\paragraph{Objective Of Thesis:} Design and Implementation of a Model-based Architecture for Cobotic Cells.\\
\paragraph{Objective Of Thesis:} Design and Implementation of a Model-Based Architecture for Cobotic Cells.\\
\section{Robots and Robotics}
A robot is a machine developed by humans to do work for them and to make their lives easy. Humans had to keep doing repetitive tasks throughout history which were essential things to do and there have been times when enough manpower was absent or unavailable to do the required work. This led to humans to think about designing a machine which can obey their commands to accomplish a series of steps to do a job. They then described these machines as a robot.\\
In fact, any machine designed for any specific task and purpose can be termed as a robot. But the term "robot" is generally known as a machine that is versatile and can accomplish a range of tasks .Its core is defined by a set of common characteristics which all robots have in common and then some that are variable and those can be added / removed to suit a specific type of job or size and area of the field of that work profile.\\
In early times of human history, humans designed tools for agriculture as they were a natural necessity that was deemed to make everyday work easier for people and thus increase efficiency and overall productivity of farming. And as is said "Necessity is the mother of invention" there was a greater need felt to make life more easier for farmers compared to the elementary tools those were designed earlier, they then made wheel and then a cart on top of the wheels were installed and thus made a wagon to carry produce from fields. This was advent of machines in the history of mankind and set tone for evolution of machines as per specific needs.\\
As the decades and centuries of time passed by, human thinking evolved and refined, their outlook towards machines improved and so did their skills with machines to make them more self contained and all this was done to reduce human intervention for decision making. Then humans tried to build artificial intelligence into their machines and called them robots, but they were elementary and theoretical form of machines which can be principally described as robots.\\
Artificial intelligence was built into machines 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.\\
This has nowadays led to creation of an ecosystem of machines which are versatile and followed hook and template structure to do many tasks using same kind of technology i.e. technology was used for multiple purposes adding to versatility. And the end product can be simply and best described as a robot that can look like a human being and is soft to touch, feels like a human being, can listen and move and not just see but identify things all built in, using programming the components and they all working together to give seamless and intended results. Robots are today 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{1}.\\
Robotics is the field related to study of Robots. It includes all aspects of robotics starting from elementary components of a robot, programming the robot to all electrical aspects of the machine and the study of them working together.\\
Any robot is a machine that is made up of mainly steel, plastic and more complex materials put together and typically needs electric power to run and perform some work. Robots are programmed using computer software in today's times. Software dictate the robotic parameters and manipulate control surfaces by reading sensor values to enable decision making as per the situation detected and decisive action pre-programmed for it. This can be used to fine tune its actions to perform most complex of tasks independently\cite{2}. Robots in today's times have embedded control built in, which guide the robot to do a job safely in real world environment setting.\\
Robots range from auto/semi-automatic functional form to resembling human form type called cobots to industrial grade and medically utilized robots\cite{3}. Robots have been made to look and behave exactly like humans in present time and this is achieved by using soft silicone materials which makes them look sophisticated and intelligent in a home setting. But they are not always designed for good looks and in industry setting they are bare bone machines most time lacking even correct covering and this is to aid in maintenance and improve operational functionality. Today robotics is working with cutting edge research enabling it to function up to the level of developing safe auto driving cars.\\
So it can be concluded that robotic components are body/frame, control system, control surfaces, and drive train.\\
\section{What is Robotics?}
Robotics is about and deals with study of all the machines that can replace human beings in execution of a task, both w.r.t. physical activity and decision-making .Throughout history human beings have constantly attempted to seek substitutes that can mimic their behavior when interacting with surrounding environment \cite{1}.
\section{About Robots}
A robot is a machine programmable by a computer,made to carry out a complex series of actions automatically \cite{2}. They can be guided by an external control device or the control may be embedded within and may be constructed resembling human form, but most robots are machines designed to perform a task with no regard to their aesthetics.
These machines range from autonomous or semi-autonomous ranging from humanoids to industrial robots and medically used and operating machines to patient assisting robots \cite{3}. By mimicking a lifelike appearance or automating movements, it conveys a sense of intelligence . Artificial Intelligence is expected to proliferate in the coming decade, with home robotics and the autonomous car as some main drivers.
\section{Uses And Applied Fields}
Robots have a wide range of uses and applied fields. Some uses range from helping fight forest fires to working alongside humans in manufacturing plants (known as co-bots),ones that offer companionship to elderly individuals,surgical assistants,autonomous household robots that carry out tasks like vacuuming and mowing the grass.Some of applied fields are -\\
\subsection{Electrical Components Manufacturing}
Mass-produced Printed Circuit Boards (PCBs) are almost exclusively manufactured by pick-and-place robots, typically with SCARA manipulators, which remove tiny electronic components from strips or trays, and place them on to PCBs with great accuracy.Such robots can place hundreds of thousands of components per hour, far out-performing a human in speed, accuracy, and reliability \cite{4}.
