diff --git a/Bibliography.bib b/Bibliography.bib
index acef81fc5962288c1991db713ab9f6d525f976d3..c375a32a26e98633a0df613442dd72f82a62e11f 100644
--- a/Bibliography.bib
+++ b/Bibliography.bib
@@ -1,21 +1,21 @@
@Book{a,
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 and Lorenyo, Sciavicco Luigi and Villani Giuseppe Oriolo},
volume={1},
year={2009},
publisher={Springer}}
@Book{a1,
title={"Artificial Intelligence – An Introduction to Robotics"},
- author={Tim Niemueller, Sumedha Widyadharma},
+ author={Tim, Niemueller and Sumedha, Widyadharma},
volume={1},
year={2003},
url={https://niemueller.de/files/pdf/airobotics2003.pdf}
}
@Book{b,
title={"Introduction To Robotics Chapter 1"},
- author={John J. Craig},
+ author={John, J. Craig},
volume={3},
year={2005},
publisher={Pearson Education International},
@@ -23,7 +23,7 @@
}
@Article{c,
title = {"Design, fabrication and Control of Soft Robots"},
- author = {Daniela Rus, Micheal T.Tolley},
+ author = {Daniela, Rus and Micheal, T.Tolley},
volume = {1},
year = {2015},
publisher = {Macmillan Publishers Limited},
@@ -31,7 +31,7 @@
}
@Book{d,
title={"Elements of Robotics Chapter 1"},
- author={Mordechai Ben-Ari ,Francesco Mondada},
+ author={Mordechai, Ben-Ari and Francesco, Mondada},
volume={1},
year={2018},
publisher={Springer}
@@ -40,7 +40,7 @@
@Article{el,
title={"Personal Care Robots for Older Adults: An Overview"},
- author={S H Hosseini & K M Goher },
+ author={S, H Hosseini and K, M Goher },
volume={1},
year={2016},
publisher={Canadian Center of Science and Education},
@@ -49,7 +49,7 @@
@Article{hl,
title={"Healthcare Robotics"},
- author={Laurel D. Riek},
+ author={Laurel, D. Riek},
volume={1},
year={2017},
publisher={ACM},
@@ -57,7 +57,7 @@
}
@Article{war,
title={"Automated and Robotic Warehouses: Developments and Research Opportunities"},
- author={René B.M. de Koster},
+ author={René, B.M. de Koster},
volume={1},
year={2018},
publisher={MDPI},
@@ -65,7 +65,7 @@
}
@Article{dro,
title={"Drone-Based Parcel Delivery Using the Rooftops of City Buildings: Model and Solution"},
- author={Junsu Kim, Hongbin Moon and Hosang Jung},
+ author={Junsu, Kim and Hongbin, Moon and Hosang, Jung},
volume={1},
year={2020},
publisher={MDPI},
@@ -73,7 +73,7 @@
}
@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 and Dhanush, P and Chetan, B S and Thamme, Gowda CS and Prashant, Kumar Shrivastava},
volume={1},
year={2019},
publisher={International Journal of Innovative Technology and Exploring Engineering (IJITEE)},
@@ -81,7 +81,7 @@
}
@Article{11,
title={"Recent Developments in the Optimization of Space Roboticsfor Perception in Planetary Exploration"},
- author={S. Ahsan Badruddin, S. M. DildarAli},
+ author={S., Ahsan Badruddin and S., M. DildarAli},
volume={1},
year={2015},
publisher={International Conference on Space },
@@ -89,7 +89,7 @@
}
@Article{12,
title={"Review on Space Robotics: Towards Top-Level Science through Space Exploration "},
- author={Yang Gao1, Steve Chien},
+ author={Yang, Gao and Steve, Chien},
volume={2},
year={2017},
publisher={Science Robotics},
@@ -97,7 +97,7 @@
}
@Article{13,
title={"The State-of-the-art in Space Robotics"},
- author={Ijar M da Fonseca and Maurício N Pontuschka},
+ author={Ijar, M da Fonseca and Maurício, N Pontuschka},
volume={1},
year={2015},
publisher={IOP Publishing},
@@ -105,7 +105,7 @@
}
@Article{asi,
title={"Asimov’s “Three Laws of Robotics” and Machine Metaethics" },
- author={Susan Leigh Anderson },
+ author={Susan, Leigh Anderson},
volume={1},
year={2005},
publisher={AAAI},
@@ -113,7 +113,7 @@
}
@Article{hrc,
title={"Human–Robot Collaboration in Manufacturing Applications: A Review"},
- author={Eloise Matheson, Riccardo Minto, Emanuele G.G.Zampieri, Maurizio Faccio and Giulio Rosati},
+ author={Eloise, Matheson and Riccardo, Minto and Emanuele, G.G.Zampieri and Maurizio Faccio and Giulio Rosati},
volume={1},
year={2019},
publisher={MDPI},
@@ -121,7 +121,7 @@
}
@Book{F,
