Cognitive Cyber-Physical System (C-CPS) for human-robot collaborative manufacturing

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

In this paper, the fundamental concept of the newly coined framework C-CPS (cognitive cyber-physical system) is introduced with application to human-robot collaborative manufacturing. A human-robot hybrid cell is developed where a human and a robot collaborate to perform assembly of components in manufacturing. Human and robot's mutual trust, an expression of human and machine cognition, is modeled and computed in realtime for the collaborative task. In the proposed C-CPS framework, a cyber system (software system) along with necessary hardware (sensors) computes the mutual trust in real-time based on the performance and precision of the physical system (human and robot). The computed mutual trust is then communicated to the robot via the software system and to the human via a visual interface. The computed trust values are also used to control the motion of the robot based on an algorithm, and to stimulate the action of the human based on warnings communicated to the human via the visual interface. The performance of the physical system also impacts the cyber system (computing), and the vice versa. The framework is implemented with an actual human-robot collaborative assembly task. The experimental evaluation results show satisfactory performance of the proposed C-CPS in term of human-system interaction, manufacturing efficiency and quality.

Original languageEnglish (US)
Title of host publication2019 14th Annual Conference System of Systems Engineering, SoSE 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages125-130
Number of pages6
ISBN (Electronic)9781728104577
DOIs
StatePublished - May 2019
Event14th Annual Conference System of Systems Engineering, SoSE 2019 - Anchorage, United States
Duration: May 19 2019May 22 2019

Publication series

Name2019 14th Annual Conference System of Systems Engineering, SoSE 2019

Conference

Conference14th Annual Conference System of Systems Engineering, SoSE 2019
Country/TerritoryUnited States
CityAnchorage
Period5/19/195/22/19

All Science Journal Classification (ASJC) codes

  • Hardware and Architecture
  • Control and Systems Engineering

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