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  • S. Makris
S. Makris

S. Makris
University of Patras | UP · Laboratory for Manufacturing Systems and Automation (LMS) / Mechanism and Machine Theory

PhD

About

211
Publications
95,646
Reads
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5,294
Citations
Additional affiliations
September 1997 - present
University of Patras
Position
  • Project Manager

Publications

Publications (211)
Article
Advancements in mechatronics, perception and computational methods allowed robotics to focus on non-rigid part manipulation, which is characterized by high complexity due to the unpredictable and compliant behavior of flexible materials. This paper presents the automation of a manufacturing process involving linear non-rigid components through the...
Article
This paper presents the design and deployment of a system that enables the safe cooperation and interaction of human operators with industrial robots. Dynamically switched safety zones are used to monitor human presence and respectively adapt robot behavior, namely speed and movement status. An overhead safety camera system is used to identify movi...
Conference Paper
The reduction of physical barriers between humans and robots has been accelerated in recent years by advancements in industrial robotics and sensor technologies. To ensure safety in human-robot interaction (HRI), various collaborative operations can be implemented according to recent standards and deliverables. This paper presents a review of rec...
Article
Despite extensive automation in multiple industrial sectors, manufacturing operations involving deformable objects are mostly performed manually. Challenges originating from flexible objects’ dynamic distortion underline handicaps in robot cognition and dexterity. This paper presents a model-based motion planner for deformable object co-manipulatio...
Conference Paper
Full-text available
While robots have very well proven their flexibility and efficiency in mass production and are recognized as the production resource of the future, their adoption in lower volume, diverse environment is heavily constrained. The main reason for this is the high integration and deployment complexity that overshadows the performance benefits of this t...
Chapter
Human Robot Collaboration (HRC) is considered as a major enabler for achieving flexibility and reconfigurability in modern production systems. The motivation for HRC applications arises from the potential of combining human operators’ cognition and dexterity with the robot’s precision, repeatability and strength that can increase system’s adaptabil...
Article
Augmented Reality (AR) applications have seen a rise in industry in the last few years, due to technological advancements in many of its fundamental areas, such as display and sensing technologies. AR has been used as a driver for supporting human operators in fully manual and semi-automated systems, proving its usefulness in areas such as operatio...
Article
Human-Robot Collaboration (HRC) enabling mechanisms require real-time detection of potential collisions among human and robots. Taking under consideration the already existing standards and the literature, most of collision detection techniques require the integration of sensorial systems on the robot aiming to identify the contact events. This pap...
Article
In recent years research in manufacturing has been shifting towards flexible and intuitive Human-Robot Collaborative (HRC) solutions, allowing operators to coexist and interact safely with robots of various payloads. Previous research provided proof that HRC systems can improve the quality and cycle time of processes, including welding, grinding, p...
Article
As market demands are characterized by more customized products with shorter lifecycles, it is obligatory for modern operators to manage recurrent product or manufacturing system changes. In contrary to previous years, adaptation to such changes prerequires memorization of more information, and familiarization with more complex systems and resource...
Article
The last years several methods and sensors have emerged for the assessment of the physical and cognitive loads that human workers experience during the execution of manufacturing tasks. Questionnaires, videos, simulation data, IMU sensors, etc. are some of the data collection methods that can provide important data for the physical (skeleton joint...
Article
Assembly is one of the cornerstones of today’s manufacturing; thus, efficient automated assembly systems have become a necessity in the recent past. Challenges that have traditionally been present in such systems involve positioning accuracy, stable gripping, accommodation of several variants by the same resources and prevention of error aggregatio...
Article
Over the last decades, a significant effort has been allocated by the research community towards improving robot capabilities. These emerged robot cognitive and perception abilities have been driving the swift of production paradigm from rigid automation systems to hybrid and collaborative working environments. Nevertheless, the adoption of robots...
Article
Full-text available
Manufacturing systems are making a shift towards intelligent and automated detection systems in order to save cost and time in different phases of the product lifecycle as well as keep the production’s quality levels high. Currently, defects detection is based on either the active involvement of the human operator or the devotement of a significant...
