Design of a Human-Robot Collaborative System: Methodology and Case Study

2021 ◽  
Author(s):  
Cecilia Scoccia ◽  
Marianna Ciccarelli ◽  
Giacomo Palmieri ◽  
Massimo Callegari
Keyword(s):  
High Performance ◽  
Control Strategies ◽  
Assistive Device ◽  
Production Lines ◽  
Collaborative Robotics ◽  
Effective Implementation ◽  
Work Area ◽  
System Methodology ◽  
Human Robot Collaboration

Abstract Human-machine collaboration is one of the key drivers of the Industry 4.0 paradigm. The recent advances in collaborative robotics led to the effective implementation of various control strategies able to improve interactions between robots and humans in unstructured environments. This represents an important socio-economic aspect: the robot does not replace the human being, but supports them in carrying out repetitive or dangerous tasks. In this scenario it is necessary to take into account different contrasting issues that derive from the necessity to grant the high performance typical of a robotic installation together with the safety levels required by a manual operation. In this paper we analyse the use case of a famous kitchen industry that decided to test the introduction of collaborative robotics to increase the flexibility and productivity of their production lines. A method, to define the design criteria of the Human-Robot Collaboration system (HRC), is proposed taking into account aspects related to both the safety and the ergonomics of the human operator, using a real-time mapping of the work area and the management of operations. The collaboration between robot and operator can be facilitated thanks to the use of an assistive device which, through the recognition of gestures, allows easy communication. Therefore, this paper aims to combine: operator safety and ergonomics, study of the workstation, sensor technologies, identification and tracing of gestures. Several simulations have been performed to evaluate the proposed collaborative workstation.

THE USE OF CASE STUDY METHOD IN TEACHING THE TERMINOLOGY IN THE FIELD OF AGRICULTURAL MACHINERY

2019 ◽  
pp. 123-130
Keyword(s):  
Case Studies ◽  
High Performance ◽  
Mechanical Engineering ◽  
The United States ◽  
Machine Building ◽  
Soil Tillage ◽  
Case Study Method ◽  
Agricultural Machine ◽  
Manufacturing Machine

The scientific research works concerning the field of mechanical engineering such as, manufacturing machine slate, soil tillage, sowing and harvesting based on the requirements for the implementation of agrotechnical measures for the cultivation of plants in its transportation, through the development of mastering new types of high-performance and energy-saving machines in manufacturing machine slate, creation of multifunctional machines, allowing simultaneous soil cultivation, by means of several planting operations, integration of agricultural machine designs are taken into account in manufacturing of the local universal tractor designed basing on high ergonomic indicators. For this reason, this article explores the use of case studies in teaching agricultural terminology by means analyzing the researches in machine building. Case study method was firstly used in 1870 in Harvard University of Law School in the United States. Also in the article, we give the examples of agricultural machine-building terms, teaching terminology and case methods, case study process and case studies method itself. The research works in the field of mechanical engineering and the use of case studies in teaching terminology have also been analyzed. In addition, the requirements for the development of case study tasks are given in their practical didactic nature. We also give case study models that allow us analyzing and evaluating students' activities.

Pollution based real time control strategies for combined sewer systems

1997 ◽  
Vol 36 (8-9) ◽  
pp. 331-336 ◽  
Author(s):  
Gabriela Weinreich ◽  
Wolfgang Schilling ◽  
Ane Birkely ◽  
Tallak Moland
Keyword(s):  
Real Time ◽  
Control Strategies ◽  
Ammonia Nitrogen ◽  
Simple Extension ◽  
Real Time Control ◽  
Time Control ◽  
Sewer Systems ◽  
Receiving Waters ◽  
Tunnel System

This paper presents results from an application of a newly developed simulation tool for pollution based real time control (PBRTC) of urban drainage systems. The Oslo interceptor tunnel is used as a case study. The paper focuses on the reduction of total phosphorus Ptot and ammonia-nitrogen NH4-N overflow loads into the receiving waters by means of optimized operation of the tunnel system. With PBRTC the total reduction of the Ptot load is 48% and of the NH4-N load 51%. Compared to the volume based RTC scenario the reductions are 11% and 15%, respectively. These further reductions could be achieved with a relatively simple extension of the operation strategy.