title={"Franka Panda User Guide"},
- author={Franka Emika GmbH},
+ author={Franka Emika, GmbH},
volume={1},
year={2018},
publisher={Franka Emika GmbH},
@@ -129,7 +129,7 @@
}
@Article{RC,
title={"Working Together: A Review on SafeHuman-Robot Collaboration inIndustrial Environments"},
- author={S. Robla-Gomez, Victor M. Becerra, J. R. Llata,E. Gonzalez-Sarabia, C. Torre-Ferrero, And J. Perez-Oria},
+ author={S.,Robla-Gomez and Victor, M. Becerra and J., R. Llata,E. Gonzalez-Sarabia and C., Torre-Ferrero and J. Perez-Oria},
volume={1},
year={2017},
publisher={IEEE Access},
@@ -137,7 +137,7 @@
}
@Article{161,
title={"Safety Issues in Human-Robot Interactions"},
- author={Milos Vasic1, Aude Billard},
+ author={Milos, Vasic1 and Aude, Billard},
volume={1},
year={2013},
publisher={IEEE,ICRA},
@@ -145,7 +145,7 @@
}
@Article{162,
title={"Human Safety In Robot Applications – Review Of Safety Trends "},
- author={Tanja Kerezović, Gabor Sziebig, Bjørn Solvang, Tihomir Latinovic},
+ author={Tanja, Kerezović and Gabor, Sziebig and Bjørn, Solvang and Tihomir Latinovic},
volume={1},
year={2013},
publisher={Banja Luka, Faculty of Mechanical Engineering, University in Banja Luka},
@@ -153,7 +153,7 @@
}
@Article{163,
title={"Analysis Of Human Operators And Industrial Robots Performance And Reliability"},
- author={Grzegorz Gołda, Adrian Kampa, Iwona Paprocka},
+ author={Grzegorz, Gołda and Adrian, Kampa and Iwona, Paprocka},
volume={9},
year={2018},
publisher={Management and Production Engineering Review},
@@ -161,14 +161,14 @@
}
@Book{4,
title={"Robotics : Modelling Planning and Control Chapter 1, Chapter 4" },
- author={Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani Giuseppe Oriolo},
+ author={Bruno, Siciliano and Lorenzo, Sciavicco and Luigi, Villani Giuseppe Oriolo},
volume={1},
year={2010},
publisher={Springer}
}
@Article{17,
title={"Formalizing Class Diagram In UML"},
- author={Alireza Souri,Mohammad ali Sharifloo,Monire Norouzi},
+ author={Alireza, Souri and Mohammad, ali Sharifloo and Monire, Norouzi},
volume={1},
year={2007},
publisher={University College Of Nabi Akram ,Tabriz Iran}
@@ -176,7 +176,7 @@
}
@Article{18,
title={"Introduction To BPMN"},
- author={Stephen A. White},
+ author={Stephen, A. White},
volume={1},
year={2007},
publisher={IBM Corporation}
@@ -184,7 +184,7 @@
}
@Article{19,
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 and Simon, Haddadin and Augusto, Khoury and Tim, Khoury and Sven, Parusel},
volume={1},
year={2007},
publisher={IEEE,ICRA},
diff --git a/sections/back.tex b/sections/back.tex
index 409a240c57bbb5ef34189f30403bb292cd0a7afb..6eb894278384381a4d177f9fbc35f90292b70f4e 100644
--- a/sections/back.tex
+++ b/sections/back.tex
@@ -72,7 +72,7 @@ Robots are very essential to some of the today's modern industry because they he
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.
-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.
+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 -
@@ -130,13 +130,13 @@ A human worker maybe crushed with arm motion of the robot or a human may get tra
The above listed hazards are minimized by: \\
-– enforcing strictly pre-mapped environment and space for the cell of cobot\\
+– enforcing strictly pre-mapped environment and space for the cell of cobot
-– strictly followed operational routine\\
+– strictly followed operational routine
-– authorization of machine operators, maintenance workers and programmers\\
+– authorization of machine operators, maintenance workers and programmers
-– speed limitation on movement of control surfaces in presence of human\\
+– speed limitation on movement of control surfaces in presence of human
– emergency stop function.
diff --git a/sections/motiv.tex b/sections/motiv.tex
index 1de97a3222e55c8653ff41c91bd44966c880c54b..084974ada42cc0e6dd1b38eb85f1109d4cae6300 100644
--- a/sections/motiv.tex
+++ b/sections/motiv.tex
@@ -10,7 +10,7 @@ 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.
