1. Izbira najprimernejšega robotskega prijemala za robotsko komisioniranje v avtomatiziranih skladiščnih sistemih : doktorska disertacijaPrimož Bencak, 2024, doktorska disertacija Opis: 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.
Ključne besede: industrijska robotika, intralogistika in skladišča, robotizacija procesa komisioniranja, izbira robotskega prijemala, načrtovanje prijema, analiza učinkovitosti
Objavljeno v DKUM: 20.12.2024; Ogledov: 0; Prenosov: 12
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2. Ergonomic evaluation of human–robot collaborative order picking : a combined laboratory and simulation studyMinqi Zhang, Jakob Marolt, Primož Bencak, Eric Grosse, Tone Lerher, 2024, objavljeni znanstveni prispevek na konferenci Opis: 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.
Ključne besede: order picking, autonomous mobile robot, human factors, ergonomics, assisted order picking, hybrid order picking, simulation, performance evaluation
Objavljeno v DKUM: 21.11.2024; Ogledov: 0; Prenosov: 2
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3. Advanced technologies in logistics engineering : automated storage systems with shuttles integrated with hoisted carriageTone Lerher, Primož Bencak, 2022, izvirni znanstveni članek Opis: 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.
Ključne besede: analytical and numerical model, automated vehicle-storage and retrieval systems AVS/RS, automated warehouses, cycle time and throughput performance, shuttles integrated with hoisted carriage
Objavljeno v DKUM: 26.06.2024; Ogledov: 162; Prenosov: 16
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4. Robotic bin-picking : benchmarking robotics grippers with modified YCB object and model setTone Lerher, Primož Bencak, Luka Bizjak, Darko Hercog, Boris Jerman, 2023, objavljeni znanstveni prispevek na konferenci Opis: 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.
Ključne besede: intralogistics, robotic bin-picking, YCB protocol, robotic gripper evaluation, mechanical software simulations, performance analysis
Objavljeno v DKUM: 21.03.2024; Ogledov: 298; Prenosov: 11
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5. Biorazgradljiva embalaža v oskrbovalni verigi : diplomsko delo univerzitetnega študijskega programaLazar Cvejić, 2023, diplomsko delo Opis: 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.
Ključne besede: embalaža, biorazgradljiva, logistika, oskrbovalna veriga
Objavljeno v DKUM: 14.02.2024; Ogledov: 356; Prenosov: 43
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6. Dostava blaga z droni : diplomsko delo univerzitetnega študijskega programaMilica Obradović, 2023, diplomsko delo Opis: 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.
Ključne besede: droni, tehnologija, maloprodaja, dostava, raziskava
Objavljeno v DKUM: 14.02.2024; Ogledov: 268; Prenosov: 22
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7. Kavcijski sistem za embalažo pijač : diplomsko delo univerzitetnega študijskega programaIvana Vidačković, 2023, diplomsko delo Opis: Glavni namen diplomskega dela je raziskati kavcijski sistem za embalažo pijač. V teoretičnem delu smo raziskali, kaj predstavlja kavcijski sistem, kakšen je njegov prispevek k ohranjanju okolja in trajnosti. V nadaljevanju diplomskega dela smo identificirali prednosti ter slabosti kavcijskega sistema za embalažo. Izvedli smo raziskavo s pomočjo anketnega vprašalnika, s katerim smo preverili ozaveščenost prebivalcev o kavcijskem sistemu za embalažo.
Kavcijski sistem predstavlja sistem vračila embalaže, pri katerem potrošniki ob nakupu pijače doplačajo samo za embalažo, ki jo lahko vrnejo, ko gredo v trgovino ali drugo mesto, kjer obstaja možnost povračila kavcije. Na ta način so potrošniki finančno motivirani za sodelovanje v sistemu kavcije. Prevzem embalaže in vračilo kavcije na prodajnih mestih je možno ročno ali avtomatsko. Na podlagi vseh raziskav, ki sem jih opravila med svojim diplomskim delom, smo prišli do zaključka, da ima kavcijski sistem pomembno vlogo pri ohranjanju okolja in ljudi.
