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Empowering Production Workers to Program Robots: A No-Code, Skill-Based Approach
Abstract
The current market requires automated production systems to be reprogrammed by the shop floor workers to meet dynamic production needs. This requires new interfaces allowing the workers to acquire the needed skills for efficient and safe programming. In this article, an intuitive interface is introduced to foster both upskilling and empowerment through guided tutorials. A no-code approach to programming based on the notion of robotic skills enables interactions that are based on the worker’s competencies. A preliminary study with students (N = 58) using between-group testing was performed to evaluate the usability of the interface and skill acquisition through the tutorials. The effect of a basic understanding of robots’ behavior on users’ performance was evaluated: a demonstration with a real robot was presented to half of the participants before the study. Our results indicate that the proposed approach enabled most novice users to achieve simple programming tasks. The demonstration with the robot had a positive impact on performance suggesting the need for real robot interaction to improve learning. In summary, the combination of a no-code, skill-based approach with problem-based tutorials and demonstrations with real robots can help non-expert users develop the competencies and confidence to autonomously program a robot. Further tests with intended target users are planned in the future.
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Humans are all makers of a sort. The tools we operate constantly leverage our human capabilities and evolve over history to take advantage of any innovation or a new source of power that emerges. Human-Technology Symbiosis has always been the basis for leaps in human prosperity. As we are presently in the Fourth Industrial Revolution, or Industry 4.0, it is important to focus on challenges and opportunities of contemporary work-life. Here we find the worker, the operator, benefitting from cyber-physical systems technology, connectivity, and global information networks while retaining human strengths and weaknesses. This special issue will describe the implications of a new breed of the manufacturing worker, “The Operator 4.0”. The 13 contributions in this special issue will take us from the early anthropocentric organisational models to the emerging connected and cyber-physically enhanced “Operator 4.0” in highly dynamic work environments. Methods and tools for development and analysis of complex work will support the scholar or practitioner that would like to dig deeper into the future of the potential work-life of the Operator 4.0.
Recently, anthropocentric or human-centric approaches renewed its importance in smart manufacturing especially for assembly applications where human dexterity and informal knowledge are dispensable at present and in the near future. This paper analyzes the integration, design, and collaboration issues regarding anthropocentric researches in the past few years mainly in assembly domain. First of all, towards closed-loop system integration, the researches on integrating human in the cyber-physical system are elaborated and summarized. Then, human-centric designs (HCD) especially in shop-floor assembly field are analyzed. To emphasize human-robot hybrid assembly, several related issues including collaboration paradigm, task planning and assignment, interaction interfaces, and safety are discussed. At last, a survey on human cognitive and social limitation management is elaborated. Related research challenges and directions are discussed.
Industry 4.0 has potential for qualitative enrichment of factory work: a more interesting working environment, greater autonomy and opportunities for self-development. A central element of Industry 4.0 is human-centricity, described as development towards Operator 4.0. Our Operator 4.0 vision includes smart factories of the future that are perfectly suited for workers with different skills, capabilities and preferences. The vision is achieved by solutions that empower the workers and engage the work community. Empowering the worker is based on adapting the factory shop floor to the skills, capabilities and needs of the worker and supporting the worker to understand and to develop his/her competence. Engaging the work community is based on tools, with which the workers can participate in designing their work and training, and share their knowledge with each other. We gathered requirements from three manufacturing companies in different industries and interviewed 44 workers in four factories in order to study their expectations and concerns related to the proposed Operator 4.0 solutions. Adaptation was considered useful both in manufacturing systems and in production planning. However, worker measuring and modelling raised many doubts within workers and also with factory management. Therefore it is important to provide early demonstrations of the ideas and to design them further with the workers in order to find acceptable and ethically sustainable ways for worker modelling. The workers would like to be more involved in the design of the work place and manufacturing processes, and they thought that participation would decrease many problems that they currently face in their work. However, there were also doubts concerning whether they really could have possibilities to impact on their work. The results show that there are clear needs for knowledge sharing and adaptive learning solutions that would support personalized competence development and learning while working. An easily accessible platform for knowledge sharing could evolve to a forum where good work practices and ways to solve problems are shared not only within the work community, but also with machine providers and other stakeholders. The interviewees saw the virtual factory as a promising platform for participatory design and training.