+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.\\
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.\\
diff --git a/sections/soa.tex b/sections/soa.tex
index 698cb0a88933f259bacc2aa5e477438be1375792..8a2f53198816e8cf72affa3b222898b935d3dfd2 100644
--- a/sections/soa.tex
+++ b/sections/soa.tex
@@ -8,78 +8,74 @@ A robot is present and then one or more humans are in proximity along with one o
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.\\
-\newpage
\section {Modeling - Explaining Choice of Design Depictions}
Thesis work tries to find correct diagram depictions for all three intended diagrams which are world model, application model and lastly safety model.
\begin{enumerate}[label=(\Alph*)]
- \item WORLD MODEL\\
+\item WORLD MODEL\\
- Unified Modelling Language UML For class and object diagrams for world model using the web tool Online Visual Paradigm is shown in Fig 4.1 and Fig 4.2 is displayed above.The UML class model is used to derive the objects and depict in the UML object model.\cite{17}
+Unified Modelling Language UML For class and object diagrams for world model using the web tool Online Visual Paradigm is shown in Fig 4.1 and Fig 4.2 is displayed above.The UML class model is used to derive the objects and depict in the UML object model~\cite{17}.\\
- \begin{figure}
- \centering
- \includegraphics[width=0.9\linewidth]{../app2}
- \caption{ World Model UML Class Diagram}
- \label{fig:app2}
- \end{figure}
+\begin{figure}
+\centering
+\includegraphics[width=0.9\linewidth]{../app2}
+\caption{ World Model UML Class Diagram}
+\label{fig:app2}
+\end{figure}
This world model class diagram has been designed to contain ten classes. The main parent classes are World Object and World, present on top most level. The classes Robot and Abstract Object inherit from one class and at same time are aggregated with another class. Relation of association and aggregation is used where classes need to use data variable from other classes and if class variable must depend on other class variables for it to exist respectively. Aggregation is used where if the class is not involved its child classes cannot be used. Association is used where one class is related to another just to be able to use other's variables. Both relations use pointers.
\begin{figure}
- \centering
- \includegraphics[width=0.9\linewidth]{../app3}
- \caption{ World Model UML Object Diagram}
- \label{fig:app3}
+\centering
+\includegraphics[width=0.9\linewidth]{../app3}
+\caption{ World Model UML Object Diagram}
+\label{fig:app3}
\end{figure}
\newpage
\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 - \\
Events, Activities and Gateways. Objects are connected using Sequence Flows , Message Flows and Associations. Each segment is known as frames.
\begin{figure}
- \centering
- \includegraphics[width=0.8\linewidth]{../app}
- \caption{BPMN Application Model Diagram}
- \label{fig:app}
+\centering
+\includegraphics[width=0.8\linewidth]{../app}
+\caption{BPMN Application Model Diagram}
+\label{fig:app}
\end{figure}
-\newpage
\item SAFETY MODEL DEPICTION USING UML STATE CHART \\
\begin{figure}
- \centering
- \includegraphics[width=1.0\linewidth]{../app4}
- \caption{Safety Model - UML State Diagram}
- \label{fig:app4}
+\centering
+\includegraphics[width=1.0\linewidth]{../app4}
+\caption{Safety Model - UML State Diagram}
+\label{fig:app4}
\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}.\\
\begin{figure}
- \centering
- \includegraphics[width=0.6\linewidth]{../3-Figure4-1}
- \caption{Paper : On Making Robots Understand Safety Image Source :https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256}
- \label{fig:3-figure4-1}
+\centering
+\includegraphics[width=0.6\linewidth]{../3-Figure4-1}
+\caption{Paper : On Making Robots Understand Safety Image Source :https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256}
+\label{fig:3-figure4-1}
\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}
-\newpage
-
\section {Tools Used }
\subsection{Setup Environment Using ROS To Run Services ,Motion Planning In RVIZ Using MOVEIT ,GAZEBO For Simulations}
@@ -97,6 +93,6 @@ RviZ/MoveIT motion planner was used for motion planning as this software lets us
Gazebo simulator was used which is real world simulator to run the motion plan from MoveIT. This lets us see if the real world simulation is possible for the conceived motion plan and trajectory. Gazebo also has additional features which can add real time parameters to its simulation like altering torque of joints to see how robot reacts in real world.
\end{enumerate}
-\newpage
+