Operations Research, Systems Engineering and Industrial Engineering Commons^™

Productivity And Quality Evaluation In Assembly Using Collaborative Robots, Carlos F. Manzanares Vega

Open Access Theses & Dissertations

In Industry 4.0, various technologies have been applied to achieve automation for traditional manufacturing and practices. For this reason, Smart Manufacturing (SM) environments utilize collaborative robots for process optimization by integrating the Internet of Things (IoT). Cobots are equipped with sensors and/or other devices to be able to transmit data in real-time while performing their tasks. Consequently, such SM implementations improves the decision making and business development, such as supply chain and operations, by sharing real-time data from a plant operational level. The collaborative robots are also designed to safely interact and collaborate with humans to perform tasks and optimize …

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …

Task Analysis, Modeling, And Automatic Identification Of Elemental Tasks In Robot-Assisted Laparoscopic Surgery, Lavie Pinchas Golenberg

Wayne State University Dissertations

Robotic microsurgery provides many advantages for surgical operations, including tremor filtration, an increase in dexterity, and smaller incisions. There is a growing need for a task analyses on robotic laparoscopic operations to understand better the tasks involved in robotic microsurgery cases. A few research groups have conducted task observations to help systems automatically identify surgeon skill based on task execution. Their gesture analyses, however, lacked depth and their class libraries were composed of ambiguous groupings of gestures that did not share contextual similarities.

A Hierarchical Task Analysis was performed on a four-throw suturing task using a robotic microsurgical platform. Three …