Ključne besede: kavcijski sistem, kavcija, embalaža, odpadki, krožno gospodarstvo
Objavljeno v DKUM: 13.02.2024; Ogledov: 337; Prenosov: 29
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8. Indoor positioning system based on bluetooth low energy technology and a nature-inspired optimization algorithmPrimož Bencak, Darko Hercog, Tone Lerher, 2022, izvirni znanstveni članek Opis: Warehousing is one of the most important activities in the supply chain, enabling competitive advantage. Effective management of warehousing processes is, therefore, crucial for achieving minimal costs, maximum efficiency, and overall customer satisfaction. Warehouse Management Systems (WMS) are the first steps towards organizing these processes; however, due to the human factor involved, information on products, vehicles and workers may be missing, corrupt, or misleading. In this paper, a cost-effective Indoor Positioning System (IPS) based on Bluetooth Low Energy (BLE) technology is presented for use in Intralogistics that works automatically, and therefore minimizes the possibility of acquiring incorrect data. The proposed IPS solution is intended to be used for supervising order-picker movements, movement of packages between workstations, and tracking other mobile devices in a manually operated warehouse. Only data that are accurate, reliable and represent the actual state of the system, are useful for detailed material flow analysis and optimization in Intralogistics. Using the developed solution, IPS technology is leveraged to enhance the manually operated warehouse operational efficiency in Intralogistics. Due to the hardware independence, the developed software solution can be used with virtually any BLE supported beacons and receivers. The results of IPS testing in laboratory/office settings show that up to 98% of passings are detected successfully with time delays between approach and detection of less than 0.5 s.
Ključne besede: warehousing, indoor positioning systems, bluetooth low energy, particle swarm optimization, nature–inspired algorithm, intralogistics
Objavljeno v DKUM: 17.08.2023; Ogledov: 432; Prenosov: 65
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9. Product assembly assistance system based on pick-to-light and computer vision technologyDarko Hercog, Primož Bencak, Uroš Vincetič, Tone Lerher, 2022, izvirni znanstveni članek Opis: Product assembly is often one of the last steps in the production process. Product assembly is often carried out by workers (assemblers) rather than robots, as it is generally challenging to adapt automation to any product. When assembling complex products, it can take a long time before the assembler masters all the steps and can assemble the product independently. Training time has no added value; therefore, it should be reduced as much as possible. This paper presents a custom-developed system that enables the guided assembly of complex and diverse products using modern technologies. The system is based on pick-to-light (PTL) modules, used primarily in logistics as an additional aid in the order picking process, and Computer Vision technology. The designed system includes a personal computer (PC), several custom-developed PTL modules and a USB camera. The PC with a touchscreen visualizes the assembly process and allows the assembler to interact with the system. The developed PC application guides the operator through the assembly process by showing all the necessary assembly steps and parts. Two-step verification is used to ensure that the correct part is picked out of the bin, first by checking that the correct pushbutton on the PTL module has been pressed and second by using a camera with a Computer Vision algorithm. The paper is supported by a use case demonstrating that the proposed system reduces the assembly time of the used product. The presented solution is scalable and flexible as it can be easily adapted to show the assembly steps of another product.
Ključne besede: product assembly, PTL, pick-to-light, computer vision, LabVIEW, performance analysis
Objavljeno v DKUM: 31.07.2023; Ogledov: 493; Prenosov: 27
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10. Object detection and graspability analysis for robotic bin-picking application in intralogisticsPrimož Bencak, Darko Hercog, Tone Lerher, 2023, objavljeni znanstveni prispevek na konferenci Opis: Robotics has been gaining attention in intralogistics applications in recent years. Automation of intralogistics processes aims to cope with the rising trends of workforce deficiency, aging, and increasing demands that came with the rise of E-commerce. Many improvements aim at bin-picking applications since order-picking requires most contributions while adding little to the products' value. Robotic bin-pickers are showing promising results; however, they are still subject to many limitations. First, the vision system must correctly determine the object's location and orientation. Second, a correct robotic gripper must be chosen. Lastly, appropriate grasping points that lead to successful picking must be selected. In this paper, we explore the influencing parameters of object detection using a 3D vision system. Second, we analyze an actual bin-picking application to determine the most appropriate selection of the robotic gripper. Based on the experiments, we provide the guidelines for selecting the most appropriate robotic bin-picking configuration.
Ključne besede: intralogistics, robotic bin-picking, detection analysis, graspability analysis
Objavljeno v DKUM: 25.07.2023; Ogledov: 407; Prenosov: 28
Celotno besedilo (1,89 MB)
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