Conference Paper
During the last two decades a great impulse in the development of applications to improve the collaboration between human and robots has been achieved in several sectors. This paper presents a new research carried out for coordinating two robots with the aim to manipulate heavy and large payloads up to 250 kilograms. This process is performed with...
Chapter
The advancement of robotics technology over the last years and the parallel evolution of the AI, Big Data, Industry 4.0 and Internet of Things (IoT) paradigms have paved the ground for applications that extend far beyond the use of robots as mindless repetitive machines. The number of technical configurations/solutions grows exponentially when cons...
Article
Predictive maintenance has been proposed to maximize the overall plant availability of modern manufacturing systems. To this end, research has been conducted mainly on data-driven prognostic techniques for machinery equipment individual components. However, the lack of historical data together with the intricate design of industrial machines, e.g....
Conference Paper
Industry has taken a big leap forward by placing a human in the center of interest by turning the working areas into a collaborative environment between operators and robots. In this environment, human behavior is a major uncertainty factor that can affect operator’s safety and execution status. Furthermore, the creation of a digital twin including...
Preprint
Full-text available
Industry has taken a big leap forward by placing a human in the center of interest by turning the working areas into a collaborative environment between operators and robots. In this environment, human behavior is a major uncertainty factor that can affect operator's safety and execution status. Furthermore, the creation of a digital twin including...
Chapter
In recent years various maintenance strategies have been adopted to maintain industrial equipment in an operational condition. Adopted techniques include approaches based on statistics generated by equipment manufacturers, human knowledge, and intuition based on experience among others. However, techniques like those mentioned above often address o...
Article
Full-text available
Seamless human–robot collaboration requires the equipping of robots with cognitive capabilities that enable their awareness of the environment, as well as the actions that take place inside the assembly cell. This paper proposes an AI-based system comprised of three modules that can capture the operator and environment status and process status, id...
Chapter
The industrial sector today is experiencing its fourth industrial revolution, powered by technological advances in the fields of robotics, artificial intelligence and the Internet of Things (IoT). Customer demands for mass customisation have increased product variation. Moreover, products are manufactured faster and with higher consistency. In this...
Chapter
Human–robot collaboration comes as an evolution to manual production. An increasing number of robots is gradually incorporated in today’s production lines. The introduction of automation systems may complement the human factor and skills, and alleviate operators’ daily workload. The production process can be executed in collaboration between humans...
Article
Full-text available
This paper discusses a robotic cell that handles geometrically complex products, exploiting cognitive control and actuation systems for the manipulation, assembly and packaging. The individual mechatronic components, namely a 6-DoF gripper and a flexible assembly mechanism, have been designed via functional decomposition of the actual assembly and...
Article
Full-text available
This paper discusses a digital twin-based approach for designing and redesigning flexible assembly systems. The digital twin allows modeling the parameters of the production system at different levels including assembly process, production station, and line level. The approach allows dynamically updating the digital twin in runtime, synthesizing da...
Article
Full-text available
Robotic flexibility in industry is becoming more and more relevant nowadays, especially with the rise of the Industry 4.0 concept. This paper presents a smart execution control framework for enabling the autonomous operation of flexible mobile robot workers. These robot resources are able to autonomously navigate the shopfloor, undertaking multiple...
Conference Paper
Full-text available
Nowadays, in order to cover the needs of market for product mass customization, industries have started to move to hybrid production cells, involving both robots and human operators. Research has been done during previous years to promote and improve the collaboration between humans and robots, trying to address topics such as safety, awareness and...
Conference Paper
Full-text available
Over the last years both Research and Industry have tried to address the requirement for flexible production by introducing technologies that allow humans and robots to coexist and share production tasks. The focus has been to ensure the safety of humans while interacting with robots. Previous EU funded projects provided proof that humans and robot...
Conference Paper
Full-text available
Human–Robot Collaborative (HRC) workcells aim to elevate the conventional industrial lines, by enabling seamless interaction between operators and machines. Shifting away from standard (mainly static) workcells, with operators and machines following strictly defined limits and schedules, the new era of manufacturing introduces versatile workspaces,...
