Hybrid Human-Robot RECYcling plant for electriCal and eLEctRonic equipment

Informations projet

HR-Recycler

N° de convention de subvention: 820742

DOI

10.3030/820742

Projet clôturé

Date de signature de la CE 3 Août 2018

Date de début 1 Decembre 2018

Date de fin 30 Novembre 2022

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Advanced manufacturing and processing

Coût total

€ 6 986 573,75

Contribution de l’UE

€ 6 986 573,75

Coordonné par

ETHNIKO KENTRO EREVNAS KAI TECHNOLOGIKIS ANAPTYXIS
Greece

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Documents, reports (17)

Dissemination plan and reports (version 3)

This deliverable will describe the developed means to raise awareness amongst interested parties that shall be impacted by HRRecycler outcomes version 3

Flexible Probing

This deliverable will describe the developed methods for integrating control structures with learning algorithms in order to identify physical probing locations

Force guided manipulation evaluation

This deliverable will describe the developed methods for manipulation tasks with uncertain exact object dimensions and locations

Project Web presence

This deliverable will describe the prepared dissemination material and project branding activities on the Web.

Dissemination plan and reports (version 1)

This deliverable will describe the developed means to raise awareness amongst interested parties that shall be impacted by HR-Recycler outcomes (version 1).

Haptic Regression Report

This deliverable will describe the developed methods for mimicing the behaviour of humans when manipulating different object types.

Factory floor lifelong mapping and mobile robots navigation

This deliverable will describe the developed methods for the appropriate mapping and navigation of the AGVs of the factory floor

Grasping Strategy Evaluation

This deliverable will describe the developed force-adaptive grasping strategy with tactile sensing gripper fingers.

Workshop reports

This deliverable will describe the activities carried out towards the project workshops organization for maximizing the impact of the HRRecycler approach

AR-based human machine interfaces for enhanced situation awareness in HRC

This deliverable will describe the developed mechanisms that will facilitate human machine interactions for situation awareness during the operational phase as well as for training of the human worker into HRCbased disassembly

Final models for natural and safe robot movement

This deliverable will describe the final methods to enable the robot to proactively collaborate with human partners

The HR-Recycler impact assessment method

This deliverable will describe the method of performing an impact assessment in HR-Recycler.

Report on security, data protection, privacy, ethics and societal acceptance

This deliverable will describe the fundamental rights, ethical, societal and regulatory frameworks relevant to HR-Recycler.

Creation and management of stakeholder community

This deliverable will describe the activities that will be carried out for attracting a critical mass around the project

Dissemination plan and reports (version 2)

This deliverable will describe the developed means to raise awareness amongst interested parties that shall be impacted by HRRecycler outcomes version 2

Adaptive cell -based collaborative factory model

This deliverable will describe the adaptive Cell aCell based hierarchical factory floor model of HRRecycler

Initial models for natural and safe robot movement

This deliverable will describe the initial methods to enable the robot to proactively collaborate with human partners.

Websites, patent fillings, videos etc. (3)

EFFRA innovation portal (version 2)

This deliverable will describe the submission of the projects progress in the Innovation Portal of EFFRA version 2

EFFRA innovation portal (version 1)

This deliverable will describe the submission of the project’s progress in the Innovation Portal of EFFRA (version 1).

EFFRA innovation portal (version 3)

This deliverable will describe the submission of the projects progress in the Innovation Portal of EFFRA version 3

Publications

Peer reviewed articles (11)

Towards sample-efficient policy learning with DAC-ML

Auteurs: Freire, I. T., Amil, A. F., Vouloutsi, V., & Verschure, P. F
Publié dans: Procedia Computer Science, Numéro 190, 2021, 2021, Page(s) 256-262, ISSN 1877-0509
Éditeur: Amsterdam Elsevier
DOI: 10.1016/j.procs.2021.06.035

An Online Trajectory Generator on SE(3) for Human–Robot Collaboration

Auteurs: Gerold Huber, Dirk Wollherr
Publié dans: Robotica, 2019, ISSN 1469-8668
Éditeur: Cambridge University Press
DOI: 10.1017/s0263574719001619

Efficient Closed-Form Task Space Manipulability for a 7-DOF Serial Robot

Auteurs: Gerold Huber, Dirk Wollherr
Publié dans: Robotics, Numéro 8/4, 2019, Page(s) 98, ISSN 2218-6581
Éditeur: MDPI
DOI: 10.3390/robotics8040098

