@article{Albu-Schaeffer2023, author = {Albu-Schaeffer, Alin and Huchler, Norbert and Kessler, Ingmar and Lay, Florian and Perzylo, Alexander and Seidler, Michael and Steinmetz, Franz and Weitschat, Roman}, title = {Soziotechnisches Assistenzsystem zur lernf{\"{o}}rderlichen Arbeitsgestaltung in der robotergest{\"{u}}tzten Montage}, journal = {Gruppe. Interaktion. Organisation. Zeitschrift f{\"{u}}r Angewandte Organisationspsychologie (GIO)}, volume = {54}, number = {1}, pages = {79--93}, year = {2023}, month = feb, abstract = {Dieser Beitrag der Zeitschrift Gruppe. Interaktion. Organisation. (GIO) widmet sich der lernf{\"{o}}rderlichen Gestaltung eines roboterbasierten Assistenzsystems f{\"{u}}r industrielle Montaget{\"{a}}tigkeiten. Individualisierte Produkte, kleinere Losgr{\"{o}}{\ss}en und beschleunigte Prozesse sind Aspekte des digitalen Wandels in der industriellen Fertigung und Teil des Leitbilds einer flexiblen Produktion. Mensch-Roboter-Kollaboration und wissensbasiertes Engineering sind aktuelle Ans{\"{a}}tze, um diesen Anforderungen gerecht zu werden. Dieser Artikel stellt an einem Anwendungsbeispiel (Verdrahtung von Schaltschr{\"{a}}nken) einen ersten Ansatz vor, wie mittels wissensbasierter Technologien (v. a. Ontologien und deren logische Interpretation) Vorschl{\"{a}}ge zur Arbeitszuteilung zwischen Menschen und Robotern sowohl nach {\"{o}}konomischen als auch nach Kriterien der humanen Arbeitsgestaltung automatisiert erstellt werden k{\"{o}}nnen. Zum einen k{\"{o}}nnen f{\"{u}}r jede Aufgabe ihre Anforderungen mit den individuellen F{\"{a}}higkeiten und St{\"{a}}rken der Besch{\"{a}}ftigten sowie mit denen des kollaborativen Robotersystems in einem Mixed-Skill-Konzept nach betrieblichen Kennziffern (z. B. Zeit, Qualit{\"{a}}t) abgeglichen werden, um sich so einem optimalen Produktionsablauf anzun{\"{a}}hern. Zum anderen k{\"{o}}nnen dabei Aspekte einer humanen Gestaltung der Mensch-Maschine-Interaktion (MMI) ber{\"{u}}cksichtigt werden, die vordringlich mit Blick auf Lernf{\"{o}}rderlichkeit zusammengef{\"{u}}hrt werden. Lernf{\"{o}}rderlichkeit in der MMI setzt Zeit, Handlungsr{\"{a}}ume und f{\"{o}}rderliche Inhalte voraus und ist zugleich eine zunehmende Notwendigkeit, um vorausschauend auf den dynamisierten Wandel von Arbeit zu reagieren. Denn gerade mit dem Technikeinsatz ist ein starker T{\"{a}}tigkeitswandel in Richtung Entscheidungstr{\"{a}}ger und Probleml{\"{o}}ser verbunden, der neben Qualifizierung und Weiterbildung auch niedrigschwelliger, arbeitsintegrierter Lerngelegenheiten bedarf. Gerade die kollaborative Robotik als Schl{\"{u}}sseltechnologie der flexiblen Fertigung macht es n{\"{o}}tig, neue Konzepte f{\"{u}}r die Organisation des hybriden Zusammenwirkens von Mensch und Roboter zu entwickeln. Im Folgenden wird aufbauend auf den grundlegenden Ansatz das Konzept eines technischen Demonstrators vorgestellt, welches entlang eines empirischen Fallbeispiels entwickelt wurde. Die prototypische, technische Umsetzung basiert auf einer Arbeitsumgebung mit einem Roboterarm und zugeh{\"{o}}rigen Werkzeugen, formalen semantischen Beschreibungen der F{\"{a}}higkeiten und T{\"{a}}tigkeiten von Menschen und Robotern sowie einer intuitiven Benutzeroberfl{\"{a}}che, unter anderem f{\"{u}}r die individuelle Anpassung der generierten Arbeitszuteilungen.}, doi = {10.1007/s11612-023-00668-7}, keywords = {peng, empress}, } @inproceedings{empress-rss-2021, author = {Huchler, Norbert and Kessler, Ingmar and Lay, Florian and Perzylo, Alexander and Seidler, Michael and Steinmetz, Franz}, title = {Empowering Workers in a Mixed Skills Concept for Collaborative Robot Systems}, booktitle = {Workshop on Accessibility of Robot Programming and Work of the Future, Robotics: Science and Systems (RSS)}, year = {2021}, month = jul, abstract = {One aspect of digital transformation in manufacturing is the trend toward mass customization, which requires a more flexible production paradigm. Human-robot collaboration and knowledge-based engineering are approaches that meet these requirements. In our work, we combine them in our mixed skills concept that incorporates the strengths of human workers and robots. We assume that while the workplaces of many workers may change, they will continue to play a vital role due to their experience and flexibility. They can perform various types of tasks that are still beyond the capabilities of robots. Yet, their responsibilities may shift towards decision makers and problem solvers for robots. Our approach to facilitate such collaboration is to apply insights from social science regarding empowerment in the work context to determine design goals and potential solutions for collaborative robot systems. The technical implementation is based on semantic descriptions of relevant aspects of automation using OWL ontologies and intuitive user interfaces.