Article
Full-text available
This paper presents an Augmented Reality (AR) application that aims to facilitate the operator’s work in an industrial, human-robot collaboration environment with mobile robots. In such a flexible environment, with robots and humans working and moving in the same area, the ease of communication between the two sides is critical and prerequisite. Th...
Article
Full-text available
This paper introduces a method for training operators using digital technologies. More specifically the training is focused on the teleoperation and remote control of resources and sensors using a simulated environment with virtual elements, before entering the real one. The objective is to improve the training of the operators and bring them close...
Article
Full-text available
A robot identification method which is based on the simulation modelling and analysis of the robots as a mechatronic system is presented in this study. The ever-increasing use of robotic systems in production lines necessitates the improvement of their accuracy. To this direction, the proposed approach leads to the enhancement of the accuracy using...
Article
Full-text available
Wiring harnesses and flexible objects assembly is a major issue for agile manufacturing. However, model-based prediction of shape is a rather complex task, rendering the pre-programming of robots a difficult procedure. The current model, extending previous works on modelling wiring harness mechanical behaviour, deals with twist mechanics. Twist is...
Article
Full-text available
This paper discusses the design and implementation of a high-speed electromechanical robotic gripper for grasping and manipulation of objects. The novelty of the developed robot end-effector lies in the ability to perform rapid and precision in-hand manipulation of various parts. Unlike existing solutions, the end-effector is capable to grasp, reor...
Article
Full-text available
In this paper a series of studies dealing with flexible material manipulation in aspects of manipulation, modelling and scheduling are discussed. The main purpose of this work is to provide an overview of the existing technologies and their capabilities both in manufacturing and academia, that can be elaborated in autonomous flexible material handl...
Article
Full-text available
This paper presents an Augmented Reality tool for supporting the operator's interaction with the robot hardware in production systems. We are focusing on the development of an AR application, which allows the user to interact with a robotic arm and move it by demonstration. The application's purpose is to simplify and accelerate the industrial manu...
Article
Full-text available
Robots are no longer stand-alone systems on the factory floor. The demand for industrial robots (market) is anticipated to be growing to 65 billion euros by the year 2023. Within all areas of robotics, the demand for collaborative and more flexible systems is rising as well. The level of desired collaboration and increased flexibility will only be...
Article
Full-text available
Machine vision has been extensively studied during the last decades enabling the implementation of vision systems in robotic applications usually involving dispersing of material or handling of rigid objects. Nevertheless, the manipulation of deformable parts remains an open challenge since it involves numerous potential configurations of the objec...
Article
The current market trends have focused on personalization, where products based on the same platform can have different variations so they can satisfy multiple market segments. Trying to keep up with these trends, industries have introduced hybrid Human Robot Collaborative stations that offer short throughput times, along with the flexibility to pr...
Article
Recent years, manufacturing aims on increasing flexibility while maintaining productivity for satisfying emerging market needs for higher product customization. Human Robot Collaboration (HRC) is able to bring about this balance by combining the benefits of manual assembly and robotic automation. When introducing a hybrid concept, safety and human...
Article
Large parts manufacturing involves the production of low batch, possibly one-of-a-kind, components of high cost and complexity. Industry specific knowledge and skills are converging to the technological evolution brought by Industry 4.0 where ICT and automation boost productivity and product quality. This paper presents an approach towards assembly...
Article
The aim of this paper is to present a methodology for the assessment of prognosis quality and more specifically, the Remaining Useful Life prediction in maintenance applications. The utilization of model-driven physics-based approaches in combination with prognostics is a common practice to predict a machine’s future health status. Due to the incre...
Article
This paper presents a robotized cell that has been developed to automate the quality control process. The combination of innovative software and hardware helps the operators to efficiently perform quality control on parts from the white goods industry. Automation tools, such as robots and mechatronic devices have been integrated on a backend platfo...
Article
The circular economy paradigm requires new methods to design and operate manufacturing processes. In a production facility, reducing waste as well as optimizing waste management is of fundamental importance for companies aiming at adopting circular economy practices. This paper presents the concept of an intelligent waste management system for the...