Robot regulatory behaviour based on fundamental homeostatic and allostatic principles

Auteurs: Guerrero-Rosado, O., & Verschure, P
Publié dans: Procedia Computer Science, Numéro 13/07/1905, 2021, Page(s) 292-300, ISSN 1877-0509
Éditeur: Amsterdam Elsevier
DOI: 10.1016/j.procs.2021.06.039

Joint Object Affordance Reasoning and Segmentation in RGB-D Videos

Auteurs: Spyridon Thermos; Gerasimos Potamianos; Petros Daras
Publié dans: IEEE Access, 2021, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3090471

An Online Robot Collision Detection and Identification Scheme by Supervised Learning and Bayesian Decision Theory

Auteurs: Zengjie Zhang, Kun Qian, Bjorn W. Schuller, Dirk Wollherr
Publié dans: IEEE Transactions on Automation Science and Engineering, 2020, Page(s) 1-13, ISSN 1545-5955
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tase.2020.2997094

A Concise and Geometrically Exact Planar Beam Model for Arbitrarily Large Elastic Deformation Dynamics

Auteurs: Gerold Huber, Dirk Wollherr, Martin Buss
Publié dans: Frontiers in Robotics and AI, 2021, ISSN 2296-9144
Éditeur: Frontiers Media S.A.
DOI: 10.3389/frobt.2020.609478

Bayesian optimization with unknown constraints in graphical skill models for compliant manipulation tasks using an industrial robot

Auteurs: Volker Gabler, Dirk Wollherr
Publié dans: Frontiers in Robotics and AI, 2022, ISSN 2296-9144
Éditeur: Frontiers Media S.A.
DOI: 10.3389/frobt.2022.993359

Modeling the formation of social conventions from embodied real-time interactions

Auteurs: Ismael T. Freire, Clement Moulin-Frier, Marti Sanchez-Fibla, Xerxes D. Arsiwalla, Paul F. M. J. Verschure
Publié dans: PLOS ONE, Numéro 15/6, 2020, Page(s) e0234434, ISSN 1932-6203
Éditeur: Public Library of Science
DOI: 10.1371/journal.pone.0234434

Adaptation and Transfer of Robot Motion Policies for Close Proximity Human-Robot Interaction

Auteurs: Khoi Hoang Dinh, Ozgur S. Oguz, Mariam Elsayed, Dirk Wollherr
Publié dans: Frontiers in Robotics and AI, Numéro 6, 2019, ISSN 2296-9144
Éditeur: Frontiers in Robotics AI
DOI: 10.3389/frobt.2019.00069

Complementary interactions between classical and top-down driven inhibitory mechanisms of attention

Auteurs: Low, S. C., Vouloutsi, V., & Verschure, P. F.
Publié dans: Cognitive Systems Research, Numéro 67, June 2021, 2021, Page(s) 66-72, ISSN 1389-0417
Éditeur: Elsevier BV
DOI: 10.1016/j.cogsys.2020.12.003

Book chapters (7)

Efficient Fine-Grained Object Detection for Robot-Assisted WEEE Disassembly

Auteurs: Ioannis Athanasiadis, Athanasios Psaltis, Apostolos Axenopoulos, Petros Daras
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 17-22, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_3

Enhancing Robot-Assisted WEEE Disassembly Through Optimizing Automated Detection of Small Components

Auteurs: Ioannis Athanasiadis, Athanasios Psaltis, Apostolos Axenopoulos, Petros Daras
Publié dans: Computer Vision – ECCV 2020 Workshops - Glasgow, UK, August 23–28, 2020, Proceedings, Part IV, Numéro 12538, 2020, Page(s) 440-454, ISBN 978-3-030-66822-8
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-66823-5_26

Machine Morality: From Harm-Avoidance to Human-Robot Cooperation

Auteurs: Ismael T. Freire, Dina Urikh, Xerxes D. Arsiwalla, Paul F. M. J. Verschure
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 116-127, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_13

Cholinergic Control of Chaos and Evidence Sensitivity in a Neocortical Model of Perceptual Decision-Making

Auteurs: Adrián F. Amil, Jordi-Ysard Puigbò, Paul F. M. J. Verschure
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 92-96, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_10

Haptic Object Identification for Advanced Manipulation Skills

Auteurs: Volker Gabler, Korbinian Maier, Satoshi Endo, Dirk Wollherr
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 128-140, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_14

Distributed Adaptive Control: An Ideal Cognitive Architecture Candidate for Managing a Robotic Recycling Plant

