Man-machine Cooperative System Research Articles

Exergy Loss Assessment Method for CNC Milling System Considering the Energy Consumption of the Operator

Modeling and assessing the sustainability of machining systems has been considered to be a crucial approach to improving the environmental performance of machining processes. As the most common machining system, the computer numerical control (CNC) milling system is a typical man–machine cooperative system where the activities of the machine tool and operator generate material and energy consumption. However, the energy consumption of the operator in the CNC milling system has often been ignored in most existing research. Therefore, existing methods fail to provide a comprehensive understanding of the sustainability of the CNC milling system. To fill this gap, an exergy loss assessment method is proposed to investigate the sustainability of the CNC milling system, where the energy consumption of the operator, the energy consumption of the machine tool, and material consumption are taken into consideration. The key performance indexes of the energy consumption of the operator, the energy consumption of the machine tool, the exergy loss, and the specific exergy loss (SEL) are analyzed and modeled. To demonstrate the feasibility of the proposed method, a case study was carried out on a three-axis machining center (XH714D), in which the energy consumption of the operator, the energy consumption of the machine tool, the exergy loss of energy consumption, the exergy loss of chips, the exergy loss of compressed air, the exergy loss of cutting tool wear, the exergy loss of cooling liquid dissipation, and the SEL were found to be 169,750 J, 758,211 J, 603,131 J, 2,031,404 J, 22,023 J, 301,868 J, 2673 J, and 88.04 J/mm3, respectively. The proposed method is effective to assess the sustainability of the CNC milling system, and the established exergy loss models build a good basis for exergy efficiency optimization.

Fatigue recognition using EMG signals and stochastic switched ARX model

AbstractThe man–machine cooperative system is attracting great attention in many fields, such as industry, welfare, and so on. The assisting system must be designed so as to accommodate the operator's skill, which might be strongly affected by fatigue. This paper presents a new fatigue recognizer based on the electromyogram (EMG) signals and the stochastic switched ARX (SS‐ARX) model which is one of the extended models of the standard hidden Markov model (HMM). Since the SS‐ARX model can represent complex dynamic relationship which involves switching and stochastic variance, it is expected to show higher performance as a fatigue recognizer than when using simple statistical characteristics of the EMG signal and/or standard HMM. The usefulness of the proposed strategy is demonstrated by applying it to a peg‐in‐hole task. © 2012 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

Parameter design of switched assist controller for man–machine cooperative system with human behavior model based on hybrid system

AbstractRecently, the demand for man–machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man–machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man–machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k‐means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(1): 55–64, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.20932

Man-machine Cooperative System for Agricultural Robot (Part 2)

Man-machine Cooperative System for Agricultural Robot (Part 2)

Man-machine Cooperative System for Agricultural Robot (Part 1)

Man-machine Cooperative System for Agricultural Robot (Part 1)

柔軟物の自動搬送から手動位置決め作業までの操作支援法(機械力学,計測,自動制御)

In industrial production lines, there are many operations by not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems. There are many flexible and large parts because of being lightened, which cause vibration during operation. In such a case, efficient mode switching from machine-oriented operation to human-oriented operation and vibration suppression are important issues. This paper presents an assist control method for task from automated conveyance to manual positioning of a flexible part. This method consists of the smooth mode switching compensator whose control input is continuous at the controll mode switching, and the input shaping compensator which is used to suppress the vibtation of the flexible part. The notch filter with a variable gain is used as the input shaping compensator, which eliminates the vibration frequency component of the flexible part from operating force signal. The effectiveness of the proposed method is verified from standpoints of maneuverability and operating feel. The former is based on the evaluation of the time responses and the success time of the task, and the latter is the subjective evaluation of the operators using questionnaires.

Identification of Positioning Skill Based on Feedforward/Feedback Switched Dynamical Model

To realize the harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operator's skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feedforward and feedback schemes has been proved to work successfully in the modeling of human skill. In this paper, a new stochastic switched skill model for the sliding task, wherein a minimum jerk motion and feedback schemes are embedded in the different discrete states, is proposed. Then, the parameter estimation algorithm for the proposed switched skill model is derived. Finally, some advantages and applications of the proposed model are discussed.

1A1-M08 フィードフォワード/フィードバック切換え型モデルによるスキルの同定

To realize the harmonious cooperation with the operator, the man-machine cooperative system must be designed so as to accommodate with the characteristics of the operator's skill. One of the important considerations in the skill analysis is to investigate the switching mechanism underlying the skill dynamics. On the other hand, the combination of the feed forward and feedback schemes has proved to work successfully in modeling of human skill. In this paper, a new stochastic switched skill model for the sliding task, wherein a minimum jerk motion and feedback schemes are embedded in different discrete states,is proposed. Then, the parameter estimation algorithm for the proposed switched skill model is derived. Finally, some advantages and applications of the proposed model is discussed.

