An optimization method for human-robot collaboration in a production unit in the context of intelligent manufacturing

Author(s):  
Jihong Yan ◽  
Chao Chen ◽  
Zipeng Wang ◽  
Lizhong Zhao ◽  
Dianguo Li
Author(s):  
Yang Hu ◽  
Zitong Liu ◽  
Feng Xu ◽  
Jiayi Liu ◽  
Wenjun Xu ◽  
...  

Abstract The research of human-robot collaboration for intelligent manufacturing is being paid gradually increasing attention due to high flexibility and high manufacturing efficiency. Comparing with the traditional manufacturing with low flexibility, human-robot collaboration in manufacturing system provides more personalized and flexible way to cover the shortages of traditional manufacturing mode. In human-robot collaboration system, human motion position prediction in the collaborative space is an essential prerequisite for ensuring the safety of workers. In this paper, 3D sensor Kinect is utilized to directly obtain human joint information. A partial circle delimitation method is used to solve the offset phenomenon of human joint obtained by Kinect, so as to achieve accurate estimation of human joint points. On this basis, an algorithm combing multilayer perceptron and long short-term memory network is explored to predict human motion position accurately. It not only helps to avoid complex feature extraction due to its end-to-end characteristic, but also provide natural interaction manner between human and robot without wearable devices or tags that may become a burden for the former. After that, the experimental results demonstrate that the proposed method makes predicting results accurate, and provides the reliable basis for human position prediction in the human-robot collaboration. This research could be applied to the human motion position prediction in human-robot collaboration process.


2021 ◽  
Author(s):  
Shuai Zhang ◽  
Shiqi Li ◽  
Haipeng Wang ◽  
Xiao Li

Abstract The manufacturing industry was moving towards the trend of short run production and personalized customization. That results in the challenge of the efficiency of task adjustment and the complexity of tasks for robots. Thus, this paper developed the intelligent manufacturing cell based on human-robot collaboration(HRC-IMC), combining the intelligence of cobot with that of human. And the intelligent manufacturing cell was composed with the modules of imitating learning, human-robot safety planning, task planning and visual inferring. Moreover, all modules were designed to provide a set of systematic and e ective method which can improve the efficiency of task planning and new task learning. The experimental results indicated that the the efficiency of task adjustment of HRC-IMC can be increased 42.8 % than that of Moveit. All in all, this study is of great significance for improving the efficiency of new task planning of cobots by digitizing the manipulation experience of human.


CICTP 2019 ◽  
2019 ◽  
Author(s):  
Yuchen Wang ◽  
Tao Lu ◽  
Hongxing Zhao ◽  
Zhiying Bao
Keyword(s):  

Author(s):  
Fachrudin Hunaini ◽  
Imam Robandi ◽  
Nyoman Sutantra

Fuzzy Logic Control (FLC) is a reliable control system for controlling nonlinear systems, but to obtain optimal fuzzy logic control results, optimal Membership Function parameters are needed. Therefore in this paper Particle Swarm Optimization (PSO) is used as a fast and accurate optimization method to determine Membership Function parameters. The optimal control system simulation is carried out on the automatic steering system of the vehicle model and the results obtained are the vehicle's lateral motion error can be minimized so that the movement of the vehicle can always be maintained on the expected trajectory


TAPPI Journal ◽  
2015 ◽  
Vol 14 (2) ◽  
pp. 119-129 ◽  
Author(s):  
VILJAMI MAAKALA ◽  
PASI MIIKKULAINEN

Capacities of the largest new recovery boilers are steadily rising, and there is every reason to expect this trend to continue. However, the furnace designs for these large boilers have not been optimized and, in general, are based on semiheuristic rules and experience with smaller boilers. We present a multiobjective optimization code suitable for diverse optimization tasks and use it to dimension a high-capacity recovery boiler furnace. The objective was to find the furnace dimensions (width, depth, and height) that optimize eight performance criteria while satisfying additional inequality constraints. The optimization procedure was carried out in a fully automatic manner by means of the code, which is based on a genetic algorithm optimization method and a radial basis function network surrogate model. The code was coupled with a recovery boiler furnace computational fluid dynamics model that was used to obtain performance information on the individual furnace designs considered. The optimization code found numerous furnace geometries that deliver better performance than the base design, which was taken as a starting point. We propose one of these as a better design for the high-capacity recovery boiler. In particular, the proposed design reduces the number of liquor particles landing on the walls by 37%, the average carbon monoxide (CO) content at nose level by 81%, and the regions of high CO content at nose level by 78% from the values obtained with the base design. We show that optimizing the furnace design can significantly improve recovery boiler performance.


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