Auteurs: Oscar Guerrero Rosado, Paul F. M. J. Verschure
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 153-164, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_16

Integrated Topological Planning and Scheduling for Orchestrating Large Human-Robot Collaborative Teams

Auteurs: Ioannis Chatzikonstantinou, Ioannis Kostavelis, Dimitrios Giakoumis, Dimitrios Tzovaras
Publié dans: Biomimetic and Biohybrid Systems - 9th International Conference, Living Machines 2020, Freiburg, Germany, July 28–30, 2020, Proceedings, Numéro 12413, 2020, Page(s) 23-35, ISBN 978-3-030-64312-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-64313-3_4

Conference proceedings (12)

MS2MP: A Min-Sum Message Passing Algorithm for Motion Planning

Auteurs: Salman Bari, Volker Gabler, Dirk Wollherr
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN 978-1-7281-9077-8
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9561533

A Hybrid Human-Robot Collaborative Environment for Recycling Electrical and Electronic Equipment

Auteurs: Axenopοulos, Apostolos and Papadopoulos, Georgios Th. and Giakoumis, Dimitrios and Kostavelis, Ioannis and Papadimitriou, Alexis and Sillaurren, Sara and Bastida, Leire and Oguz, Ozgur S. and Wollherr, Dirk and Garnica, Eugenio and Vouloutsi, Vasiliki and Verschure, Paul F.M.J. and Tzovaras, Dimitrios and Daras, Petros
Publié dans: 2019
Éditeur: IEEE
DOI: 10.1109/smartworld-uic-atc-scalcom-iop-sci.2019.00312

Safe Tracking Control of Euler-Lagrangian Systems Based on A Novel Adaptive Super-twisting Algorithm

Auteurs: Zengjie Zhang, Yongchao Wang, Dirk Wollherr
Publié dans: IFAC-PapersOnLine, Numéro 53(2), 2020, Page(s) 9974-9979
Éditeur: Elsevier Ltd.
DOI: 10.1016/j.ifacol.2020.12.2714

A Force-Sensitive Grasping Controller Using Tactile Gripper Fingers and an Industrial Position-Controlled Robot

Auteurs: Volker Gabler; Gerold Huber; Dirk Wollherr
Publié dans: 2022 International Conference on Robotics and Automation (ICRA), 2022, ISBN 978-1-7281-9681-7
Éditeur: IEEE
DOI: 10.1109/icra46639.2022.9812278

Globally Optimal Online Redundancy Resolution for Serial 7-DOF Kinematics Along SE(3) Trajectories

Auteurs: Gerold Huber, Dirk Wollherr
Publié dans: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Éditeur: IEEE
DOI: 10.1109/icra48506.2021.9560810

Towards sample-efficient episodic control with DAC-ML

Auteurs: Freire, I. T., Amil, A. F., Vouloutsi, V., & Verschure, P. F.
Publié dans: Annual International Conference on Brain-Inspired Cognitive Architectures for Artificial Intelligence (BICA*AI 2020), 2020
Éditeur: N/A
DOI: 10.1007/978-3-030-64313-3_36

Intuitive and Safe Interaction in Multi-User Human Robot Collaboration Environments through Augmented Reality Displays

Auteurs: Georgios Tsamis; Georgios Chantziaras; Dimitrios Giakoumis; Ioannis Kostavelis; Andreas Kargakos; Athanasios Tsakiris; Dimitrios Tzovaras
Publié dans: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), Numéro 8-12 Aug. 2021, 2021, Page(s) pp. 520-526, ISBN 978-1-6654-0492-1
Éditeur: IEEE
DOI: 10.1109/ro-man50785.2021.9515474

A Deep Learning Approach to Object Affordance Segmentation

Auteurs: Spyridon Thermos, Petros Daras, Gerasimos Potamianos
Publié dans: ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2020, Page(s) 2358-2362, ISBN 978-1-5090-6631-5
Éditeur: IEEE
DOI: 10.1109/icassp40776.2020.9054167

Pallet detection and docking strategy for autonomous pallet truck AGV operation

Auteurs: Efthimios Tsiogas, Ioannis Kleitsiotis, Ioannis Kostavelis, Andreas Kargakos, Dimitris Giakoumis, Marc Bosch-Jorge, Raquel Julia Ros, Rafa López Tarazón, Spyridon Likothanassis, Dimitrios Tzovaras
Publié dans: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021, 2021
Éditeur: IEEE
DOI: 10.1109/iros51168.2021.9636270

