Direct human-robot collaboration in welding

A comprehensive understanding of the needs of the user is required to design adequate workplace systems in general, but especially in the highly digitised area of industry where operators are interacting with autonomously operating machines. There is little knowledge in design criteria for professionals to enable adequate developments of system design for Human-Machine Interaction, e.g. Human-Robot Collaboration regarding the effects of design decisions to all three levels of Human Factors, i.e. physiological, cognitive and organisational limitations. Moreover, there is little known about objective measurement procedures that evaluate whether the operator subjectively perceives the workplace system design as assistance and improvement. The research presented in the following is affiliated with the scientific discipline of Human Factors Engineering and focuses on the evaluation of Human Factor issues within the digitised industry. Based on broad theoretical and empirical investigations, the results of this research extend our knowledge of adequate Human-Centred Design by providing reliable, powerful design criteria for workplaces where operators interact with machines/collaborate with robots, but also an overall technique, the Objective Workload Detection Method, for evaluation of the effectiveness of design investigation focusing on cognitive stress relief. Through the application of this method within a controlled experiment, the validation of the derived design criteria was confirmed. The study significantly shows how the cognitive workload can be relieved by an assisting environment. This work also gives one best-practice design example of a self-adapting workplace system for hybrid Human-Robot Teams. Following the Human-Centred Design method, the concept of Assisting Industrial Workplace System for Human-Robot Collaboration has been successfully developed as a flexible hybrid unit design. The prototype is related to a real-world scenario from the aerospace industry and the demonstrator was implemented within a laboratory set-up. This work seamlessly applies techniques from interdisciplinary science fields, e.g. Engineering, Neuroscience, Gestalt theory, and Design. Equally, the design criteria and the evaluation method will support professionals from varied disciplines to succeed in the creation process of future system-designs by giving a clear indication of future Human-Centred Design research.

Driven by digitalization in supply chains, the use of Collaborative Robots (COBOTs) has become increasingly widespread in recent years. They significantly contribute to process efficiency by working in place of, or in collaboration with, humans in a variety of operations, including welding, painting, assembly and disassembly, transportation, packaging, and palletizing. However, when uncertainty and different criteria are taken into account, decision support systems that compare practical robots based on their suitability for specific needs are inadequate. This study presents a comprehensive multi-criteria decision-making (MCDM) framework for prioritizing COBOTs with different features used in digital supply chain processes. Based on in-depth research in the literature and the opinions of experts working in companies that use relevant robots in the industry, the criteria to be evaluated when selecting COBOT types are identified. The importance of these criteria was determined using the Picture Fuzzy Step-wise Weight Assessment Ratio Analysis (PiF-SWARA) method, which effectively captures the uncertainty in experts’ decisionmaking processes. Subsequently, alternative COBOT types were ranked using the Picture Fuzzy Combinative Distance-Based Assessment (PiFCODAS) approach. This case study, which evaluates the PiF-SWARACODAS concept, reveals that according to expert assessments, cost is the most important criterion in COBOT selection, followed by process quality and space utilization. The findings about the selection of types emphasize that high-efficiency articulated robots operating at high speeds under mass production conditions are the primary priority. These robots are followed by humanoid robots. The third most important are power and force-limiting robots. The fourth and fifth types of COBOTs are hand-guided and safety-monitored stop robots. Validation and sensitivity analyses confirmed the robustness of the results. Overall, the proposed framework not only clarifies the key priorities for manufacturing facilities but also provides a validated decision support tool to align digitalization strategies with the most appropriate COBOT investments.OPEN ACCESS Received: 25/08/2025 Accepted: 15/10/2025 Published: 15/12/2025 An extensive literature review was conducted to examine previous research on COBOT applications in the supply chain, to identify evaluation criteria and alternatives for this study, and to highlight the originality of this study. The concept of COBOT was included in books, journals and conference proceedings accessible through the SCOPUS database. However, the literature search with the related keyword found too many studies. Therefore, the scope was further customized to include different types of COBOT models that can be used throughout the supply chain. To make the literature review process more systematic, the PRISMA methodology, which stands for “Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA)”, was used. The PRISMA approach, designed by Moher et al. [10], has become widely used among academics in recent years. Sources are analyzed and evaluated according to the determined eligibility criteria. Then, appropriate studies are selected. Table 1lists the keywords used to perform a PRISMA method literature review, along with the number of studies found using these Table 1: Literature search with A total of 1179 studies were found in SCOPUS after searching with the were found. The results were duplicated because some