Robots have been developed to suit and work in various fields in today's time. In-fact there are appropriate type of robot for almost any work today. They range from most easy work to most complex of tasks. In this section more light on this area is thrown by describing some use cases in following sections.\\
\subsection{Elderly Care}
Robots are used in home setting to provide company to lonely elderly and give care to them. There are soft bodied robots made up of silicone used in Japan, and this is a place with sparse population and few people to care for elderly. These machines there help the seniors from keeping track of their medicines to playing music to them as well as talking to them. They move objects for them, monitor their health and even help in distress by calling help for lonely seniors\cite{10}.\\
\subsection{Medical Uses}
Robots are used in regular and critical surgeries performed on humans in today's time. The performance of robots as compared to humans is very high in critical human diagnostic operations like C-section surgeries and much more complex ones like angioplasty.\\
Mobile robots, following markers or wires in the floor, or using vision or lasers, are used to transport goods around large facilities, such as warehouses, container ports, or hospitals \cite{5}.
The can perform medical procedures very fast and with clean cuts and stitches that a human hand is not capable of performing. They can as well perform knee replacement surgeries and many more like making incision to flush kidney stones with amazing accuracy. Many robots also let the surgeon doctor to take control of control surfaces and this aids in minimizing errors caused by a shaking hand a human doctor may have.\\
\subsection{Space Robotic Probes}
Almost every unmanned space probe ever launched was a robot.Some were launched in the 1960s with very limited abilities, but their ability to fly and land is an indication of their status as a robot. This includes the Voyager probes and the Galileo probes, among others \cite{6}.
\subsection{From Ocean Floor to Space Probes to Volcanoes}
\subsection{Soft-bodied Cobots}
Robots with silicone bodies and flexible actuators (air muscles, electro active polymers and ferrofluids) look and feel different from robots with rigid skeletons, and can have different behaviors. Soft, flexible (and sometimes even squishy) robots are often designed to mimic the biomechanics of animals and other things found in nature, which is leading to new applications in medicine, care giving, search and rescue, food handling and manufacturing, and scientific exploration \cite{7}.
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.\\
\subsection{Cobots}
Cobots or collaborative robots, are robots intended for direct human robot interaction within a shared space, or where humans and robots are in close proximity. Cobot applications contrast with traditional industrial robot applications in which robots are isolated from human contact.Cobot safety may rely on lightweight construction materials, rounded edges, and inherent limitation of speed and force, or on sensors and software that ensures safe behavior \cite{8}.
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{6}.\\
\subsection{Robots in Construction for Homes}
Construction robots can be used for working in hazardous construction cites. \cite{9}.
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.
\subsection{Elderly Assistance}
The population is aging in many countries, especially Japan, meaning that there are increasing numbers of elderly people to care for, but relatively fewer young people to care for them.\\Humans make the best carers, but where they are unavailable, robots are gradually being introduced.FRIEND Robot is an example\cite{10}
\subsection{Automobile Industry}
Robots are used in automobile manufacturing assembly lines to produce high quality automobile. They can minimize errors and give high quality finished products that is not possible to be manufactured by a human. Many German auto brands are known for their high quality cars all over the world. This is because these cars offer a lot fo features but most importantly a rigid chassis which gives safety, comfort and stability which are only possible by laser welding in body.\\
This also is allowed to be offered at competitive prices thus giving high quality and finished product worthy of their price and in big auto markets these cars are preferred nowadays over older cars with hand welded bodies which see loose components in chassis with age. Thus robotics form the base of the quality of these products and gives a distinguished appeal compared to other cars which offer similar features but do not have these machine welds in body thus compromising safety and comfort of occupants.\\
\section{Types Of Robots}
Various types of Robots classification are described below \cite{11}.
\subsection{Humanoid Robots}
Humanoid robots are robots that look like and/or mimic human behavior. These robots usually perform human-like activities (like running, jumping and carrying objects), and are sometimes designed to look like us, even having human faces and expressions.They have soft surfaces and use silicone materials to look and feel and even move like a human. Examples of humanoid robots are Hanson Robotics’ Sophia and Boston Dynamics’ Atlas.
