Emika - Features}
@@ -112,18 +111,18 @@ Software is essential to modern day robots and this need programming. Code in an
\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~\cite{16.3}.\\
+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{163}.\\
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 }
-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}.\\
+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{161}.\\
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~\cite{16.2}.\\
+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{162}.\\
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.\\
diff --git a/sections/intro.tex b/sections/intro.tex
index 60c0ddb..673e9c4 100644
--- a/sections/intro.tex
+++ b/sections/intro.tex
@@ -12,7 +12,7 @@ Along the evolution of time the machines developed from designing basic tools to
New features were built into machines to add functionality and this was done using physical mechanisms in early days like using valves for changing and redirecting water supply in pipes and tracks change railroad paths using levers. But as times changed and many levels of developments happened for physical machines using some form of intelligence then came the era of information technology and development of software systems and programming which was used to control hardware until the last level of action. This was done using a host of components added to hardware which linked it to software systems and they were first circuits which then turned to micro-controllers, and then to electronic components that could be programmed and integrated with physical systems which were then used to manipulate control surfaces thus forming high level of evolution in robotics~\cite{a}.\\
-This has nowadays led to creation of an ecosystem of machines which are versatile and follow hook and template structure to do many tasks using same kind of concept i.e technology was used for multiple purposes thus adding to versatility. This has added to functionalities of robots and made them much more versatile and cost efficient as they can be used to perform multiple jobs. This is akin to using different attachments on a modern day vacuum cleaning machine to the the same job of vacuuming by suction. Robots in today's time are meant to do easiest of tasks like moving objects around and giving company to elderly, to complex tasks like critical surgical operations on humans in medicine and working on automobile manufacturing and assembly line~\cite{a.1}.\\
+This has nowadays led to creation of an ecosystem of machines which are versatile and follow hook and template structure to do many tasks using same kind of concept i.e technology was used for multiple purposes thus adding to versatility. This has added to functionalities of robots and made them much more versatile and cost efficient as they can be used to perform multiple jobs. This is akin to using different attachments on a modern day vacuum cleaning machine to the the same job of vacuuming by suction. Robots in today's time are meant to do easiest of tasks like moving objects around and giving company to elderly, to complex tasks like critical surgical operations on humans in medicine and working on automobile manufacturing and assembly line~\cite{a1}.\\
\begin{figure}
\centering
@@ -64,7 +64,7 @@ Robots are ideal for uses in high risk area like volcanic explorations, space pr
Robots are used to look for debris in ocean floor from the wreckage of a sunken ship or crashed air-crafts. There may be an deep ocean surface study exploration or a study on largely unknown aquatic life which can only be performed using robots. Robots are imperative to do such operations.\\
-In cases of metal and mineral exploration and study on ocean floors, robots are machines that cannot be replaced and thus are credited with numerous discoveries. They can move control surfaces and transmit images of seafloor and let humans take control of situation on ocean floor from several miles distance on ocean top. The pressure present at ocean floor can only be tolerated by a submarine and sending a human in deep depths is not possible. Similarly robots are used in space probes and space missions where they do operations humans are not capable of doing like exposing themselves to work in open space where harsh UV sunlight can cause bad effects on human body and any exposure of human beings there is only limited for critical operations to minimize risks and high costs associated to cover the risks. They provide safety to humans and make work easier and faster along with giving reliability and required precision~\cite{1.1}~\cite{1.2}~\cite{1-3}.\\
+In cases of metal and mineral exploration and study on ocean floors, robots are machines that cannot be replaced and thus are credited with numerous discoveries. They can move control surfaces and transmit images of seafloor and let humans take control of situation on ocean floor from several miles distance on ocean top. The pressure present at ocean floor can only be tolerated by a submarine and sending a human in deep depths is not possible. Similarly robots are used in space probes and space missions where they do operations humans are not capable of doing like exposing themselves to work in open space where harsh UV sunlight can cause bad effects on human body and any exposure of human beings there is only limited for critical operations to minimize risks and high costs associated to cover the risks. They provide safety to humans and make work easier and faster along with giving reliability and required precision~\cite{11}~\cite{12}~\cite{13}.\\
Robots are used around volcanoes erupting molten lava to collect samples and study materials and these areas have very high temperatures. These are tasks that are impossible and too hazardous to be done by humans thus making robot a tool that cannot be replaced.\\
diff --git a/sections/motiv.tex b/sections/motiv.tex
index 8fae7f0..1de97a3 100644
--- a/sections/motiv.tex
+++ b/sections/motiv.tex
@@ -11,7 +11,6 @@ The real life problem scenario can be described as follows. Robot is expected to
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.
-\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.\\
--
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