Article
This paper deals with a Human overhead Robot Interaction (HoRI) framework which is focused on enabling the interaction of human and robots in shared workspaces involving both fixed and overhead robotic structures. Scope of this study is to design a safe human robot interaction framework in the shopfloor aiming to minimize ergonomics issues and to i...
Book
This book consolidates the current state of knowledge on implementing cooperating robot-based systems to increase the flexibility of manufacturing systems. It is based on the concrete experiences of experts, practitioners, and engineers in implementing cooperating robot systems for more flexible manufacturing systems. Thanks to the great variety of...
Article
Full-text available
Accuracy is one of the main metrics to evaluate a manufacturing system. The increasing of the current manufacturing technologies and processes accuracy is still an ongoing activity. In this direction, a model-based approach for robot and hybrid manufacturing processes is presented in this paper. The proposed framework focuses on the optimization of...
Article
Full-text available
As industry heads to an era of high productivity and energy efficiency, the manufacturing of robotic manipulators moves far from the traditionally heavy and stiff structures. Therefore, rigid body dynamic models become obsolete and the need for new dynamic models accounting for the flexibility of industrial manipulators emerges. To this end, a phys...
Chapter
While the new paradigm of integrating robots and humans in hybrid production systems is increasingly accepted by industry and research, there is still lack of methods for programming efficiently such robotic cells. Imitation learning is a user-friendly instruction technique to transfer new skills to robots. Despite the fact that the numerous resear...
Chapter
Human–Robot (HR) teams are expected to work more efficiently and interdependently compared to the manual non-added value manufacturing processes. This paper discusses a method for enabling the shared HR task scheduling and dynamic re-scheduling. Humans, robots and HR teams are involved in the resources model, while the task sequence and the task pr...
Chapter
This chapter discusses methods to measure the 3D coordinates of parts to be processed by robots and on methods to control robots for accurately processing them. The method of triangulation is introduced and explained with the help of real-world examples. Image processing and correction in order to remove distortion effects helps to increasing accur...
Chapter
The chapter acts as a guide to reading the entire book. The taxonomy of cooperating robot systems used is briefly introduced. Several aspects of cooperating robot systems such as Multi arm robots, Dual arm robots, Multi arm robots and their applications innumerous manufacturing cases are considered. On the other hand, the type of cooperation is als...
Chapter
The industrial robot technology comprises an excellent base for machining, from the cost and flexibility point of view. This chapter presents a method for the automatic generation of a robot code, for thin and complex parts being machined in three dimensions. The G-code generated from computer-aided manufacturing (CAM) tools is used as input. A dec...
Chapter
In the near future, it is expected that robot programming methods will be more intuitive and user-friendly. Currently, the industrial robot programming is mainly based on the use of teach pendants and offline programming tools. The way of editing a program is currently not user friendly and it mainly requires an expert to find the robot position to...
Chapter
A robot identification method which based on the simulation modelling and analysis of the robots is presented in this study. The ever increasing use of robotic structures in production lines necessitates the improving of robot’s accuracy. In this way, the proposed approach leads to the improving of the accuracy using a closed loop estimation system...
Chapter
Modern production lines rely on the extended use of cooperating robots as a basis of multiple tasks such as assembling, welding, painting, etc. Thus, there is a high need of automated motion generation of the involved industrial robots. This chapter presents an intelligent search algorithm for the motion planning of 13 DOF Dual arm industrial robot...
Chapter
In order to reduce the time to ramp up production, tools to help with the design and simulation of production have been developed. However, this book has been discussing on the development of advanced robots, which are able to perform manufacturing tasks rather autonomously based on intuitive decision-making algorithms. Existing simulation packages...
Chapter
This chapter investigates the effect of introducing mobile dual arm coworkers in manual assembly systems. These robot workers can navigate autonomously and in a safe way across the shopfloor to undertake multiple operations (handling, screwing etc.). In addition, they can work in collaboration with human operators acting as assistants to them. This...
