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Commit f5f7a64e authored by Nikhil Ambardar's avatar Nikhil Ambardar
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sections/imp.tex
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......@@ -45,7 +45,8 @@ hyperref,
The document uses markup "\usepackage{}" to include different packages and lets user set various parameters for them like style, bibliography etc. There is large library of packages used to include in documents. Then begins the document details itself.
\begin{lstlisting}
\texttt{
\faculty{Fakultät Informatik}
\department{}
\institute{Institut für Software- und Multimediatechnik}
......@@ -67,8 +68,8 @@ Design and Implementation of a Model-based Architecture for Cobotic Cells
}
\professor{Prof. Dr. rer. nat habil. Uwe Aßmann}
\date{27.10.2020}
}
\end{lstlisting}
}}
This displays more information for adding to main document. Then begins the markups for title page, table of contents and input sections which demonstrate chapters included.
......
thesis.aux
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thesis.bcf
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......@@ -2403,44 +2403,4 @@
<bcf:citekey order="48">gaz</bcf:citekey>
<bcf:citekey order="49">re1</bcf:citekey>
<bcf:citekey order="50">re2</bcf:citekey>
</bcf:section>
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<bcf:sortitem order="4">translator</bcf:sortitem>
<bcf:sortitem order="5">sorttitle</bcf:sortitem>
<bcf:sortitem order="6">title</bcf:sortitem>
</bcf:sort>
<bcf:sort order="4">
<bcf:sortitem order="1">sorttitle</bcf:sortitem>
<bcf:sortitem order="2">title</bcf:sortitem>
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<bcf:sort order="5">
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<bcf:sortitem order="2">year</bcf:sortitem>
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<bcf:sort order="6">
<bcf:sortitem order="1">volume</bcf:sortitem>
<bcf:sortitem literal="1" order="2">0</bcf:sortitem>
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<!-- DATALISTS -->
<bcf:datalist section="0"
name="nty/global//global/global"
type="entry"
sortingtemplatename="nty"
sortingnamekeytemplatename="global"
labelprefix=""
uniquenametemplatename="global"
labelalphanametemplatename="global">
</bcf:datalist>
</bcf:controlfile>
<bcf:citekey order="51">lat</bcf:citekey>
thesis.log
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thesis.toc
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\boolfalse {citerequest}\boolfalse {citetracker}\boolfalse {pagetracker}\boolfalse {backtracker}\relax
\babel@toc {english}{}
\babel@toc {english}{}
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {1}INTRODUCTION}{4}{chapter.1}%
\defcounter {refsection}{0}\relax
\contentsline {paragraph}{\nonumberline Objective Of Thesis:}{4}{paragraph*.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.1}Robots and Cobots}{4}{section.1.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.2}Components Of a Typical Robot}{6}{section.1.2}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.3}Uses And Applied Fields}{7}{section.1.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.1}Elderly Care}{7}{subsection.1.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.2}Medical Uses}{7}{subsection.1.3.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.3}Warehouse Operator}{7}{subsection.1.3.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.4}Food Home Delivery}{8}{subsection.1.3.4}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {1.3.5}Automotive Industry}{8}{subsection.1.3.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.4}Importance Of Robots In Today's Time}{8}{section.1.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.5}Expectations From Robots}{9}{section.1.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {1.6}Evolution - Robots to Cobots}{9}{section.1.6}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {2}INSPIRATION AND DRIVING FORCE}{10}{chapter.2}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {3}BACKGROUND}{12}{chapter.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.1}About Franka Emika Panda Robot}{12}{section.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.2}Robotics - Features}{13}{section.3.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.1}Sensitivity}{13}{subsection.3.2.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.2}Drive a.k.a Motion}{14}{subsection.3.2.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.3}Impedance}{14}{subsection.3.2.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.2.4}Collision Detection and Reaction}{14}{subsection.3.2.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.3}Software Tools Robot Franka Uses}{15}{section.3.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.4}Robotic Coexistence With Humans - Meaning Of Cobots}{15}{section.3.4}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.1}Existence Alongside Humans}{16}{subsection.3.4.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.2}Collaboration and Co-operation}{16}{subsection.3.4.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.4.3}Real-time and Presence Acknowledged Collaboration}{16}{subsection.3.4.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.5}Accidents Due To Malfunctions and Consequences}{16}{section.3.5}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.1}Mechanical Failure}{17}{subsection.3.5.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.2}Electrical Anomaly In Components}{17}{subsection.3.5.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.3}Malfunctioning Software}{17}{subsection.3.5.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {3.5.4}Human Operator Errors}{17}{subsection.3.5.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {3.6}Making Robots Safer And Safe Deployment Practices}{18}{section.3.6}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {4}STATE OF THE ART}{20}{chapter.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.1}Motion Planning And Simulations}{20}{section.4.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.2}Modeling - Explaining Choice of Design Depictions}{20}{section.4.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.1}Unified Modeling Language (UML) Diagram For World Model Class Diagram}{21}{subsection.4.2.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.2}Business Process Modeling Notation (BPMN) for Application Model}{22}{subsection.4.2.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.2.3}Unified Modeling Language State Machine for Safety Model}{24}{subsection.4.2.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {4.3}Tools Used}{26}{section.4.3}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {4.3.1}Setup Environment Using ROS To Run Services, Motion Planning In MOVEIT and GAZEBO For Simulations and more}{26}{subsection.4.3.1}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {5}CONCEPT}{32}{chapter.5}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.1}Theme}{32}{section.5.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.2}The Models Designed}{32}{section.5.2}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.3}Programming Of Hardware And Software Components - Purpose And Concepts}{37}{section.5.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.4}Refactoring and Reclassification}{38}{section.5.4}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {5.5}Connecting Everything - Simulations\\}{38}{section.5.5}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {6}IMPLEMENTATION}{39}{chapter.6}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.1}Introduction}{39}{section.6.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.2}WORLD MODEL IMPLEMENTATION}{40}{section.6.2}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {6.2.1}Programming - The Implementation Of World Model}{40}{subsection.6.2.1}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.3}Test Cases Designed}{42}{section.6.3}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {6.4}Future Work Implementing Application Model Programmatically\\}{42}{section.6.4}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\numberline {7}EVALUVATION}{43}{chapter.7}%
\defcounter {refsection}{0}\relax
\contentsline {section}{\numberline {7.1}Results}{43}{section.7.1}%
\defcounter {refsection}{0}\relax
\contentsline {subsection}{\numberline {7.1.1}WORLD MODEL TEST RESULTS}{43}{subsection.7.1.1}%
\defcounter {refsection}{0}\relax
\contentsline {chapter}{\nonumberline Bibliography}{44}{chapter*.24}%
\defcounter {refsection}{0}\relax
\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
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