}, keywords = {robotics, empress}, url = {https://mediatum.ub.tum.de/doc/1616960/1616960.pdf}, } @incollection{Kessler2021, author = {Kessler, Ingmar and Perzylo, Alexander and Rickert, Markus}, editor = {Garoufallou, Emmanouel and Ovalle-Perandones, Maria-Antonia}, title = {Ontology-Based Decision Support System for the Nitrogen Fertilization of Winter Wheat}, booktitle = {Metadata and Semantics Research (MTSR 2020)}, publisher = {Springer International Publishing}, pages = {245--256}, year = {2021}, month = mar, address = {Cham}, abstract = {Digital technologies are already used in several aspects of agriculture. However, decision-making in crop production is still often a manual process that relies on various heterogeneous data sources. Small-scale farmers and their local consultants are particularly burdened by increasingly complex requirements. Regional circumstances and regulations play an essential role and need to be considered. This paper presents an ontology-based decision support system for the nitrogen fertilization of winter wheat in Bavaria, Germany. Semantic Web and Linked Data technologies were employed to both reuse and model new common semantic structures for interrelated knowledge. Many relevant general and regional data sources from multiple domains were not yet available in RDF. Hence, we used several tools to transform relevant data into corresponding OWL ontologies and combined them in a central knowledge base. The GUI application of the decision support system queries it to parameterize requests to external web services and to show relevant information in an integrated view. It further uses SPARQL queries to automatically generate recommendations for farmers and their consultants.}, isbn = {978-3-030-71903-6}, doi = {10.1007/978-3-030-71903-6_24}, keywords = {robotics, farmexpert}, } @inproceedings{Perzylo2020a, author = {Perzylo, Alexander and Kessler, Ingmar and Profanter, Stefan and Rickert, Markus}, title = {Toward a Knowledge-Based Data Backbone for Seamless Digital Engineering in Smart Factories}, booktitle = {Proceedings of the IEEE International Conference on Emerging Technologies And Factory Automation (ETFA)}, pages = {164--171}, year = {2020}, month = sep, address = {Vienna, Austria}, abstract = {Digital transformation efforts in manufacturing companies bear the potential to reduce product costs and increase the flexibility of production systems. The semantic integration of data and information along the value chain enables the automated interpretation of interrelations between its different aspects such as product design, production process and manufacturing resources. These interrelations can be used to automatically generate semantic process descriptions and execute corresponding robot motions. An initial one-time effort to model the required knowledge of a particular application domain can make the manufacturing of high-variant products in small batches or even lot size one production more efficient. This paper introduces a knowledge-based digital engineering concept to automate engineering and production activities without human involvement. The concept was integrated and evaluated in a physical robot workcell where automotive fuse boxes are autonomously fitted with different fuse configurations.