scholarly journals Neighborhood Energy Modeling and Monitoring: A Case Study

Energies ◽  
2021 ◽  
Vol 14 (12) ◽  
pp. 3716
Author(s):  
Francesco Causone ◽  
Rossano Scoccia ◽  
Martina Pelle ◽  
Paola Colombo ◽  
Mario Motta ◽  
...  
Keyword(s):  
High Performance ◽  
High Efficiency ◽  
Early Stage ◽  
Energy Performance ◽  
Monitoring Plan ◽  
Performance Targets ◽  
Carrier Energy ◽  
Zero Carbon ◽  
Energy Grid

Cities and nations worldwide are pledging to energy and carbon neutral objectives that imply a huge contribution from buildings. High-performance targets, either zero energy or zero carbon, are typically difficult to be reached by single buildings, but groups of properly-managed buildings might reach these ambitious goals. For this purpose we need tools and experiences to model, monitor, manage and optimize buildings and their neighborhood-level systems. The paper describes the activities pursued for the deployment of an advanced energy management system for a multi-carrier energy grid of an existing neighborhood in the area of Milan. The activities included: (i) development of a detailed monitoring plan, (ii) deployment of the monitoring plan, (iii) development of a virtual model of the neighborhood and simulation of the energy performance. Comparisons against early-stage energy monitoring data proved promising and the generation system showed high efficiency (EER equal to 5.84), to be further exploited.

Hardware Accelerator Integration Tradeoffs for High-Performance Computing: A Case Study of GEMM Acceleration in N-Body Methods

2021 ◽  
Vol 32 (8) ◽  
pp. 2035-2048
Author(s):  
Mochamad Asri ◽  
Dhairya Malhotra ◽  
Jiajun Wang ◽  
George Biros ◽  
Lizy K. John ◽  
...  
Keyword(s):  
High Performance Computing ◽  
High Performance ◽  
Hardware Accelerator ◽  
Performance Computing

Continuous Finite-Time Torque Control for Flexible Assistance Exoskeleton with Delay Variation Input

Robotica ◽  
2020 ◽  
pp. 1-26
Author(s):  
Tao Xue ◽  
ZiWei Wang ◽  
Tao Zhang ◽  
Ou Bai ◽  
Meng Zhang ◽  
...  
Keyword(s):  
Finite Time ◽  
Disturbance Rejection ◽  
High Performance ◽  
Control Strategies ◽  
Fractional Power ◽  
Critical Issue ◽  
Human Robot Interaction ◽  
Torque Control ◽  
Finite Time Stability ◽  
Control Scheme

SUMMARY Accurate torque control is a critical issue in the compliant human–robot interaction scenario, which is, however, challenging due to the ever-changing human intentions, input delay, and various disturbances. Even worse, the performances of existing control strategies are limited on account of the compromise between precision and stability. To this end, this paper presents a novel high-performance torque control scheme without compromise. In this scheme, a new nonlinear disturbance observer incorporated with equivalent control concept is proposed, where the faster convergence and stronger anti-noise capability can be obtained simultaneously. Meanwhile, a continuous fractional power control law is designed with an iteration method to address the matched/unmatched disturbance rejection and global finite-time convergence. Moreover, the finite-time stability proof and prescribed control performance are guaranteed using constructed Lyapunov function with adding power integrator technique. Both the simulation and experiments demonstrate enhanced control accuracy, faster convergence rate, perfect disturbance rejection capability, and stronger robustness of the proposed control scheme. Furthermore, the evaluated assistance effects present improved gait patterns and reduced muscle efforts during walking and upstair activity.

scholarly journals To separate or not to separate: what is necessary and enough for a green and sustainable extraction of bioactive compounds from Brazilian citrus waste

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Vânia G. Zuin ◽  
Luize Z. Ramin ◽  
Mateus L. Segatto ◽  
Aylon M. Stahl ◽  
Karine Zanotti ◽  
...  
Keyword(s):  
High Performance ◽  
Orange Peel ◽  
Solvent Ratio ◽  
Biomass Waste ◽  
Chemical Profiles ◽  
Orange Waste ◽  
Sustainable Materials ◽  
Citrus Waste ◽  
Sustainable Extraction

