1. Trajnostna embalaža : prepoznavanje priložnosti, izzivov in vpliv potrošniških odločitevAnja Staroverški, 2025, undergraduate thesis Abstract: V diplomskem delu je obravnavana trajnostna embalaža kot ključni dejavnik trajnostnega razvoja, s poudarkom na njenem pomenu, okoljskih in družbenih vplivih ter vedenju potrošnikov. V teoretičnem delu so predstavljene definicija embalaže, klasifikacija, materiali, priložnosti in izzivi trajnostne embalaže, s posebnim poudarkom na povezavi med trajnostnim oblikovanjem in krožnim gospodarstvom. Empirični del temelji na anketni raziskavi med slovenskimi potrošniki, pri čemer so bila analizirana njihova stališča, navade, zaupanje v okoljske oznake ter pripravljenost za izbiro trajnostnih rešitev. Rezultati kažejo, da so potrošniki sicer ozaveščeni o trajnostni embalaži, vendar so njihove nakupne odločitve še vedno v veliki meri pogojene s ceno.
Pomembne razlike so bile ugotovljene glede na spol in starost, kar potrjuje vpliv demografskih dejavnikov na trajnostne izbire. Delo izpostavlja potrebo po usklajenem delovanju proizvajalcev, zakonodajalcev in potrošnikov ter opozarja na pomen celostnega pristopa pri uvajanju trajnostne embalaže.
Keywords: trajnostna embalaža, okoljska ozaveščenost, zaupanje v okoljske oznake, trajnostno vedenje
Published in DKUM: 10.10.2025; Views: 0; Downloads: 18
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2. Predlog zamenjave sekundarne embalaže pakiranih mesnih in nekaterih mlečnih izdelov v izbranem podjetjuAnita Zalokar, 2025, undergraduate thesis Abstract: Diplomsko delo obravnava embalažo v izbranem podjetju, ki se uporablja na oddelku mlečnih in mesnih izdelkov. Trenutno izbrana embalaža ni učinkovita glede pogojev po zadostni mehanski odpornosti in enostavni manipulaciji. Namen dela je podjetju predlagati alternativne rešitve za zamenjavo sekundarne embalaže z namenom učinkovitejše manipulacije z artikli. V teoretičnem delu smo opredelili pojme, ki so pomembni za razumevanje problematike praktičnega dela. V praktičnem delu smo se osredotočili na opis obstoječega stanja, pri čemer smo ugotovili, da je komisioniranje v izbranem podjetju neučinkovito. Največji vzrok za neučinkovito komisioniranje predstavlja ravno neustrezna embalaža. Predlagali smo dve različni alternativi – nakup embalaže iz trpežnejšega kartona in najem plastičnih zabojev. Zatem smo pripravili izračune, ki predstavljajo osnovo za določitev primernejše embalaže. Končne ugotovitve prispevajo k odločitvam glede uporabe embalaže, ki omogoča enostavnejšo manipulacijo in spodbujajo uporabo trajnostnih oblik embalaže.
Keywords: embalaža, karton, stabilnost, stroški, alternative
Published in DKUM: 10.10.2025; Views: 0; Downloads: 12
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3. Enhancing robotic bin-picking through machine vision: investigating the impact of detection speed and bin fill levels : preučevanje vpliva zaznave objektov ob različno napolnjenih zabojihSuhaib Ebrahim Mambayil Ebrahimkutty, 2025, undergraduate thesis Abstract: Robotic bin-picking systems have become important in modern intralogistics as warehouses automate to address labour shortages and rising e-commerce demands. These systems operate through the coordinated use of (a) a robotic manipulator, (b) a 3D machine vision system, and (c) robotic grippers. When integrated with Automated Storage and Retrieval Systems (AS/RS), these systems offer an efficient approach to improving the order-picking performance.
