1,721,630 research outputs found
Energy Tank-based Control Framework for Satisfying the ISO/TS 15066 Constraint
No full textThe technical specification ISO/TS 15066 provides the foundational elements for assessing the safety of collaborative human-robot cells, which are the cornerstone of the modern industrial paradigm. The standard implementation of the ISO/TS 15066 procedure, however, often results in conservative motions of the robot, with consequently low performance of the cell. In this paper, we propose an energy tank-based approach that allows to directly satisfy the energetic bounds imposed by the ISO/TS 15066, thus avoiding the introduction of conservative modeling and assumptions. The proposed approach has been successfully validated in simulation
A Control Barrier Function Approach for Maximizing Performance while Fulfilling to ISO/TS 15066 Regulations
No full textISO/TS 15066 is globally recognized as the guideline for designing safe collaborative robotic cells, where human and robot collaborate in order to fulfill a common job. Current approaches for implementing the ISO/TS 15066 guidelines lead to a conservative behavior (e.g. low velocity) of the robot and, consequently, to poor performance of the collaborative cell. In this letter, we propose an approach based on control barrier functions that allows to maximize the performance of a robot acting in a collaborative cell while satisfying the ISO/TS 15066 regulations. The proposed approach has been successfully validated both in simulation and through experiments
Virtual Modeling as a Safety Assessment Tool for a Collaborative Robot (Cobot) Work Cell Based on ISO/TS 15066:2016
Full text linkThis paper describes a framework for using 3D simulation as a safety assessment tool based on ISO/TS 15066:2016 guidelines for a cobot work cell. A human-robot collaboration-based work cell has been developed. The digital counterpart of this work cell is developed beforehand to perform several safety assessments based on ISO/TS 15066:2016. It is observed that the 3D simulation model can be used as a safety assessment tool to ensure the safety of a cobot work cell even before its creation. The study also signifies the simulation software for safety and human factors in the design of a cobot cell.</p
Safe human-robot-collaboration-introduction and experiment using ISO/TS 15066
No full textS.740-744The use of industrial robots for human-robot-collaborative applications continually gains in significance. The advantages of both human and robots can be combined to minimize the disadvantages. Human skills like cognition, adaptation or tactile abilities can be added with robot strengths like speed, force or precision. Besides its advantages this development also cause new challenges regarding safety measures, particularly to ensure humans integrity working closed to or even with heavy robots. Therefore in February 2016 the International Organization for Standardization (ISO) published a new specification ISO/TS 15066 (Robots and robotic devices - Collaborative robots), a supplement to EN ISO 10218 (Robots and robotic devices - Safety requirements for industrial robots). To get a comprehensive overview of the new specification this paper first gives an introduction into safety standards and guidelines for risk assessment in general and industrial robots specifically, followed by a more detailed insight into ISO/TS 15066. An experiment with an exemplary standard collaboration scenario demonstrates its usage. A subsequent discussion about the illustrated residual hazard potential in case of an incident despite compliance with ISO/TS 15066 and a prospect on future approaches to achieve more safety within human-robot-collaboration will complete this paper
Going Beyond Counting First Authors in Author Co-citation Analysis
Full text linkThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
A Novel DMPs Based Approach to Comply ISO/TS 15066
No full textLearning by demonstration techniques are becoming popular in human-robot collaboration (HRC) because they allow exploiting the versatility of collaborative robots. In this context, Dynamic Motion Primitives (DMPs) are a standard method for allowing human operators to easily teach tasks to robots. However, DMPs do not guarantee compliance with ISO/TS 15066 safety standards. This work addresses these issues by introducing a control pipeline that adapts DMPs through an optimization problem to ensure compliance with the Speed and Separation Monitoring (SSM) safety mode. The approach has been experimentally validated in a real scenario, where a UR5e robot and a human operator collaborate on a polishing task
Variations on the Author
Full text link“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Full text linkWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
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