AbstractIncreasing demands to obtain chemicals via greener and more sustainable materials and processes introduces concepts that should be considered and applied from lab to larger scales. Obtaining bioactive chemicals from agro-industrial non-food biomass waste can combine benign techniques and bio-circular economy to reach this goal. After extraction, evaluating profitability and environmental impacts to decide whether separation – and to what extent – is necessary or not is indispensable. This could be integrated into an approach known as sufficiency, as an important criterion for sustainability. From this perspective, Brazil’s annual generation of 8 million tons of orange waste is relevant, since citrus waste has large amounts of high-value compounds, such as pectin, d-limonene and flavonoids. This case study aimed at developing and comparing green and sustainable analytical methods to obtain flavonoids from orange peel. Homogenizer, ultrasound and microwave-assisted extractions were employed using chemometric tools, considering time, sample/solvent ratio, temperature and ethanol concentration as variables to obtain extracts containing hesperidin, naringenin, hesperetin and nobiletin. The bioactive flavonoids were determined by high-performance liquid chromatography (HPLC-UV). Microwave extraction was the most efficient method for obtaining the majority of flavonoids studied, six times more for hesperidin. Moreover, orange waste from different farming models showed diverse chemical profiles showing the importance of this alternative in natural product resources.

SURVEILLANCE OF DIABETES PREVALENCE RATE THROUGH THE DEVELOPMENT OF A MARKOV-BASED CONTROL CHART

2012 ◽  
Vol 12 (04) ◽  
pp. 1250083
Author(s):  
PERSHANG DOKOUHAKI ◽  
RASSOUL NOOROSSANA
Keyword(s):  
Control Chart ◽  
Control Charts ◽  
High Performance ◽  
Discrete Data ◽  
Correlated Data ◽  
Statistical Process ◽  
Control Charting ◽  
Attribute Quality ◽  
Related Process

In the field of statistical process control (SPC), usually two issues are addressed; the variables and the attribute quality characteristics control charting. Focusing on discrete data generated from a process to be monitored, attributes control charts would be useful. The discrete data could be classified into two categories; the independent and auto-correlated data. Regarding the independence in the sequence of discrete data, the typical Shewhart-based control charts, such as p-chart and np-chart would be effective enough to monitor the related process. But considering auto-correlation in the sequence of the data, such control charts would not workanymore. In this paper, considering the auto-correlated sequence of X1, X2,…, Xt,… as the sequence of zeros or ones, we have developed a control chart based on a two-state Markov model. This control chart is compared with the previously developed charts in terms of the average number of observations (ANOS) measure. In addition, a case study related to the diabetic people is investigated to demonstrate the applicability and high performance of the developed chart.

scholarly journals Scientific Programming with High Performance Fortran: A Case Study Using the xHPF Compiler

1997 ◽  
Vol 6 (1) ◽  
pp. 127-152
Author(s):  
Eric De Sturler ◽  
Volker Strumpen
Keyword(s):  
High Performance ◽  
Parallel Implementation ◽  
Gaussian Elimination ◽  
Primary Objective ◽  
Matrix Product ◽  
Dense Matrix ◽  
High Performance Fortran ◽  
Partial Pivoting ◽  
Intel Paragon

Recently, the first commercial High Performance Fortran (HPF) subset compilers have appeared. This article reports on our experiences with the xHPF compiler of Applied Parallel Research, version 1.2, for the Intel Paragon. At this stage, we do not expect very High Performance from our HPF programs, even though performance will eventually be of paramount importance for the acceptance of HPF. Instead, our primary objective is to study how to convert large Fortran 77 (F77) programs to HPF such that the compiler generates reasonably efficient parallel code. We report on a case study that identifies several problems when parallelizing code with HPF; most of these problems affect current HPF compiler technology in general, although some are specific for the xHPF compiler. We discuss our solutions from the perspective of the scientific programmer, and presenttiming results on the Intel Paragon. The case study comprises three programs of different complexity with respect to parallelization. We use the dense matrix-matrix product to show that the distribution of arrays and the order of nested loops significantly influence the performance of the parallel program. We use Gaussian elimination with partial pivoting to study the parallelization strategy of the compiler. There are various ways to structure this algorithm for a particular data distribution. This example shows how much effort may be demanded from the programmer to support the compiler in generating an efficient parallel implementation. Finally, we use a small application to show that the more complicated structure of a larger program may introduce problems for the parallelization, even though all subroutines of the application are easy to parallelize by themselves. The application consists of a finite volume discretization on a structured grid and a nested iterative solver. Our case study shows that it is possible to obtain reasonably efficient parallel programs with xHPF, although the compiler needs substantial support from the programmer.

Electrical packaging requirements for low-voltage ICs-3.3 V high-performance CMOS devices as a case study

1994 ◽  
Vol 17 (4) ◽  
pp. 493-504 ◽  
Author(s):  
R. Senthinathan ◽  
A. Mehra ◽  
M. Mahalingam ◽  
Y. Doi ◽  
H. Astrain
Keyword(s):  
High Performance ◽  
Low Voltage
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