Mobile dual arm robotic workers with embedded cognition for hybrid and dynamically reconfigurable manufacturing systems

Livrables

Demonstrators, pilots, prototypes (19)

THOMAS simplified programming framework-Final version

Final prototype of the CAD based programming framework able to automatically generate code for a new task

THOMAS H-R safe interaction modules-Final Version

THOMAS H-R safe interaction modules–Final Version: Final version of the mechanism allowing the interaction between humans and robots in the THOMAS scenarios

THOMAS Skills implementation – Initial prototype

Prototype implementation of the skills required for the handling and processing of component by the dual arm robot

THOMAS Station Controller – Final Version

Final version of the station controlled software ready to be integrated in the open production station

THOMAS mobile robot navigation and docking modules – Final Version

Final version of the mobile dual arm robot navigation software – ready for integration in the production station

Human detection and tracking – Initial Prototype

Human detection and tracking – Initial Prototype: First version prototype of the perception modules for tracking human operators – outcome of Task 2.2

Improved easy programming framework – Initial Prototype

First prototype of the simplified programming tool including assembly sequence generation and skill support

Aeronautics Demonstrator – Final Demonstrator

Final execution of the complete scenario of the aeronautics pilot case demonstrating all THOMAS results

Perception enabled navigation and docking for mobile robots: Initial prototype

Initial prototype of the navigation software for the dual arm robot including the visual docking modules

Environment and process reasoning modules- Initial prototype

Prototype using the perception skills for process correction and awareness of process/production status

Perception skills for process execution – Final Version

Final version of the skills that are used for process correction – ready for integration in the production station

THOMAS Open Production Station– First Prototype

Initial version of the THOMAS production station including the MPP, MRP and individual prototypes of M18

THOMAS Generalised and robust skills – Final Version

Final result of the THOMAS skills ready for integration in the Open Production Station final version

THOMAS Open Production Station– Intermediate Version

Initial version of the THOMAS production station integrating the final prototypes of WP2 – WP5 of M36

THOMAS service oriented network of resources – Initial prototype

First version of the service based communication architecture with basic support for all entities

THOMAS Open Production Station– Final Version

Final version of the Open Production station including fine-tuning and adjustment based on the pilot case customization activities.

THOMAS safety system - Initial Prototype

THOMAS safety system - Initial Prototype: Prototype including the safety systems for human robot interaction supplemented with 3D perception data

Automotive Demonstrator – Final Demonstrator

Final execution of the complete scenario of the automotive pilot case demonstrating all THOMAS results

THOMAS safe collaboration systems – Final Version

THOMAS safe collaboration systems – Final Version: System allowing human and robot collaboration in a safe way – ready for integration in the THOMAS production station

Websites, patent fillings, videos etc. (1)

THOMAS public web portal

Public site of the project accessible by all audiences for promoting the dissemination and communication activities

Documents, reports (1)

THOMAS Demonstrators performance assessment

Document on the measured and calculated performance indicators as well as validation report by the end users

Publications

Peer reviewed articles (9)

Model based reconfiguration of flexible production systems

Auteurs: Christos Gkournelos, Niki Kousi, Angelos Christos Bavelos, Sotiris Aivaliotis, Christos Giannoulis, George Michalos, Sotiris Makris
Publié dans: Procedia CIRP, 86, 2019, Page(s) 80-85, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2020.01.042

AI based combined scheduling and motion planning in flexible robotic assembly lines

Auteurs: Niki Kousi, Dimosthenis Dimosthenopoulos, Aleksandros-Stereos Matthaiakis, George Michalos, Sotiris Makris
Publié dans: Procedia CIRP, 86, 2019, Page(s) 74-79, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2020.01.041

AR based robot programming using teaching by demonstration techniques

Auteurs: Konstantinos Lotsaris, Christos Gkournelos, Nikos Fousekis, Niki Kousi, Sotiris Makris
Publié dans: Procedia CIRP, 97, 2021, Page(s) 459-463, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2020.09.186

Enabling Flexibility in Manufacturing by Integrating Shopfloor and Process Perception for Mobile Robot Workers

Auteurs: Angelos Christos Bavelos, Niki Kousi, Christos Gkournelos, Konstantinos Lotsaris, Sotiris Aivaliotis, George Michalos, Sotiris Makris
Publié dans: Applied Sciences, 11/9, 2021, Page(s) 3985, ISSN 2076-3417
Éditeur: Applied Sciences
DOI: 10.3390/app11093985

Application of Wearable Devices for Supporting Operators in Human-Robot Cooperative Assembly Tasks

Auteurs: Christos Gkournelos, Panagiotis Karagiannis, Niki Kousi, George Michalos, Spyridon Koukas, Sotiris Makris
Publié dans: Procedia CIRP, 76, 2018, Page(s) 177-182, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2018.01.019

An outlook on future assembly systems introducing robotic mobile dual arm workers

Auteurs: Niki Kousi, George Michalos, Sotirios Aivaliotis, Sotiris Makris
Publié dans: Procedia CIRP, 72, 2018, Page(s) 33-38, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2018.03.130

Digital twin for adaptation of robots’ behavior in flexible robotic assembly lines

Auteurs: Niki Kousi, Christos Gkournelos, Sotiris Aivaliotis, Christos Giannoulis, George Michalos, Sotiris Makris
Publié dans: Procedia Manufacturing, 28, 2019, Page(s) 121-126, ISSN 2351-9789
Éditeur: ELSEVIER
DOI: 10.1016/j.promfg.2018.12.020

Enabling Human Robot Interaction in flexible robotic assembly lines: an Augmented Reality based software suite

Auteurs: Niki Kousi, Christos Stoubos, Christos Gkournelos, George Michalos, Sotiris Makris
Publié dans: Procedia CIRP, 81, 2019, Page(s) 1429-1434, ISSN 2212-8271
Éditeur: ELSEVIER
DOI: 10.1016/j.procir.2019.04.328

Digital Twin for Designing and Reconfiguring Human–Robot Collaborative Assembly Lines

Auteurs: Niki Kousi, Christos Gkournelos, Sotiris Aivaliotis, Konstantinos Lotsaris, Angelos Christos Bavelos, Panagiotis Baris, George Michalos, Sotiris Makris
Publié dans: Applied Sciences, 11/10, 2021, Page(s) 4620, ISSN 2076-3417
Éditeur: Applied Sciences
DOI: 10.3390/app11104620

Conference proceedings (3)

THOMAS - Mobile dual arm robotic workers with embedded cognition for hybrid and dynamically reconfigurable manufacturing systems

Auteurs: Dr. Sotiris Makris
Publié dans: FoF Community Day 2017 Workshop, 2017
Éditeur: LMS

Flexible manipulation using dual arm robots

Auteurs: Dr. George Michalos
Publié dans: European Robotis Forum 2018 - 5th Workshop on Hybrid Production Systems, 2018
Éditeur: LMS

Dynamic, model-based reconfiguration for flexible robotic assembly lines

Auteurs: Niki Kousi, Christos Gkournelos, Sotiris Aivaliotis, George Michalos, Sotiris Makris
Publié dans: IARA ICAS 2019, 2019, Page(s) 15-20, ISBN 978-1-61208-712-2
Éditeur: ThinkMind