The use of collaborative robots (cobots) and human robot collaboration has started to increase in diverse industrial areas in the past years. However, cobots are seldom applied in construction work even if there is a growing need for robotics solutions in this area. This study aims to present the possibilities of applying lightweight cobots for single tasks in the construction sector. This paper presents the development of a proof-of-concept dedicated to screwing gypsum board panels to the ceiling of a room. After identifying the challenges related to this task, we present the cobot solution that we implemented for this purpose. Our results show that repetitive screwing work in upright position achieved by cobot can benefit workers by removing ergonomical strain. At the same time, cobot ensures that this task is achieved with constant performance. Future research directions lead to the search for better accuracy in screw positioning and more dynamic ways of collaboration with human workers.

Enhancing Humans Trust in Robots through Explanations

With the growing interest of integrating robotics into everyday life and industry, the requirements towards the quality and quantity of applications grows equally hard. This trend is profoundly recognized in applications involving visual perception. Whereas visual sensing in home environments tend to be mainly used for recognition and localization, safety becomes the driving factor for developing intelligent visual control algorithms. More specifically, a robot operating in a human environment should not collide with obstacles and executed motion should be as smooth as possible. Furthermore, as the environment is not known on beforehand, a high demand on the robustness of visual processing is a necessity. On the other hand, in an industrial setting, the environment is known on beforehand and safety is mainly guaranteed by excluding a human operator. Despite these reasons, and the fact that visual servoing has gained much attention from industry to become a standard solution for robotic automation tasks, applications are highly simplified. For example, methods such as visual fault detection are already a mature technique in industrial manufacturing, where a fixed camera observes a product (e.g., on a conveyor belt) and checks whether it meets certain requirements. These operations can be executed at a fairly high rate due to the simplicity of the system (e.g., static camera) and the simplification of the processing task (e.g., binary images). For both areas the identified difficulties are similar. Foremost, this is the slow nature of (robust) visual processing, in respect to the ever growing demand of increasing speed and reducing delay. These two application areas with analogous limitations motivate the design of more direct approaches of vision in visual control systems. Therefore, in order to meet the requirements for next generation visual control systems, this thesis presents approaches which employ visual measurements as a direct feedback to design constrained motion. First, for industrial robotics, in order to obtain the required positioning accuracy, the measurement and fixation system have to be highly rigid and welldesigned, implying high cost and long design time. By measuring the position of objects directly with a camera, instead of indirectly by motor encoders, the requirements of the measurement and fixation system are less demanding. Moreover, this motivates the miniaturization of the complete control system. The approach is validated in experiments on a simplified 2D planar stage (i.e., considerable friction, poor fixation), which attains similar performance compared to encoder-based positioning systems. Secondly, in a human-centred environment, this direct sensing can improve traditional visual control systems, when subject to certain disturbances. More specifically, a method is proposed that uses an image-based feedforward controller on top of traditional position-based visual servo control to overcome disturbances such as friction or poorly designed local motor controllers. This visual feedforward control action is only active when an image-based error is present and vanishes when that error goes to zero. The method is validated on an anthropomorphic robotic manipulator with 7 degrees of freedom, intended for operation in the human care environment. Third, sensing the product directly gives rise to designing motion directly. Whereas in traditional approaches the motion trajectory is designed offline and can not be changed at runtime, direct trajectory generation computes the motion of the next step based on current state and events. This means that at any instance in time, the trajectory of a motion system can be altered with respect to certain desired kinematic or dynamic constraints. For industrial applications this makes manufacturing on near-repetitive or non-rigid structures (e.g. flexible displays) possible. When applied to a robotic manipulator, this enables obstacle avoidance to no longer be on path planning level, but on trajectory planning level, where kinematic or dynamic constraints can be taken into account. This results in a motion that is smoother than when obstacle avoidance with path planning is employed. For both application areas this direct trajectory generation method is implemented and shows high flexibility in constrained motion trajectory design.