\subsection{Dynamic Robots-Resembling Humans}
\subsection{Pre-Programmed Robots}
Dynamic robots are described as humanoid robots which are the robots that look and feel like a human being. They are designed to look and feel like humans and mostly work in household setting to perform activities like carrying objects. They use silicone materials which are soft and make them look like a real human with face motions and expressions. Examples of dynamic robots are Hanson Robotics’ Sophia and Boston Dynamics’ Atlas.
Pre-programmed robots operate in a controlled environment where they do simple, monotonous tasks. Example of a pre-programmed robot is a mechanical arm on an bike assembly line. The arm serves one function — to weld iron, to insert a certain part into the engine, etc. — and it’s job is to perform that task longer, faster and more efficiently than a human.
\subsection{Preprogrammed Robots}
These robots are made to work in a controlled environment. Here they do simple and monotonous tasks. Example is a mechanical arm on an vehicle assembly line. Its job is to perform as per pre-decided plan and perform tasks longer, faster and more efficiently than a human.
\section{Importance Of Robots In Today's Time}
In any organization doing monetary work, most important factors are time and cost for any situation. Generally humans work in these organizations but robots are easier and cheaper to work with when compared to humans and this makes them very versatile and attractive in this context.There is also a lot of danger and risk in many tasks that if handled by humans can be expensive or hazardous to life but, robots are the attractive alternative to human labor.For example in a situation, a robot can move around gas towers, travel space and bring back feedback, all this without human intervention and thus sans exposing human life to any kind of danger. Another factor is humans can get tired but robots cannot get tired. To get exhausted is character of human but even after performing long times robots do not get tired and for a long time. They can work for days, weeks or even months without getting fatigue and this too in repetitive situations.\\
Robots are machines that are usually programmed to produce accurate results ever time and this makes them ideal for critical procedures ranging from medical procedures on humans to assisting in factories ,all due to their versatility in both hardware and software systems. Robots do not get frustrated like a human in any adverse situation this makes them suitable to perform more reliably. Automating processes means to rule out the possibility of having to deal with sick-offs, absenteeism and go-slows that normally delay work.\\
Robots in today's time offer some very specific and important benefits which cannot be ignored or replaced. It include safety, precision of work, quick delivery of product to market, accuracy in repetitive tasks without human like excuses and many more.\\
Robots are ideal for uses in high risk area like volcanic explorations, space probes , deep ocean operations and in bomb diffusion squads as mentioned in above sections. In these situations they perform extraordinarily well. They are stable workers without boredom, cannot get tired ,don't compromise on safety and don't make excuses for under performance.They work tirelessly and ensure accuracy ,precision and quality of work in any situation.Once programmed and up and running they can work a long time without supervision and while maintaining standards of their work under all situations.\\
Robots are made from man made materials which are usually metals and plastics and they have three major parts namely; the controllers, sensors and mechanical parts. All these parts are intermingled and the functionality of one depends on the other. Sensors are the parts of machine programmed to inform a robot of its surrounding information. These machines are able to tell the amount of pressure that needs to be exerted in order to enable the required grip. Secondly,controllers are best described as the robot’s brain power. In most cases these days, robots run on computer programs. every one of it has specific commands which control all the movements of all the movable parts of overall machines.The mechanical parts are the parts that are responsible for moving the robots. They include grippers, gears, pistons and motors. To enable movements, the mechanical parts of robots are normally powered by water, electricity or air.\cite{12}
Employing robots is cheap and need only power which is also highly optimized. Robots have a one time costs and low power consumption which make them cheaper to employ in most cases than humans. They are also very reliable nowadays thus offering very low maintenance and great value for money.\\
Robots are intelligent. They are programmed to make their own decisions and know how to tackle almost all situations. They have a learning mode where they can be taught instantaneously some tasks that they can mimic, but this is usually limited for research purposes in university setting\cite{12}
.\\
\section{Expectations From Robots}
Laws of Robotics which define three expectations from the field of Robotics are :\\
There are few basic expectation that a Robot must in all cases adhere to and they are called as Laws of Robotics which define these three expectations:described as Asimov's Laws of Robotics. They are described as follows :\\
‒ A robot must not cause injury to a human being or allow the injury of a human being due to inactivity.\\
‒ A robot must not in any case cause a minor or hazardous injury to a human being or allow the injury of a human being due to inactivity.\\
‒ A robot under all circumstance must obey the orders which are given by human beings except of those that conflict with the First Law.\\
‒ A robot under any and all circumstance must obey the orders which are given by humans except of those that conflict with the First Law stated above.\\
‒ A robot must protect its existence unless in a situation in conflicts with the First or Second Law.
‒ A robot must protect its existence unless in a situation in conflicts with the First or Second Law stated above.\cite{3.1}