Chapter
This chapter focuses on cooperating dexterous resources that are used in a production line. This analysis begins with bigger devices that can be found in a production cell, namely robotic arms. The chapter describes the mechanisms that enable different robots to collaborate in a cell, avoiding collisions or issues like executing tasks in the wrong...
Chapter
Over the years both Academia and Industry have pursued the vision of flexible production by introducing technology (Chryssolouris in Manufacturing systems: theory and practice. Springer, New York, [1]) that allow robots cooperate autonomously (Michalos et al. [7]), humans and robots to coexist and share production tasks (Makris et al. in CIRP Ann 6...
Chapter
This chapter discusses the flexibility aspects of production systems that use highly interactive and autonomous mobile robotic units. A method for multi criteria decision making is used and executed over a distributed communication architecture. The robotic resources can sense the environment, schedule and if necessary, reschedule their tasks and f...
Chapter
One of the challenges in current assembly systems is the elimination of production stoppages due to the shortage in consumable materials needed in the assembly stations. This chapter discusses how the latest advances in autonomous robots can be exploited for addressing this challenge. These mobile robot units are responsible for transferring consum...
Chapter
In this chapter, the concept of robotic tooling that can be transferred between manipulators without the use of tool—repositories or other hardware equipment is discussed. The concept is in line with the principles of fixtureless assembly that do not require stationary tooling for the handling and processing of parts. The implementation of both har...
Chapter
On the topic of Human Robot Collaboration (HRC) there are still several challenges to be resolved that concern the robots’ perception for the process and for humans’ operators as well as the means for simplified interaction of the involved resources. The objective of this chapter is to discuss a system targeting on seamless HRC through the integrat...
Chapter
Automated assembly lines consist of model specific machinery, which needs to be replaced upon a product’s change. The reconfiguration of an assembly cell is not possible if its resources have not been physically removed and replaced by new ones. Moreover, the control software needs manual reprogramming. This chapter elaborates on the concept of fle...
Chapter
This chapter proposes a system for limiting the forces applied by an industrial robot by the collision detection with its surroundings without the use of external/additional sensors. For this scope, time-invariant dynamic models and supervised feedforward input-delay neural networks are utilized to predict the required current signals for a certain...
Chapter
The recent automation technology advances have introduced the shared human robot (HR) workspaces concept for the future production lines. This chapter presents the design and application of safety systems that enable the dynamic monitoring of zones inside a human robot collaborative cell. The safety concepts suggested have as a main enabler a 3D sa...
Chapter
This chapter focuses on human–robot interaction technologies that could seamlessly support operators on their activities in a production line. The key technology that has been mobilized is Augmented Reality (AR), due to its intuitiveness and the easiness that can overlay digital information on real assets, giving more mature support to the operator...
Chapter
Human Robot collaboration (HRC) is a promising concept for increasing the flexibility and reconfigurability of the production workplaces. However, there are still open research issues regarding the effective design of the Human–Robot (HR) workplace, as well as their task allocation. This chapter presents a method for evaluating alternative Human Ro...
Chapter
Inspired by the execution of human tasks, incorporating dual arm robotics into human based assembly lines is a promising idea. To improve dexterity and versatility in manufacturing, the human-like dual arm robot capabilities for synchronized and controlled movements are required. In industrial applications, dual arm robots are constrained, taking i...
Article
Full-text available
This paper investigates the feasibility of using an agent-based framework to configure, control and coordinate dynamic, real-time robotic operations with the use of ontology manufacturing principles. Production automation agents use ontology models that represent the knowledge in a manufacturing environment for control and configuration purposes. T...
Article
Full-text available
Data management and processing to enable predictive analytics in cyber physical systems holds the promise of creating insight over underlying processes, discovering anomalous behaviours and predicting imminent failures threatening a normal and smooth production process. In this context, proactive strategies can be adopted, as enabled by predictive...
Article
Full-text available
The increased complexity of modern production systems requires sophisticated system control approaches to maintain high levels of flexibility. Furthermore, the request for customized production with the introduction of heterogeneous production resources, increases the diversity of manufacturing systems making their reconfiguration complex and time...