Industry 4.0 is a coordinated push for automation in Smart Factories and other Cyber-Physical Systems (CPS). The increasing complexity of frequently changing production environments challenges shop floor workers to perform well. The tasks they work on are getting less routine and ask for continuous knowledge and skills development. For example, the skills portfolio of workers likely requires improved higher-order thinking and decision-making skills. A wide range of research and development efforts already today sets focus on different areas of workplace learning, including performance appraisals, pedagogy and education, technology, and business economics. Bridging the skills gap, however, requires novel user-facing technologies -- such as Augmented Reality (AR) and wearables -- for human performance augmentation to improve efficiency and effectiveness of staff delivered through live guidance. AR branches out beyond mobile apps with 3D-object superimposition for marketing purposes to rather complex use cases delivered by a rapidly growing innovation ecosystem of hard- and software providers collaborating closely with R&D organisations. This paper provides a first shared vision on how AR can tackle four different challenges related to handling complexity in a CPS environment: develop intelligent assistance systems for learning and performance assessment at the workplace, adapt job profiles accordingly, and last but not least to address also the issue of work-life balance. The paper concludes with an outline of a research roadmap.
Programming in block-based environments is a key element of introductory computer science (CS) curricula in K-12 settings. Past research conducted in the context of text-based programming points to several challenges related to novice learners' understanding of foundational programming constructs such as variables, loops, and expressions. This research aims to develop assessment items for measuring student understanding in introductory CS classrooms in middle school using a principled approach for assessment design. This paper describes the design of assessments items that were piloted with 100 6th, 7th, 8th graders who had completed an introductory programming course using Scratch. The results and follow-up cognitive thinkalouds indicate that students are generally unfamiliar with the use of variables, and harbor misconceptions about them. They also have trouble with other aspects of introductory programming such as how loops work, and how the Boolean operators work. These findings point to the need for pedagogy that combines popular constructionist activities with those that target conceptual learning, along with better professional development to support teachers' conceptual learning of these foundational constructs.
A vision for the Operator 4.0 is presented in this paper in the context of human cyber-physical systems and adaptive automation towards human-automation symbiosis work systems for a socially sustainable manufacturing workforce. Discussions include base concepts and enabling technologies for the development of human-automation symbiosis work systems in Industry 4.0.
Industry 4.0 is an integrated approach that transfers available technologies and the concepts of digitization and networking from everyday life into the domain of industrial production. In this paper, the role of the human in Industry 4.0 is considered by means of a best practice approach. It shows what potential lies in the human-centered design of assistance systems in production planning and control. It involves the use of a tablet computer kitted with an Industry 4.0-compatible app on the shop-floor in a production environment. From empirical investigations, we have derived design recommendations on polarity and angular character height.
Due to a general shift in manufacturing paradigm from mass production towards mass customization, reconfigurable automation technologies, such as robots, are required. However, current industrial robot solutions are notoriously difficult to program, leading to high changeover times when new products are introduced by manufacturers. In order to compete on global markets, the factories of tomorrow need complete production lines, including automation technologies that can effortlessly be reconfigured or repurposed, when the need arises. In this paper we present the concept of general, self-asserting robot skills for manufacturing. We show how a relatively small set of skills are derived from current factory worker instructions, and how these can be transferred to industrial mobile manipulators. General robot skills can not only be implemented on these robots, but also be intuitively concatenated to program the robots to perform a variety of tasks, through the use of simple task-level programming methods. We demonstrate various approaches to this, extensively tested with several people inexperienced in robotics. We validate our findings through several deployments of the complete robot system in running production facilities at an industrial partner. It follows from these experiments that the use of robot skills, and associated task-level programming framework, is a viable solution to introducing robots that can intuitively and on the fly be programmed to perform new tasks by factory workers.
Many manufacturing companies in Europe are presently focusing on automation as a weapon for competition on a global market. This paper focuses on industry's view of automation. The paper presents data on advantages and disadvantages of automation, based on one pilot study and one Delphi study in two rounds.