A New Shopfloor Orchestration Approach for Collaborative Human-Robot Device Disassembly

Auteurs: Ioannis Chatzikonstantinou, Dimitrios Giakoumis, Dimitrios Tzovaras
Publié dans: 2019 IEEE SmartWorld, Ubiquitous Intelligence & Computing, Advanced & Trusted Computing, Scalable Computing & Communications, Cloud & Big Data Computing, Internet of People and Smart City Innovation (SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI), 2019, Page(s) 225-230, ISBN 978-1-7281-4034-6
Éditeur: IEEE
DOI: 10.1109/smartworld-uic-atc-scalcom-iop-sci.2019.00081

Towards life-long mapping of dynamic environments using temporal persistence modeling

Auteurs: Georgios Tsamis, Ioannis Kostavelis, Dimitrios Giakoumis, Dimitrios Tzovaras
Publié dans: 25th International Conference on Pattern Recognition, 2020
Éditeur: IEEE
DOI: 10.1109/icpr48806.2021.9413161

Initiating the human-robot collaboration during the WEEE management

Auteurs: Sixto Arnaiz, Iñigo Cacho, Iratxe Uria, Dorleta Guarde, Maider Arieta-araunabeña, Athanasios Stergiou,Spyridon D. Karamoutsos, Anna C. Antunes, Elisabete Oliveira, Sara Sillaurren, Leire Bastida
Publié dans: Electronic Goes Green 2020+ proceedings, Numéro September 2020, 2020, Page(s) 255-262, ISBN 978-3-8396-1659-8
Éditeur: Fraunhofer Verlag

Other (8)

Towards a method for data protection impact assessment: Making sense of GDPR requirements

Auteurs: Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Éditeur: VUB

Vers une méthode pour l’analyse d’impact relative à la protection des données : Comprendre et interpréter les obligations du RGPD

Auteurs: Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Éditeur: VUB

Cap a un mètode d’avaluació d’impacte per a la protecció de dades: Donant sentit a les obligacions del RGPD

Auteurs: Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS i Ioulia KONSTANTINOU
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2020, Page(s) 1-12, ISSN 2565-9936
Éditeur: VUB

Entwicklung einer Methode für die Datenschutz-Folgenabschätzung: Erläuterung und Auslegung der Anforderungen der DSGVO

Auteurs: Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS and Ioulia KONSTANTINOU
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2019, Page(s) 1-8, ISSN 2565-9936
Éditeur: VUB

Em direção a um método para avaliações de impacto sobre a proteção de dados: entendendo as exigências do RGPD

Auteurs: Dariusz KLOZA, Niels VAN DIJK, Simone CASIRAGHI, Sergi VAZQUEZ MAYMIR, Sara RODA, Alessia TANAS e Ioulia KONSTANTINOU
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2019, Page(s) 1-12, ISSN 2565-9936
Éditeur: VUB

Προς μία μέθοδο για την Εκτίμηση Αντικτύπου σχετικά με την Προστασία Δεδομένων: Κατανοώντας τις απαιτήσεις του ΓΚΠΔ

Auteurs: Dariusz Kloza, Niels van Dijk, Simone Casiraghi, Sergi Vazquez Maymir, Sara Roda, Alessia Tanas, Ioulia Konstantinou
Publié dans: d.pia.lab Policy Brief, Numéro 1/2019, 2020, Page(s) 1-12, ISSN 2565-9936
Éditeur: VUB

Data protection impact assessment in the European Union: developing a template for a report from the assessment process

Auteurs: Dariusz KLOZA, Alessandra CALVI, Simone CASIRAGHI, Sergi VASQUEZ MAYMIR, Nikolaos, IOANNIDIS, Alessia TANAS and Niels VAN DIJK
Publié dans: d.pia.lab Policy Brief, Numéro 1/2020, 2020, Page(s) 1-52
Éditeur: VUB

Szablon raportu z procesu oceny skutkow dla ochrony danych w Unii Europejskiej: propozycja

Auteurs: Dariusz Kloza, Alessandra Calvi, Simone Casiraghi, Sergi Vazquez Maymir, Nikolaos Ioannidis, Alessia Tanas, Niels Van Dijk, Paweł Uściński (Translator), Maciej Otmianowski (Translator)
Publié dans: d.pia.lab Policy Brief, Numéro 1/2020, 2021, Page(s) 1-56
Éditeur: VUB