}, doi = {10.1109/ETFA46521.2020.9211943}, keywords = {robotics, data backbone}, url = {https://youtu.be/PtPd3YvTTzw}, } @article{Weckesser2020a, author = {Weckesser, Fabian and Peisl, Sebastian and Beck, Michael and Hartmann, Anja and R{\"{o}}hrl, Gerhard and Kessler, Ingmar and Perzylo, Alexander and Rickert, Markus}, title = {Daten vernetzen, unabh{\"{a}}ngig beraten}, journal = {Bayerisches Landwirtschaftliches Wochenblatt}, volume = {16}, year = {2020}, month = apr, abstract = {Mit einem Forschungsprojekt steigt das Landeskuratorium f{\"{u}}r pflanzliche Erzeugung in die digitale Beratung ein. FarmExpert 4.0 soll eine F{\"{u}}lle an Daten in einer Softwarearchitektur zum Nutzen der Landwirte vernetzen. Landwirte und Berater m{\"{u}}ssen bei pflanzenbaulichen Fragestellungen oft von Hand Fachwissen in Datenquellen nach-schlagen und miteinander kombinieren. Hinzu kommt, dass die gesetzlichen Rahmenbedingungen komplexer werden. Ein aktuelles Beispiel daf{\"{u}}r ist die D{\"{u}}ngeverordnung (D{\"{u}}V). Sonder- und Ausnahmeregelungen machen die Entscheidungsfindung f{\"{u}}r den Landwirt nicht einfacher. Der Betriebsleiter w{\"{u}}nscht sich Unterst{\"{u}}tzung beim Management seines Betriebes und bei der Erf{\"{u}}llung seiner Dokumentationspflichten. Es w{\"{a}}re viel gewonnen, wenn es hierf{\"{u}}r eine neutrale Softwarearchitektur g{\"{a}}be, die zu den Fragen des Landwirts die wichtigsten Informationen auf all seinen mobilen Endger{\"{a}}ten bereitstellt.}, keywords = {robotics,farmexpert}, url = {http://www.hswt.de/fileadmin/download/Forschung/Forschungsprojekte/1093_FarmExpert/WB_Daten_vernetzen_unabhaengig_beraten.pdf}, } @article{Perzylo2019a, author = {Perzylo, Alexander and Rickert, Markus and Kahl, Bj{\"{o}}rn and Somani, Nikhil and Lehmann, Christian and Kuss, Alexander and Profanter, Stefan and Billeso Beck, Anders and Haage, Mathias and Rath Hansen, Mikkel and Tofveson Nibe, Malene and Roa, M{\'{a}}ximo A. and S{\"{o}}rnmo, Olof and Gesteg{\aa}rd Robertz, Sven and Thomas, Ulrike and Veiga, Germano and Topp, Elin Anna and Kessler, Ingmar and Danzer, Marinus}, title = {{SME}robotics: Smart Robots for Flexible Manufacturing}, journal = {{IEEE} Robotics & Automation Magazine}, volume = {26}, number = {1}, pages = {78--90}, year = {2019}, month = mar, abstract = {Current market demands require an increasingly agile production environment throughout many manufacturing branches. Traditional automation systems and industrial robots, on the other hand, are often too inflexible to provide an economically viable business case for companies with rapidly changing products. The introduction of cognitive abilities into robotic and automation systems is, therefore, a necessary step toward lean changeover and seamless human–robot collaboration. In this article, we introduce the European Union (EU)-funded research project SMErobotics, which focuses on facilitating the use of robot systems in small and medium-sized enterprises (SMEs). We analyze open challenges for this target audience and develop multiple efficient technologies to address related issues. Real-world demonstrators of several end users and from multiple application domains show the impact these smart robots can have on SMEs. This article intends to give a broad overview of the research conducted in SMErobotics. Specific details of individual topics are provided through references to our previous publications.}, doi = {10.1109/MRA.2018.2879747}, keywords = {robotics, smerobotics}, } @incollection{Nafissi2019a, author = {Nafissi, Anahita and Weckesser, Fabian and Kessler, Ingmar and Rickert, Markus and Pfaff, Matthias and Peisl, Sebastian and Beck, Michael}, editor = {Meyer-Aurich, Andreas and Gandorfer, Markus and Barta, Norbert and Gronauer, Andreas and Kantelhardt, Jochen and Floto, Helga}, title = {{W}issensbasierte digitale {U}nterst{\"{u}}tzung in der {P}flanzenbauberatung}, booktitle = {Referate der 39. GIL-Jahrestagung in Wien: Informatik in der Land-, Forst- und Ern{\"{a}}hrungswirtschaft Fokus: Digitalisierung f{\"{u}}r landwirtschaftliche Betriebe in kleinstrukturierten Regionen -- ein Widerspruch in sich?