In this study, the performance of a selected 3D machine vision system was evaluated based on two key parameters: detection mode and bin fill levels. A series of structured laboratory experiments was conducted using a UR5e collaborative robot equipped with three types of robotic grippers and a Pickit M-HD2 3D vision system. Objects of varying shapes and orientations were tested under different detection modes and bin fill levels. Faster detection modes reduced the processing time but resulted in more detection failures, especially with complex shapes or densely populated bins. In contrast, slower modes improved accuracy but increased the cycle time. Normal mode offered the best balance. The detection reliability decreased at higher bin fill levels and with irregularly shaped objects, due to occlusion and limited visibility. By analysing the detection time and successful detection, insights were gained into how appropriate detection configurations can improve both reliability and throughput in robotic bin-picking systems integrated with AS/RS.
Keywords: intralogistics, Robotic Bin-Picking, machine vision system, object detection
Published in DKUM: 31.07.2025; Views: 0; Downloads: 12
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4. Design and implementation of soft robotic gripper using 3D printing technologyTone Lerher, Primož Bencak, Suhaib Ebrahim, Marko Motaln, Darko Hercog, 2025, published scientific conference contribution Abstract: Automated warehouses rely on robotic systems for efficient order picking, yet object manipulation remains challenging due to variations in object shape, size, and material properties. This study focuses on the material selection for the holder of flexible robotic grippers using fused deposition modelling. The holder plays a crucial role in ensuring a secure fit of the gripper’s fingers, which is essential for stable and precise object handling in bin picking applications. Testing specimens were fabricated following the ASTM D638-22 standard with a grid infill pattern at full density. Two different variants of Polyethylene Terephthalate Glycol and Acrylonitrile Styrene Acrylate were tested. Mechanical properties, including ultimate tensile strength, elongation at break, and Young’s modulus, were estimated using a universal testing machine. Results indicate that one variant of Polyethylene Terephthalate Glycol exhibited the highest tensile strength (40.54 MPa), making it suitable for applications requiring high mechanical strength and resistance to tensile loads, while Acrylonitrile Styrene Acrylate provided a balance between strength and flexibility. These results illustrate the comparison of materials and how material selection and infill density impact the mechanical performance of the holder, which contributes to a better choice of material. Future research will explore the influence of 3D printing temperatures, layer height and testing other infill patterns to further enhance the efficiency and reliability of materials used for robotic grippers in robotic manipulation.
Keywords: intralogistics, robotization, robotic order picking, robotic gripper, tensile strength testing, 3D printing
Published in DKUM: 18.06.2025; Views: 0; Downloads: 12
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5. Izbira najprimernejšega robotskega prijemala za robotsko komisioniranje v avtomatiziranih skladiščnih sistemih : doktorska disertacijaPrimož Bencak, 2024, doctoral dissertation Abstract: Zahteva po zagotavljanju učinkovitega procesa komisioniranja ob pomanjkanju usposobljene delovne sile zahteva razvoj in uporabo novih tehnologij ter izboljševanja obstoječih procesov. Doktorska disertacija obravnava probleme robotskega komisioniranja in integracije le-teh z avtomatiziranimi skladiščnimi sistemi. Robotsko komisioniranje zajema pripravo naročila glede na obseg delovnega naloga s pomočjo sistemov robotskega komisioniranja. Vsebina doktorske disertacije se osredotoča na tri glavna področja obravnave: (i) načrtovanje prijema dvoprstnih prijemal (togega in fleksibilnega), (ii) razvoj metodologije za določitev uspešnosti robotskih prijemal in (iii) razvoja novih skladiščnih strategij upravljanja procesa robotskega komisioniranja integriranega z avtomatiziranimi skladiščnimi sistemi. V ta namen je bilo razvito kompleksno orodje za izbiro najprimernejšega robotskega prijemala (SIRP), ki združuje različne funkcionalnosti z namenom večje produktivnosti skladiščno-komisionirnega sistema. Na osnovi razvitega simulacijskega modela v okolju ADAMS pridobimo najprimernejše prijemne točke za izbrano togo dvoprstno prijemalo. Nadalje je bila za fleksibilno prijemalo razvita metodologija, ki ob določevanju primernih prijemnih točk omogoča oceno uspešnosti robotskega prijemala za proces robotskega komisioniranja. Na osnovi pridobljenih podatkov o uspešnosti izbranih dvoprstnih robotskih prijemal je bila razvita nova skladiščna strategija, ki upošteva uspešnost prijema posameznega robotskega prijemala. Predlagana strategija omogoča večjo pretočno zmogljivost, pri čemer se za dosego tega cilja izvede (i) zamenjava vrstnega reda izvajanja naročil ali (ii) menjava robotskega prijemala, kadar je le-to potrebno. Na podlagi analize učinkovitosti delovanja samostojnega sistema robotskega komisioniranja in sistema robotskega komisioniranja z uporabo avtomatskega izmenjevalnika robotskega orodja, se predlaga uporaba najprimernejše konfiguracije le-teh.