Flexibility has become one of the most useful and necessary tool in today’s competitive markets. Manufacturing flexibility is widely recognised as a critical component to achieving a competitive advantage in the market place. It is one of the most sought after properties for manufacturing enterprises and has aroused considerable interest among researchers and professionals. This paper presents a review of various issues related with manufacturing flexibility specifically concept, need, dimensions, measurement, relationship among various dimensions, implementation aspect in a company and management of manufacturing flexibility and its aim to contribute to the conceptual systemisation of the material.
Teaching programming to novices is a difficult task due to the complex nature of the subject, the negative stereotypes are associated with programming and because introductory programming courses often fail to encourage student understanding. This study investigates the effectiveness of using robots as tools in the teaching of introductory programming and to determine whether such technology can help to overcome the current barriers for learners in this context. The systematic literature review (SLR) methodology is used to address this aim. Nine electronic databases, the proceedings from six conferences and two journals were searched for relevant literature and exclusion criteria, and after performing several validation exercises, in total, 75% of included papers report that robots are an effective teaching tool and can help novice programmers in their studies. Most of these papers focus on the use of physical robots, however, and further research is needed to assess the effectiveness of using simulated robots.
Factor-analytic evidence has led most psychologists to describe affect as a set of dimensions, such as displeasure, distress, depression, excitement, and so on, with each dimension varying independently of the others. However, there is other evidence that rather than being independent, these affective dimensions are interrelated in a highly systematic fashion. The evidence suggests that these interrelationships can be represented by a spatial model in which affective concepts fall in a circle in the following order: pleasure (0), excitement (45), arousal (90), distress (135), displeasure (180), depression (225), sleepiness (270), and relaxation (315). This model was offered both as a way psychologists can represent the structure of affective experience, as assessed through self-report, and as a representation of the cognitive structure that laymen utilize in conceptualizing affect. Supportive evidence was obtained by scaling 28 emotion-denoting adjectives in 4 different ways: R. T. Ross's (1938) technique for a circular ordering of variables, a multidimensional scaling procedure based on perceived similarity among the terms, a unidimensional scaling on hypothesized pleasure–displeasure and degree-of-arousal dimensions, and a principal-components analysis of 343 Ss' self-reports of their current affective states. (70 ref) (PsycINFO Database Record (c) 2012 APA, all rights reserved)
As programming skills increase in demand and utility, the learnability of end-user programming systems is of utmost importance. However, research on learning barriers in programming systems has primarily focused on languages, overlooking potential barriers in the environment and accompanying libraries. To address this, a study of beginning programmers learning Visual Basic.NET was performed. This identified six types of barriers: design, selection, coordination, use, understanding, and information. These barriers inspire a new metaphor of computation, which provides a more learner-centric view of programming system design
Safe planning and control is essential to bringing human-robot interaction into common experience. This paper presents an integrated human−robot interaction strategy that ensures the safety of the human participant through a coordinated suite of safety strategies that are selected and implemented to anticipate and respond to varying time horizons for potential hazards and varying expected levels of interaction with the user. The proposed planning and control strategies are based on explicit measures of danger during interaction. The level of danger is estimated based on factors influencing the impact force during a human-robot collision, such as the effective robot inertia, the relative velocity and the distance between the robot and the human.
A second key requirement for improving safety is the ability of the robot to perceive its environment, and more specifically, human behavior and reaction to robot movements. This paper also proposes and demonstrates the use of human monitoring information based on vision and physiological sensors to further improve the safety of the human robot interaction. A methodology for integrating sensor-based information about the user's position and physiological reaction to the robot into medium and short-term safety strategies is presented. This methodology is verified through a series of experimental test cases where a human and an articulated robot respond to each other based on the human's physical and physiological behavior.
"Digital fluency" should mean designing, creating, and remixing, not just browsing, chatting, and interacting.