Recently, the electronic field develop rapidly especially in creating robotic. Many competitions have conducted to compare technology, from hobbies until robotic industries are never bored to talk. Industrially, automotive robotic needed in order to make the work more efficient, then it save cost of a production. Automotive robotic used also in entering dangerous area, that there is unable to handle by human for safety reason.In this paper, there are two automotive robotic that created, which able to follow line and stop when it detects any obstruction at front side. This robotic designed by Microcontroller AT89551, ultrasonic sensor as obstruction detector and it also have four infrared and photodiode sensors as line detector which through by feet. Automotive robotic will run following designed line, if there is any obstruction then it will stop as long as those obstructions are there and it run again if the ultrasonic sensor do not detect obstruction anymore. By regulating PWM signal (Pulse Width Modulation) from microcontroller, then the automotive robotic can walk straightly, turn and will stop if there are any obstruction detected.From the experiment and test which performed, robot is able to pass the turn with 60 cm of diameter, while for movement fork it is only perform straightly and stopped, exactly if robot finding the obstruction it can stoped in the distance 40 cm. It shows that there is lack of sensor, which used in designing, then for particular fork, robotic is only able to stop and walk straightly. Keywords: Microcontroller AT89S51, Lines Follower, Obstruction Detector

As resources become increasingly scarce and environmental demands grow, the recycling of products at the end of their lifecycle becomes crucial. Disassembly, as a key stage in the recycling process, plays a decisive role in the sustainability of the entire operation. Advances in automation technology and the integration of Industry 5.0 principles make the balance of human–robot collaborative disassembly lines an important research topic. This study uses disassembly-precedence graphs to clarify disassembly-task information and converts it into a task-precedence matrix. This matrix includes both symmetry and asymmetry, reflecting the dependencies and independencies among disassembly tasks. Based on this, we develop a multiobjective optimisation model that integrates disassembly-task allocation, operation mode selection, and the use of collaborative robots. The objectives are to minimise the number of workstations, the idle rate of the disassembly line, and the energy consumption. Given the asymmetry in disassembly-task attributes, such as the time differences required for disassembling various components and the diverse operation modes, this study employs an evolutionary algorithm to address potential asymmetric optimisation problems. Specifically, we introduce an advanced multi-objective discrete bee algorithm and validate its effectiveness and superiority for solving the disassembly-line balancing problem through a comparative analysis with other algorithms. This research not only provides innovative optimisation strategies for the product-recycling field but also offers valuable experience and reference for the further development of industrial automation and human–robot collaboration.

Ramor 500 steel plates are used as a ballistic material due to their greater hardness and strength properties. This steel can be produced with a 2-30 mm thickness sheet which may attain 505-590 HV hardness. In the present work, Ramor 500 steel pairs are joined using a submerged arc welding (SAW) process and taking various parameters into consideration. An austenitic additional wire is used for the welding process which contains Cr, Ni, and Mn. The source model prototype was developed using ANSYS software and considering a time-dependent three dimensional thermal model with source cooling. The highest tensile stress voltage value was determined in the sample applying a constant current of 250 A, 25 V and 30 cm × min-1welding speed. It was observed that the welding seam width increases as welding tension grows and that welding height and depth increase and decrease more or less in tandem. A ANSYS thermal cooling analysis revealed that welding tension grows with heat transfer which increases 15 mm from the main center of the welding area.

