Chapter

Safety for automated warehouse exhibiting collaborative robots

Chapter

Safety for automated warehouse exhibiting collaborative robots

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... The amount of scenarios where robots (which are mostly resource-constrained) that need to execute complex machine learning models is increasing rapidly. An example of such a scenario is a Human-Robot Collaboration (HRC) scenario where robots need to avoid any hazardous situations through safety analysis [8,9]. Commonly, safety analysis involves complex computer vision tasks that require substantial computing power to perform the inferences in real-time. ...
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The number of mobile robots with constrained computing resources that need to execute complex machine learning models has been increasing during the past decade. Commonly, these robots rely on edge infrastructure accessible over wireless communication to execute heavy computational complex tasks. However, the edge might become unavailable and, consequently, oblige the execution of the tasks on the robot. This work focuses on making it possible to execute the tasks on the robots by reducing the complexity and the total number of parameters of pre-trained computer vision models. This is achieved by using model compression techniques such as Pruning and Knowledge Distillation. These compression techniques have strong theoretical and practical foundations, but their combined usage has not been widely explored in the literature. Therefore, this work especially focuses on investigating the effects of combining these two compression techniques. The results of this work reveal that up to 90% of the total number of parameters of a computer vision model can be removed without any considerable reduction in the model's accuracy.
... Modern warehouse management is a complex task with several goals to be accomplished simultaneously. This task includes multiple subtasks, such as cargo transfer, loading, and offloading monitoring [1], human personnel safety [2], goods tracking and inventory [3], [4], warehouse indoor conditions management, and many others [5]. Robotics is the way to dramatically increase the workflow's efficiency and safety level. ...
... We have provided an overall architecture containing major components of an automated warehouse including a warehouse controller, planning service, and a two-layered safety strategy in [24]. The presented safety strategy consists of an offline safety analysis (performed before sending the tasks to the robot) and an online safety analysis (performed at runtime and inside the robot's control loop). ...
Article
To improve productivity of assembly in cell production, a robot is introduced to help operators physically. A moving robot around a human operator however induces much stress on human operators because they need to work coexistently and compellingly with the robot. This paper deals with the strain measurement caused by industrial robots, and the discuss design criterions of robot collaboration with a human operator. Several basic strains are experimentally measured: distance from a swinging robot to an operator, speed at robot's movement towards an operator and so on. The results are applied in a novel cell production assembly system.