}, publisher = {Gesellschaft f{\"{u}}r Informatik}, series = {Lecture Notes in Informatics}, volume = {287}, pages = {145--150}, year = {2019}, month = feb, address = {Bonn, Germany}, abstract = {Obwohl die Landwirtschaft schon immer technologische Neuerungen in der Produktion einsetzt, ist gerade die landwirtschaftliche Beratung bisher noch verh{\"{a}}ltnism{\"{a}}{\ss}ig wenig digitalisiert. Oft ist es g{\"{a}}ngige Praxis f{\"{u}}r Landwirte und Berater, gesetzliche Regelungen, Fachliteratur und Betriebsdaten in Papierform nachzuschlagen und in unstrukturierten, digitalen Dokumenten einzutragen. Zur Unterst{\"{u}}tzung der Landwirte und der Pflanzenbauberatung wird ein Entscheidungshilfesystem entwickelt, welches die Beratung in der Landwirtschaft digital unterst{\"{u}}tzen und erleichtern soll, indem es aktuelles Fach- und Expertenwissen sowie individuelle Betriebsdaten abruft, aufbereitet und zweckgebunden auswertet. Daf{\"{u}}r ist es notwendig, das entsprechende Fachwissen aus vielf{\"{a}}ltigen heterogenen Datenquellen in einer einheitlichen Wissensbasis verf{\"{u}}gbar zu machen. Der hier beschriebene Ansatz verwendet Semantic-Web-Technologien wie OWL-Ontologien und SPARQL-Abfragen, um diese Daten hinsichtlich ihrer Bedeutung, d.h. semantisch, zu modellieren und abzufragen.}, isbn = {9783885796817}, keywords = {farmexpert, robotics}, url = {https://www.gil-net.de/Publikationen/139_145.pdf}, } @inproceedings{Perzylo2016a, author = {Perzylo, Alexander and Somani, Nikhil and Profanter, Stefan and Kessler, Ingmar and Rickert, Markus and Knoll, Alois}, title = {Intuitive Instruction of Industrial Robots: Semantic Process Descriptions for Small Lot Production}, booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, pages = {2293--2300}, year = {2016}, month = oct, address = {Daejeon, Republic of Korea}, abstract = {In this paper, we introduce a novel robot programming paradigm. It focuses on reducing the required expertise in robotics to a level that allows shop floor workers to use robots in their application domain without the need of extensive training. Our approach is user-centric and can interpret underspecified robot tasks, enabling communication on an abstract level. Such high-level task descriptions make the system amenable for users that are experts in a particular domain, but have limited knowledge about robotics and are thus not able to specify low-level details and instructions. Semantic models for all involved entities, i.e., processes, workpieces, and workcells, enable automatic reasoning about underspecified tasks and missing pieces of information. We showcase and evaluate this methodology on two industrial use cases from the domains of assembly and woodworking, comparing it to state-of-the-art solutions provided by robot manufacturers.}, doi = {10.1109/IROS.2016.7759358}, keywords = {robotics, smerobotics}, url = {https://youtu.be/bbInEMEF5zU}, } @inproceedings{Haage2016, author = {Haage, Mathias and Profanter, Stefan and Kessler, Ingmar and Perzylo, Alexander and Somani, Nikhil and S{\"{o}}rnmo, Olof and Karlsson, Martin and Gesteg{\aa}rd Robertz, Sven and Nilsson, Klas and Resch, Ludovic and Marti, Michael}, title = {On Cognitive Robot Woodworking in {SME}robotics}, booktitle = {Proceedings of the International Symposium on Robotics (ISR)}, year = {2016}, month = jun, address = {Munich, Germany}, abstract = {This paper details and discusses work performed at the woodworking SME Mivelaz Techniques Bois SA within the EU FP7 project SMErobotics. The aim is to improve non-expert handling of the cell by introduction of cognitive abilities in the robot system. Three areas are considered; intuitive programming, process adaptation and system integration. Proposed cognitive components are described together with experiments performed.}, keywords = {robotics, smerobotics}, } @inproceedings{Gaschler2015b, author = {Gaschler, Andre and Kessler, Ingmar and Petrick, Ronald P. A. and Knoll, Alois}, title = {Extending the Knowledge of Volumes Approach to Robot Task Planning with Efficient Geometric Predicates}, booktitle = {Proceedings of the {IEEE} International Conference on Robotics and Automation (ICRA)}, year = {2015}, month = jun, doi = {10.1109/ICRA.2015.7139619}, keywords = {robotics, james, smerobotics}, } @inproceedings{Gaschler2012a, author = {Gaschler, Andre and Huth, Kerstin and Giuliani, Manuel and Kessler, Ingmar and de Ruiter, Jan and Knoll, Alois}, title = {Modelling State of Interaction from Head Poses for Social {H}uman-{R}obot {I}nteraction}, booktitle = {Proceedings of the {G}aze in {H}uman-{R}obot {I}nteraction Workshop held at the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012)}, year = {2012}, address = {Boston, MA}, keywords = {james, robotics}, }