人間行動のハイブリッドシステムモデルに基づいた人間—機械協調型ロボットシステムの切替型制御器設計

Recently, the demand for man–machine cooperative systems has been growing in many industrial fields, particularly in cell production and in flexible manufacturing systems. In the design of man–machine cooperative systems, the characteristics of human behavior must be considered. This paper presents a new design strategy for a switched assist controller for a man–machine cooperative positioning task that takes into consideration a human behavior model based on a continuous/discrete hybrid dynamical system. First, the human behavior model is identified as a piecewise ARX model using k-means clustering and a support vector machine. Second, the switched assist system is designed as a switched impedance controller based on the identified hybrid human behavior model with optimization. The optimization was solved by performing a forward calculation of the closed loop response of the human behavior model and controller with a criterion reflecting the task time and the force effort. The results show that one can find the optimal parameters for a switched impedance controller. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 177(1): 55–64, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.20932

1A1-D08 位置ベースインピーダンス制御を用いたモード切り換え制御手法(人間機械協調)

In automobile production lines, there are many operations by not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems. In this case, efficient mode switching from machine-oriented operation to human-oriented operation is important. This paper presents a new mode switching control method from the automatic mode to the manual mode on the basis of position based impedance control. This method proposes the smooth mode switching compensator whose control input is continuous at the switching time. The effectiveness of the proposed method is verified experimentally.

1A1-D13 人間-機械協調型ロボットにおける人間行動モデルと隠れマルコフモデルを用いた支援制御(人間機械協調)

Recently, the demand for a man-machine cooperative system is rapidly growing in industrial fields. To meet this demand, the human model has been required to design the suitable assist controller in the man-machine cooperative system. We have already presented a human behavior model based on the hybrid system and variable impedance controller applying this model.In this paper, we propose grouping method of workers using Hidden Markov Model (HMM) and confirm the usefulness of this method using variable impedance parameters. At first, we construct HMM to each worker. Then, the grouping of workers will be done used constructed models. Finally, we compare the grouping result with designed variable impedance parameters and confirm the usefulness of the grouping of workers.

1A1-I12 筋電位信号を用いたSS-ARXモデルによるペグ挿入作業中の疲労推定(感覚・運動・計測)

The man-machine cooperative system is attracting great attention in many fields. Since a human skill is strongly affected by fatigue, the assist system must be designed so as to accommodate with the change of skill characteristics caused by fatigue. This paper presents a new fatigue recognizer based on the EMG signals and the stochastic switched ARX (SS-ARX) model. Since the SS-ARX model can represent complex dynamics which involves switching and stochastic variance, it is expected to show higher performance as the fatigue recognizer than using simple statistical characteristics of the EMG signal. The usefulness of the proposed strategy is demonstrated by applying to a peg-in-hole task.

Mode Switching Control Method for Man-Machine Collaborated Robotic Systems (Switching from Power-Assist Mode to Automatic Positioning Mode)

In the industrial world, not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems have attracted special interest recently. Kondo, et al. proposed the scheme of Man-Machine Collaborated Systems (MMCSs) and its application to some assembling work. In MMCSs, efficient mode switching from human-oriented task to machine-oriented task is important. However, its issue has not been fully addressed yet. This study discusses a mode switching control method for MMCSs. Especially, we treat the switching from a power-assist mode (PAM) to an automatic positioning mode (APM) for a simple robotic system. To obtain a smooth switching, this study utilizes a two-degree-of-freedom control system structure which consists of an on-line impedance control simulator and an LQI servo controller. Some smooth reference generation for APM is also introduced. No input saturation and stopping appear at the switching in this method. The effectiveness of the method is verified experimentally.

1A1-N07 人間行動モデルを用いた人間-機械協調ロボット制御系の応用(人間機械協調)

Recently, the demand for a man-machine cooperative system is rapidly growing in industrial fields. To meet this demand, the human model has been required to design the suitable assist controller in the man-machine cooperative system. We have already presented a human behavior model based on the hybrid system. In this paper, we apply to design the man-machine cooperative robot controller of the human behavior model. At first, the human behavior model is constructed as the piece-wise ARX model by using the hierarchal clustering, the support vector machine and the least square method. Then, we obtain the responses by computing the derived human model and the robot controller dynamics. Finally, we evaluate the responses and the experimental results with the evaluate function and confirm the usefulness of the proposed modeling method.

2P1-D05 人間-機械協調型組立ロボットにおける作業者の位置決め作業の区分線形モデルの構築

2P1-D05 人間-機械協調型組立ロボットにおける作業者の位置決め作業の区分線形モデルの構築

Mode Switching Control Method for Man-Machine Collaborated Robotic Systems(Switching from Power-Assist Mode to Automatic Positioning Mode)

In the industrial world, not only autonomous machinery as industrial robots but also man-machine cooperative systems as power-assist systems have attracted special interest recently. Kondo, et al. proposed the scheme of Man-Machine Collaborated Systems (MMCSs) and its application to some assembling work. In MMCSs, efficient mode switching from human-oriented task to machine-oriented task is important. However, its issue has not been fully addressed yet. This study discusses a mode switching control method for MMCSs. Especially, we treat the switching from a power-assist mode (PAM) to an automatic positioning mode (APM) for a simple robotic system. To obtain a smooth switching, this study utilizes a two-degree-of-freedom control system structure which consists of an on-line impedance control simulator and an LQI servo controller. Some smooth reference generation for APM is also introduced. No input saturation and stopping appear at the switching in this method. The effectiveness of the method is verified experimentally.

Man-machine Cooperative System for Agricultural Robot (Part 3)

Man-machine Cooperative System for Agricultural Robot (Part 3)