Iori Mizutani
Last Name
Mizutani
First name
Iori
Email
iori.mizutani@unisg.ch
Phone
+41 71 224 79 16
Web Site
6 results
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Item type:Publication, Electromyography-based Kinesthetic Teaching of Industrial Collaborative RobotsCurrent methods for robot teaching still lack intuitiveness and efficiency or require instrumentation of the environment (e.g., with cameras). This poses problems, especially for companies that cannot afford dedicated robot programmers. Classical online teaching with a teach pendant (TP) can be tedious and confusing, and kinesthetic teaching (KT) is often perceived as inefficient since toggling gravity compensation mode forces users to switch between interfaces or constrains them physically. We propose a novel robot teaching method that allows users to activate gravity compensation mode, confirm positions along trajectories, and manipulate the end effector. In our system, this is done via hand gestures that occur naturally while handling the robot and that we detect by equipping an operator with a wearable electromyography (EMG) armband. To evaluate our system, we compared it to a commercially available KT system in a user study that yielded statistical evidence that our approach is significantly faster while no difference regarding the perceived usability of the systems was found. Additionally, expert interviews confirm that the baseline system is state of the art and confirmed the market potential of EMG-based KT. Finally, we confirmed that the gesture classifier does not need to be re-trained for each user, which makes the proposed system a highly interesting option in practice that is cost-effective, efficient, and provides high teaching ergonomics.Type:conference paperJournal:Companion of the 2024 ACM/IEEE International Conference on Human-Robot InteractionScopus© Citations 3 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Integrating Multi-Disciplinary Offline and Online Engineering in Industrial Cyber-Physical Systems through DevOpsIndustry 4.0 is transforming industrial automation systems into increasingly complex cyber-physical systems (CPS). In particular, there is a need to integrate systems across horizontal and vertical layers across industrial and disciplinary domains. The development of industrial CPS requires not only high-level configuration and control at the execution system level, but also offline and online engineering (OOE) work, including mechanical and electrical engineering of the devices, their installation, networking, and documentation. Using DevOps, a collection of modern software lifecycle management tactics, we propose to build an integrated platform to manage the OOE tasks. Continuous Integration/Continuous Delivery (CI/CD) pipelines and Infrastructure as Code, which are key aspects of DevOps, coordinate the building, testing, and deployment of software services. To bring the corresponding benefits of pure software systems to industrial CPS, we integrate engineering tasks using distributed version control and the W3C Web of Things. As a proof of concept, we implemented the concept for a mock system that includes the OOE tasks in a process automation scenario. The DevOps platform provides a structured transfer and exchange of engineering knowledge among stakeholders involved in industrial CPS.Type:conference paperScopus© Citations 13 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Scopus© Citations 10 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Towards Provenance Integration for Field Devices in Industrial IoT systemsIndustrial Internet of Things (IoT) systems are becoming increasingly complex with interconnected field devices. To cope with the complexity and to facilitate further interoperability between heterogeneous field devices, it is necessary to have a holistic understanding of different types of provenance information about field devices and associated processes. In this paper, we investigate the potential integration of such provenance with the W3C Web of Things and current industrial standards to realize more explainable, efficient, and safer industrial IoT systems.Type:book sectionVolume:12839 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Long-Lived Agents on the Web: Continuous Acquisition of Behaviors in Hypermedia Environments(2020-04-20); ; ; We demonstrate how autonomous goal-directed agents can exploit hypermedia to acquire and execute new behaviors at run time. In addition to behaviors programmed into the agents, in our system agents can discover and reuse behaviors extracted from machine-readable resource manuals. Such manuals can be published by developers, synthesized by agents through automated planning, or even specified by human users at run time. Agents can then discover and use physical and virtual resources in flexible ways, which allows them to better cope with the rapid evolution of open and dynamic Web environments.Type:book sectionScopus© Citations 11 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, LookUnlock: Using Spatial-Targets for User-Authentication on HMDs(2019-05-04);