Low-code/no-code software development is an emerging approach delivering the opportunity to build software with a minimal need for manual coding and enhancing the involvement of non-programmers in software development. Low-code principles allow enterprises to save time and costs through a more rapid development pace and to improve software products quality by bringing closer together business and information technologies as well as promoting automation. Nevertheless, the low-code/no-code approach is a relatively new and continuously progressing domain that requires understanding of existing challenges and identification of improvement directions. In this paper, challenges in the low-code software development process and suggestions for their mitigation are identified and amalgamated with the purpose to deliver insights into the current state of the low-code/no-code development process and identify areas for further research and development.KeywordsLow-codeNo-codeSoftware developmentRequirementsLow-code development platformCitizen developer
Many authors have advocated a human–centric view of Industrie 4.0 automation, in which the human operator works with augmented powers and capabilities such as super-strength, artificial intelligence and virtual reality, although their roles are still in the manufacture of the product. A human-automation symbiosis in the production process, with robotic and IOT tools helping to extend and meld the capabilities of the Operator to accomplish the tasks of production is a proposed goal. The approach taken in the present work does not, however, envisage a super-human outcome. Rather, the goal is the unleashing of human creative potential, as a complement to the robotic and virtual world of the automated production system.
Agile manufacturers typically run small scale operations (20 people or less), make short runs of many products and are continuously involved in their design – both at detailed and conceptual levels. This can be a strength in terms of international competitiveness where knowledge of the production process, the product end user needs, and the machinery and tooling itself combine to produce innovation. SME manufacturers are actually designers. Their employees think about design as they manufacture. We foresee that the Operator may transition to a Maker – a person who works alongside the automated production system but with a different role - one which is essentially creative, rather than assisting or monitoring non-discretionary work flow steps or processes.
A new wave of collaborative robots designed to work alongside humans is bringing the automation historically seen in large-scale industrial settings to new, diverse contexts. However, the ability to program these machines often requires years of training, making them inaccessible or impractical for many. This paper rethinks what robot programming interfaces could be in order to make them accessible and intuitive for adult novice programmers. We created a block-based interface for programming a one-armed industrial robot and conducted a study with 67 adult novices comparing it to two programming approaches in widespread use in industry. The results show participants using the block-based interface successfully implemented robot programs faster with no loss in accuracy while reporting higher scores for usability, learnability, and overall satisfaction. The contribution of this work is showing the potential for using block-based programming to make powerful technologies accessible to a wider audience.
During the past decades, the increasing need for more flexible and agile manufacturing equipment has spawned a growing interest in collaborative robots. Contrary to traditional industrial robots, collaborative robots are intended for operating alongside the production personnel in dynamic or semi-structured human environments. To cope with the environment and workflow of humans, new programming and control methods are needed compared to those of traditional industrial robots. This paper presents a task-level programming software tool allowing robotic novices to program industrial tasks on a collaborative robot. The tool called Skill Based System (SBS) is founded on the concept of robot skills, which are parameterizable and task-related actions of the robot. Task programming is conducted by first sequencing skills followed by an online parameterization performed using kinesthetic teaching. Through several user studies, SBS is found to enable robotic novices to program industrial tasks. SBS has further been deployed and tested in two manufacturing settings demonstrating its applicability in real industrial scenarios.
Easy-to-use collaborative robotics solutions, where human workers and robots share their skills, are entering the market, thus becoming the new frontier in industrial robotics. They allow to combine the advantages of robots, which enjoy high levels of accuracy, speed and repeatability, with the flexibility and cognitive skills of human workers. However, to achieve an efficient human-robot collaboration, several challenges need to be tackled. First, a safe interaction must be guaranteed to prevent harming humans having a direct contact with the moving robot. Additionally, to take full advantage of human skills, it is important that intuitive user interfaces are properly designed, so that human operators can easily program and interact with the robot. In this survey paper, an extensive review on human-robot collaboration in industrial environment is provided, with specific focus on issues related to physical and cognitive interaction. The commercially available solutions are also presented and the main industrial applications where collaborative robotic is advantageous are discussed, highlighting how collaborative solutions are intended to improve the efficiency of the system and which the open issue are.