شناخت آسیب پذیری جمعیت و گروه های انسانی به عنوان اقدامی ابزاری در راستای پیشگیری از زایش فاجعه مبتنی بر زیستن در نواحی پر خطر مطرح است. تحلیل آسیب پذیری کانون‌های جمعیتی واقع در عرصه های خطر اقدامی علمی برای فراهم سازی زیر ساخت اطلاعاتی مناسب از درجه و میزان خطرپذیری از رخداد مخاطره است. بر اساس چنین دیدگاهی مسئله تحلیل آسیب پذیری ناشی از مخاطرات ژئومورفولوژیک فرونشست در جنوب شهر تهران مورد توجه قرار گرفته است. بدین منظور در ابتدا با استفاده از تکنیک تداخل سنجی راداری نرخ و دامنه فرونشست در محدوده مورد مطالعه استخراج گردید. سپس برای تولید نقشه فضایی عرصه های پر مخاطره نرخ و دامنه فرونشست به عنوان فاکتور عامل در زایش مخاطره به تحلیل گر سیستم در محیط GIS وارد گردید. نقشه خروجی معرف سلول‌های واجد ارزش متفاوت از فاکتور زایش مخاطره است. استخراج عرصه متعلق پهنه در معرض مخاطره نشان داد که از مجموع مساحت محدوده 7/12 درصد در پهنه های بسیار پرخطر، 7/14 در عرصه پرخطر،5/15 در عرصه نسبتاً پرخطر بیش از نیمی از محدوده (57درصد) در عرصه نسبتاً کم خطر قرار گرفته‌اند. برای ارزیابی میزان خطرپذیری، الگوی توزیع فضایی تأسیسات و ساخت‌وساز های موجود با نقشه عرصه های در معرض خطر هم نهاد گردید. مبتنی بر این اطلاعات و با استفاده از پیمایش میدانی اقدام به بررسی آسیب پذیری جمعیت ،مساکن و تأسیسات موجود در محدوده مورد مطالعه صورت پذیرفت. یافته های تحقیق موید آسیب پذیر بودن اکثر سکونت گاه‌ها و جمعیت ساکن درآنهاو تأسیسات موجود در محدوده می‌باشد. همچنین بر اساس پایش های میدانی صورت گرفته مشخص گردید که اکثر ساخت و سازهای موجود در منطقه غیر اصولی بوده که این امر باعث فراهم آوری زیرساخت آسیب پذیری برای مستحدثات در شرایط خطرپذیر است.

The use of collaborative robots in the industrial domain has significantly grown in the last years, allowing humans to operate in the same workspace occupied by robots without any physical barriers. Understandably, the safety of the human operator has been a major concern both for researchers and regulatory bodies. The power and force limited modality of robots is of particular interest in that sense, being used in order to bound the energy of eventual collisions when a close physical interaction with humans is necessary. Such an interaction modality allows the robotic system to operate without the use of barriers, but a measurement of the force and pressure occurring due to a contact must be provided as part of the risk assessment. However, the precise procedure to follow in order to reliably provide such measures is still unclear for users and system integrators willing to self-assess the safety of their own collaborative robotic system. In this work, the repeatability and reliability of such testing procedures and measures are analyzed with an interlaboratory comparison approach, with the aim to establish the degree of variability possibly encountered when performing the same test under slightly different conditions.

This study tried to research some constraints and future prospects of developing the Cipendok Waterfall Tourist Area, and also to find out any economies potencies of the area to increase local community economic welfare that lived in around of the forest location. This study focused on analyzing of local community preferences on government effort that develop the tourism object. To analyze and solve, this research used two analytical tools. There are preference analyses on local participant of Cipendok Waterfall development, and SWOT (Strength, Weakness, Opportunity, and Threat) analyses. On local community perspective, Cipendok Waterfall development had positive effect to them, though the effect was indirectly. The community had perception more that the area developments tended to increase local employment. Nonetheless, in recent years the community believed that the efforts to develop the area tended to decrease. It was identified from the community perception that the tourism area condition was unchanged significantly, and even tend to deteriorate. From SWOT consideration, one of strength factors was local communities had a mind to participate actively to develop Cipendok Tourism Area. However they considered that improper of infrastructure conditions had hampered it. They hoped that local government will intensify the tourism expansion by building tourism village programs and increase tourism development by using horticulture base approach. Also they wanted to belong in animal husbandry program, in partnership program with private sectors, also to create village building, and established in livestock cooperation.