Keywords: industrijska robotika, intralogistika in skladišča, robotizacija procesa komisioniranja, izbira robotskega prijemala, načrtovanje prijema, analiza učinkovitosti
Published in DKUM: 20.12.2024; Views: 0; Downloads: 51
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6. Ergonomic evaluation of human–robot collaborative order picking : a combined laboratory and simulation studyMinqi Zhang, Jakob Marolt, Primož Bencak, Eric Grosse, Tone Lerher, 2024, published scientific conference contribution Abstract: Thanks to rapid technological developments in robotics, various automation technologies are being applied in warehouses today. Order picking, as a key process in warehouse operations, has drawn attention in academia and practice for decades. In addition to many studies dedicated to manual and fully automated order picking, efforts have also been made to study semi-automated warehouses in which humans and robots collaborate. However, these studies mostly focused on system efficiency and ignored ergonomic aspects. Order picking was confirmed as a labor-intensive process in an environment in which workers are at a high risk of developing health problems. Therefore, this study addresses the investigation of physical human working conditions in both manual and robot-assisted order picking systems via real-life laboratory experiments and simulation modeling. We used a motion capture system to assess human working postures when working with and without robot assistance. In addition, we estimated the daily workload by applying the energy expenditure concept. Using simulation experiments, we were able to extend the results to various practical scenarios with different design variables, for example warehouse layouts, order sizes, and human-robot team configuration. Our preliminary results reveal that human-robot collaboration can reduce human workload. Posture evaluation also shows a slight improvement.
Keywords: order picking, autonomous mobile robot, human factors, ergonomics, assisted order picking, hybrid order picking, simulation, performance evaluation
Published in DKUM: 21.11.2024; Views: 0; Downloads: 9
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7. Advanced technologies in logistics engineering : automated storage systems with shuttles integrated with hoisted carriageTone Lerher, Primož Bencak, 2022, original scientific article Abstract: This paper presents automated storage systems with shuttles integrated with hoisted carriage for successful application in intralogistics. The first part of the paper presents classic and advanced AVS/RS along with specific intralogistics automation systems known as AutoStore from Swisslog and Skypod from Exotec. The second part of the paper focuses on an advanced system with shuttle vehicles capable of serving multiple tiers of the storage rack. An analytical model for the shuttle vehicles capable of serving multiple tiers of the storage rack is presented, which is based on (i) the sequences of acceleration, constant velocity and deceleration, and (ii) randomised assignment policy. Based on the presented model, the expected Single Command (SC) and Dual Command (DC) travel (cycle) time as well as the throughput performance of the shuttle vehicles capable of serving several tiers of warehouse, could be calculated. A programme code in MATLAB has been presented for the computation of throughput performances of automated storage systems with shuttles integrated with hoisted carriage capable of serving several tiers of the storage rack.