The Industry 4.0 vision, grounded on the integration of key technologies and Cyber-Physical-Systems (CPSs), is expected to profoundly modify the manufacturing sector. There is large consensus on the fact that work will change and different skills will be needed. However, whether the organization of work will evolve towards higher responsibility and decision-making of the employees or towards higher technological control is still an open question. The challenge is how to govern this evolution and purposely guide the process of integrating people within CPSs in order to move towards the desired scenario. This paper addresses this challenge, by proposing a methodology to support the design and assessment of different work configurations, taking into account multiple perspectives, the human and cyber-physical components within a comprehensive framework. The method covers ordinary production as well as irregular scenarios, such as failure detection or maintenance intervention, particularly interesting for human work. The applicability of the method is illustrated through two industrial cases, leading to suggestions for training the personnel and for enhancing the whole cyber- physical-social system. Results include general guidelines for work design.
The approach encourages managers and engineers to clarify their strategy for human resources; develops a multi-perspective awareness on the role of workers; fosters an early detection of possible misalignment between the high-level strategies and the technical interventions on the shop floor. The modelling, analysis and assessment technique developed aims at representing a first step towards formal and quantitative methods to support the design of human work integrated within cyber-physical- systems.
Tools that provide visual feedback about emotions to the user in the form of an avatar or an emoticon have become increasingly important. While a great deal of effort has already been put into the reliable and accurate automatic detection of emotions, only very little is known about how this information about affective states should be displayed in a comprehensible way to the user. In the present study, three newly developed feedback tools were evaluated. The tools were developed on the basis of an existing non-verbal questionnaire to represent two dimensions of emotion (i.e. valence and arousal) based on the circumplex model of affect. A total number of 826 participants were tested, using different vignettes that describe situations with specific affective content. Employing three newly developed affective feedback tools (AniSAM, AniAvatar and MergedSAM), the ratings obtained were compared to ratings using the original SAM instrument, a well-established questionnaire to measure affect. Results indicated that the animated feedback increased the accuracy of the arousal representation. Furthermore, valence feedback was more accurate when provided with an animated manikin-based tool rather than an avatar-based tool. This provided first evidence for the usefulness of animated tools offering visual feedback on user emotion. All instruments need to undergo further development. AniSAM and AniAvatar can be downloaded for purposes of practical applications and further research.
Purpose
– This paper aims to provide a European perspective on the collaborative robot business and to consider the factors governing future market development.
Design/methodology/approach
– Following an introduction, this first describes the collaborative robots launched recently by European manufacturers and their applications. It then discusses major European research activities and finally considers the factors stimulating the market.
Findings
– This article shows that collaborative robots are being commercialised by the major European robot manufacturers as well as by several smaller specialists. Although most have low payload capacities they are inexpensive and offer a number of operational benefits, making them well suited to a range of existing and emerging applications. Europe has a strong research base and several EU-funded programmes aim to stimulate collaborative robot development and use. Rapid market development is anticipated, driven in the main by applications in electronic product manufacture and assembly; new applications in the automotive industry; uses by small to medium-sized manufacturers; and companies seeking robots to support agile production methods.
Originality/value
– This paper provides a timely review of the rapidly developing European collaborative robot industry.
Human factors play an important role in the safe operation of a facility. Human factors include the systematic application of information about human characteristics and behavior to increase the safety of a process system. A significant proportion of human errors occur during the maintenance phase. However, the quantification of human error probabilities in the maintenance phase has not been given the amount of attention it deserves. This paper focuses on a human factors analysis in pre-and post- pump maintenance operations. The procedures for removing process equipment from service (pre-maintenance) and returning the equipment to service (post-maintenance) are considered for possible failure scenarios. For each scenario, human error probability is calculated for each activity using the Success Likelihood Index Method (SLIM). Consequences are also assessed in this methodology. The risk assessment is conducted for each component and the overall risk is estimated by adding individual risks. The present study is aimed at highlighting the importance of considering human error in quantitative risk analyses. The developed methodology has been applied to a case study of an offshore process facility.
The paper presents a study of novice difficulties with range conceptions in loop design. CS2 students were asked to solve four related enumeration tasks, which required various loop boundary specifications. The student solutions varied considerably in conciseness and efficiency. The solution diversity reveals significant differences in range partitioning insights. The solutions are categorized, analyzed, and discussed. The categorization and analysis illuminate a novel perspective of novices' lack of range conceptions in loop design. A set of guidelines is offered for addressing this deficiency, by underlining the mathematical and design links between range ends, range partitioning, and loop boundary specifications.