Technology development is a fundamental need for a country, especially in the defense area. To catch up technological with advancement, it requires many skills according to the vast and complex defence technology development. We need to start basic research in the defense area to minimize our dependence to foreign countries. One important device that is still imported is the gun turret. This equipment can be placed in a tank or a battle ship to control gun, cannon or missile launcher. The design of a turret control simulator is a preliminary stage in designing the real turret. This simulator implements knowledge from robotic science which study the kinematic and dynamic aspects of a robot. From the kinematic aspect, the speed of each link is known. From the dynamics aspect, the torque for each joint from the actuator, which due to the hydraulic force or a hydraulic torque, is known. The Newton-Euler method is used to solve the dynamic equation.

Currently in IRAN, some manual methods are used for measuring spray droplet size which is very laborious and time consuming. In this paper, a software is presented based on image processing techniques, which is suitable for small object detection purpose that can be used in blob analysis of sprayer calibration and other similar applications. The algorithms have been implemented and adapted in a program called Scientific Image Blob Analysis (SIBA). The program can read the scanned image of water sensitive cards, obtained from nozzle's spray. Some threshold techniques are also used for noise removal and converting the original image to a binary one (e.g. red for blob and white for background). The blob features calculated in the program are area, actual diameter, Number Median Diameter (NMD), Volume Median Diameter (VMD), blob density (blob/unit area), and percentage of blob's area coverage, blob count and finally the uniformity of spray. The algorithms were evaluated analytically and experimentally, comparing with the results of a leaf area meter and a planimeter. Although the results showed more accurate and faster performance for this software, a direct correlation was also found between their accuracy and the image's resolution. In other words, the higher the resolution of the image, the more accurate of the results particularly for the smaller blobs. This was mainly due to the stepwise inherent of the pixels showing a blob's boundary. However, by choosing an appropriate resolution the error of measurement may reduce to %1. The program can also easily be used for any area detection and calculation of the images such as leaf, fruits etc. It is a good package especially for the researchers in the developing countries with a limit access to similar resources. Moreover there might be some uncertainty about the accuracy of such commercial products. Key words: Blob Analysis, Image processing, water sensitive paper, droplet size

In this paper we propose a distributed algorithm for the survey of unknown area, with help of a group of mobile robots. We also describe the architecture of an application developed to test the effectiveness of the proposed algorithm.

In this paper , a user-friendly Geographic Information Systems (GIS) program was developed to manipulate the property listing for sale geographically, to display the property listing in relation to other social and environmental features including topography, ways, types of unit ,ways, gardens and/or shopping centers, and to provide tools for the houses buyers to search and inspect properties and make choices without the need of getting into the houses or without their need to travel to place of houses. This study combines four luminous areas Geographic Information Systems (GIS), Electronic business System, Management Information System (MIS) and Internet and applies the combined technology in the business of real state to make system this system called (GEMI).The first section explains the methodology and prototypes development for Sherouk Beach Resort Planning and Management (SBRPM) with GIS and how the GIS software program was developed. Secondly various application scenarios were provided to test the program developed. It proves that the GIS program developed in this paper provides a good and convenient option in the search of properties based on different selection criteria as concluded in the final sections. Keywords - Geographic Information Systems (GIS), Electronic business, MIS, Real state, GEMI, SBRPM. I. Introduction The following section will address issues that are raised in each of these three stages in the program development. The GIS program was developed in three stages. The first stage is in system planning that is, to identify what functions will be required by the program and how they are to be incorporated into the software program. To do this, first is to become more familiar with the existing functions and tools in MapInfo 7(1) and then to identify what other functions are needed in this System. The second, stage is to design the interface of the software program and to write codes using PHP to integrate the functions required into the MapInfo software program (2). The software program can be applicable to other regions if similar datasets can be used for those regions. In the third stage, the software program developed in this paper is applied to assist in the search of buying units in Sherouk Beach Resort Region (SBRR). By using different search criteria for the search, the software program is tested which demonstrates that the program is capable of assisting in buying in the real estate industry. Through this testing process, limitations of the software program and possible improvement solutions are also explored.