FW-HTF-RL: Collaborative Research: The Future of Remanufacturing: Human-Robot Collaboration for Disassembly of End-of-Use Products

FW-HTF-RL：协作研究：再制造的未来：人机协作拆卸最终产品

基本信息

批准号：
2026276
负责人：
Sara Behdad
金额：
$ 151.42万
依托单位：
University of Florida
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2020
资助国家：
美国
起止时间：
2020-10-01 至 2024-09-30
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=2026276&HistoricalAwards=false
关键词：
FW HTF RL Collaborative Research

项目摘要

This Future of Work at the Human Technology Frontier (FW-HTF) project will advance effective human-robot collaboration (HRC) to reduce electronics remanufacturing costs and improve operator safety, while considering the highly complex unstructured nature of the remanufacturing environment. Scarcity of resources, environmental regulations, and potential profits from salvaging valuable materials and components have motivated consideration of end-of-use product recovery and remanufacturing. However there are significant challenges related to the labor-intensive nature of disassembly, which is an integral part of critical remanufacturing operations such as reuse, repair, maintenance, and recycling. This project focuses on robot-assisted disassembly to increase productivity, while enhancing job satisfaction and ensuring worker safety. Today, disassembly is still a predominantly labor-intensive process that requires direct contact with many elements that are potentially harmful to human health. The research will advance fundamental understanding of the way humans and robots distribute tasks, cooperate, and interact in a safe and complementary manner. Among the expected benefits of the research results are improved quality of life for remanufacturing workers, increased recycling and reduced waste for used electronic materials, the creation of new manufacturing jobs, reduced dependency on foreign sources of strategic materials, and increased stocks of domestically harvested rare earth elements. The multidisciplinary research crosses the boundaries between robotics, sustainable design, human factors, data science, and labor economics, by the joint efforts between the University at Buffalo (UB) and the University of Florida (UF). The research will positively impact engineering education and workforce development through educational and outreach activities such as workshops for K12 students, course development at both institutions, timely training of graduate students, and a set of workshops for industry and academic audiences. The project is focused on advancing an integrated framework that utilizes the capabilities of both humans and robots in a safe, complementary, and interactive manner, towards designing an economically viable disassembly system for the remanufacturing industry. The research team will perform fundamental studies on collaborative disassembly systems by implementing five interdependent research tasks within the contexts of Future Technology, Future Worker, and Future Work: (1) work environment monitoring with human motion prediction, (2) planning, learning, and control for collaborative robots, (3) disassembly sequence planning under uncertainty and exploring HRC-inspired design guidelines, (4) human-robotics system integration, and (5) modeling and prediction of economic impacts of HRC in remanufacturing environments. Specific knowledge gaps are addressed by mutual interactions among product design guidelines, HRC, occupational safety standards, and remanufacturing labor market. The convergent research approach will allow iteratively adjusted and enhanced collaborative disassembly systems to be implemented in future remanufacturing factories.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

人类技术前沿的工作未来 (FW-HTF) 项目将推进有效的人机协作 (HRC)，以降低电子产品再制造成本并提高操作员安全，同时考虑再制造环境的高度复杂的非结构化性质。资源稀缺、环境法规以及回收有价值的材料和部件的潜在利润促使人们考虑使用最终产品的回收和再制造。然而，拆卸的劳动密集型性质存在重大挑战，而拆卸是再利用、维修、维护和回收等关键再制造操作的一个组成部分。该项目的重点是机器人辅助拆卸，以提高生产率，同时提高工作满意度并确保工人安全。如今，拆卸仍然是一个主要是劳动密集型的过程，需要直接接触许多对人类健康可能有害的元素。该研究将增进对人类和机器人以安全和互补的方式分配任务、合作和互动方式的基本理解。研究结果的预期好处包括提高再制造工人的生活质量、增加回收利用并减少废旧电子材料的浪费、创造新的制造业就业机会、减少对国外战略材料来源的依赖以及增加国内开采的稀有材料的库存土元素。这项多学科研究跨越了机器人技术、可持续设计、人为因素、数据科学和劳动经济学之间的界限，由布法罗大学 (UB) 和佛罗里达大学 (UF) 共同努力。该研究将通过教育和外展活动（例如针对 K12 学生的研讨会、两个机构的课程开发、研究生的及时培训以及一系列针对行业和学术受众的研讨会）对工程教育和劳动力发展产生积极影响。该项目的重点是推进一个集成框架，以安全、互补和交互的方式利用人类和机器人的能力，为再制造行业设计一个经济上可行的拆卸系统。研究团队将通过在未来技术、未来工人和未来工作的背景下实施五项相互依赖的研究任务来进行协作拆卸系统的基础研究：（1）具有人体运动预测的工作环境监测，（2）规划、学习和协作机器人的控制，(3) 不确定性下的拆卸序列规划和探索 HRC 启发的设计指南，(4) 人机系统集成，以及 (5) 再制造环境中 HRC 经济影响的建模和预测。具体的知识差距可以通过产品设计指南、HRC、职业安全标准和再制造劳动力市场之间的相互作用来解决。融合研究方法将允许在未来的再制造工厂中实施迭代调整和增强的协作拆卸系统。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力优点和更广泛的影响审查标准进行评估，被认为值得支持。