The System Usability Scale (SUS) is an inexpensive, yet effective tool for assessing the usability of a product, including Web sites, cell phones, interactive voice response systems, TV applications, and more. It provides an easy-to-understand score from 0 (negative) to 100 (positive). While a 100-point scale is intuitive in many respects and allows for relative judgments, information describing how the numeric score translates into an absolute judgment of usability is not known. To help answer that question, a seven-point adjective-anchored Likert scale was added as an eleventh question to nearly 1,000 SUS surveys. Results show that the Likert scale scores correlate extremely well with the SUS scores (r=0.822). The addition of the adjective rating scale to the SUS may help practitioners interpret individual SUS scores and aid in explaining the results to non-human factors professionals.
In cognitive load theory, element interactivity has been used as the basic, defining mechanism of intrinsic cognitive load
for many years. In this article, it is suggested that element interactivity underlies extraneous cognitive load as well. By
defining extraneous cognitive load in terms of element interactivity, a distinct relation between intrinsic and extraneous
cognitive load can be established based on whether element interactivity is essential to the task at hand or whether it is
a function of instructional procedures. Furthermore, germane cognitive load can be defined in terms of intrinsic cognitive
load, thus also associating germane cognitive load with element interactivity. An analysis of the consequences of explaining
the various cognitive load effects in terms of element interactivity is carried out.
KeywordsCognitive load theory-Element interactivity-Extraneous cognitive load-Intrinsic cognitive load-Germane cognitive load
Understanding experience is a critical issue for a variety of professions, especially design. To understand experience and the user experience that results from interacting with products, designers conduct situated research activities focused on the interactions between people and products, and the experience that results. This paper attempts to clarify experience in interactive systems. We characterize current approaches to experience from a number of disciplines, and present a framework for designing experience for interactive system. We show how the framework can be applied by members of a multidisciplinary team to understand and generate the kinds of interactions and experiences new product and system designs might offer.
In the context of design for experience this paper presents a review of existing models of user experience. In response to a prevalent view of experience as something individual, this paper suggests how these models should grow to include social use as well. Examples from a multimedia messaging study are discussed to this end and the concept of co-experience is introduced to take into account the social aspects of user experience and the experiences that users create for themselves with designed artefacts.
The paper derives a set of fundamental issues from a definition of collaboration, introduces two major approaches to human-computer collaboration, and surveys each approach, showing how it formulates and addresses the issues. It concludes by proposing some themes that should characterize a unified approach to human-computer collaboration.
In this paper we review the literature relating to the psychological/educational study of programming. We identify general trends comparing novice and expert programmers, programming knowledge and strategies, program generation and comprehension, and objectoriented versus procedural programming. (We do not cover research relating specifically to other programming styles.) The main focus of the review is on novice programming and topics relating to novice teaching and learning. Various problems experienced by novices are identified, including issues relating to basic program design, to algorithmic complexity in certain language features, to the ‘‘fragility’ ’ of novice knowledge, and so on. We summarise this material and suggest some practical implications for teachers. We suggest that a key issue that emerges is the distinction between effective and ineffective novices. What characterises effective novices? Is it possible to identify the specific deficits of ineffective novices and help them to become effective learners of programming? 1.
Scratch is a networked, media-rich programming environment designed to enhance the development of technological fluency at after-school centers in economically-disadvantaged communities. Just as the LEGO MindStorms robotics kit added programmability to an activity deeply rooted in youth culture (building with LEGO bricks), Scratch adds programmability to the media-rich and network-based activities that are most popular among youth at after-school computer centers. Taking advantage of the extraordinary processing power of current computers, Scratch supports programming paradigms and activities that were previously infeasible, making it better positioned to succeed than previous attempts to introduce programming to youth. Our working hypothesis is that, as kids work on personally meaningful Scratch projects such as animated stories, games, and interactive art, they develop technological fluency, mathematical and problem solving skills, and a justifiable self-confidence that serves them well in the wider spheres of their lives.
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