Keywords: analytical and numerical model, automated vehicle-storage and retrieval systems AVS/RS, automated warehouses, cycle time and throughput performance, shuttles integrated with hoisted carriage
Published in DKUM: 26.06.2024; Views: 162; Downloads: 23
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8. Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model setTone Lerher, Primož Bencak, Luka Bizjak, Darko Hercog, Boris Jerman, 2023, published scientific conference contribution Abstract: Robotic bin-picking is increasingly important in the order-picking process in intralogistics. However, many aspects of the robotic bin-picking process (object detection, grasping, manipulation) still require the research community's attention. Established methods are used to test robotic grippers, enabling comparability of the research community's results. This study presents a modified YCB Robotic Gripper Assessment Protocol that was used to evaluate the performance of four robotic grippers (twofingered, vacuum, gecko, and soft gripper). During the testing, 45 objects from the modified YCB Object and Model Set from the packaging categories, tools, small objects, spherical objects, and deformable objects were grasped and manipulated. The results of the robotic gripper evaluation show that while some robotic grippers performed substantially well, there is an expressive grasp success variation over diverse objects. The results indicate that selecting the object grasp point next to selecting the most suitable robotic gripper is critical in successful object grasping. Therefore, we propose grasp point determination using mechanical software simulation with a model of a two-fingered gripper in an ADAMS/MATLAB cosimulation. Performing software simulations for this task can save time and give comparable results to real-world experiments.
Keywords: intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis
Published in DKUM: 21.03.2024; Views: 298; Downloads: 21
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9. Biorazgradljiva embalaža v oskrbovalni verigi : diplomsko delo univerzitetnega študijskega programaLazar Cvejić, 2023, undergraduate thesis Abstract: V diplomskem delu se ukvarjamo z analizo pojavov in procesov, povezanih z biorazgradljivo embalažo v oskrbovalni verigi. Najprej predstavimo relevantne pojme, tj. logistika, oskrbovalna veriga in embalaža. V nadaljevanju predstavimo teoretične vidike biorazgradljive embalaže, praktične primere uporabe ter prednosti in slabosti biorazgradljive embalaže. V praktični raziskavi, izvedeni s pomočjo ankete, smo ocenjevali ozaveščenost potrošnikov o biorazgradljivi embalaži v oskrbovalni verigi. Ugotovili smo, da so potrošniki v glavnem dobro seznanjeni z uporabo biorazgradljive embalaže, vendar je ne uporabljajo v veliki meri.
Keywords: embalaža, biorazgradljiva, logistika, oskrbovalna veriga
Published in DKUM: 14.02.2024; Views: 356; Downloads: 61
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10. Dostava blaga z droni : diplomsko delo univerzitetnega študijskega programaMilica Obradović, 2023, undergraduate thesis Abstract: Dostava blaga je življenjska sila današnje maloprodaje, ki vse bolj uporablja sodobne tehnologije in se sklicuje na internet, kar je močno okrepilo vlogo dostavnih podjetij. S hitrim razvojem na vseh področjih se razvija tudi nov način razmišljanja o sami tehnologiji. Droni omogočajo lažji dostop do lokacij, kjer to prej ni bilo mogoče, olajšajo spremljanje kritičnih lokacij in povečujejo varnost. Odigrali so pomembno vlogo v boju proti pandemiji koronavirusa. Vsekakor pa se bo njihova vloga dolgoročno v številnih sektorjih okrepila.
Osnovni namen naše raziskave je predstaviti značilnosti uporabe dronov v podjetjih za dostavo blaga in identificirati ovire, ki se pri tem pojavljajo. S pomočjo ankete smo preverili, kako ljudje sprejemajo dostavo z droni. Na koncu naše raziskave predlagamo možne rešitve za odpravo ovir na tem področju.
Keywords: droni, tehnologija, maloprodaja, dostava, raziskava
Published in DKUM: 14.02.2024; Views: 268; Downloads: 29
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