FW-HTF-P: Human-Robot Collaboration in Disassembly for Future Remanufacturing

本规划项目的研究目标是推进与产品拆卸中人机协作相关的基础知识。目前，二手产品的拆卸是一个劳动密集型的过程，通常由人工进行。促进人类和机器人在产品拆卸方面的合作，将促进使用后产品的回收、美国制造业的更大可持续性、再制造的盈利能力，以及未来从事拆卸工作的工人更好的工作生活质量。技术进步将包括用于行动规划的计算框架的开发，人类运动预测，以及在协作人机交互中对机器人伙伴的控制。项目团队还将进行规划活动（一系列研讨会、会议和研讨会），以探索克服再制造自动化挑战的可能方法，并与工程、心理学、社会学、教育、市场营销和劳动经济学专家建立合作，为长期的fwhtf研究计划建立一个多学科研究团队。拟议的试点研究活动将建立一个综合框架，通过人与机器人之间的协作实现再制造中的自动化拆卸。要开发的框架将寻求优化操作成本、拆卸效率和处理各种不同产品进入再制造地点的灵活性。该框架由三个相互依赖的部分组成：人机协作环境下的任务序列规划；人类行为预测；以及机器人的规划、学习和控制。其他规划活动，包括研讨会、若干讲习班、会议和网络研讨会，将促进学术界和工业界多学科观点的整合。这项工作的成功的长期成果还包括新的产品设计指南，新的再制造商业模式，以及它们对美国制造业和再制造的影响的新模式。该项目的最终目标是发展必要的研究人员、研究基础设施和基础工作，以扩大在FW-HTF全面研究计划的水平上研究未来技术、未来工人和未来工作的机会。该奖项反映了美国国家科学基金会的法定使命，并通过使用基金会的知识价值和更广泛的影响审查标准进行评估，被认为值得支持。

The research objective of this planning project is to advance fundamental knowledge related to human-robot collaboration in product disassembly. Currently, used product disassembly is a labor-intensive process typically conducted manually by human workers. Fostering collaboration between humans and robots in product disassembly will promote end-of-use product recovery, greater sustainability of American manufacturing, profitability of remanufacturing, and better quality of work life for future workers performing disassembly. Technical advances will include development of a computational framework for action planning, human motion prediction, and the control of robotic partners within collaborative human-robot interactions for disassembly. The project team will also perform planning activities (a series of workshops, meetings and a symposium) to explore possible ways to overcome challenges of remanufacturing automation, and to build collaborations between experts in engineering, psychology, sociology, education, marketing, and labor economics as they build a multidisciplinary research team for a long-term FW-HTF research initiative. The proposed pilot research activities will establish an integrated framework that automates disassembly in remanufacturing via the collaboration between human and robots. The framework to be developed will seek to optimize operational cost, disassembly efficiency, and flexibility in handling the variety of dissimilar products coming to remanufacturing sites. The framework consists of three interdependent components: task sequence planning in a human-robot collaborative setting; human behavior prediction; and planning, learning, and control for robots. Additional planning activities, including a symposium, several workshops, meetings, and webinars will foster the integration of multi-disciplinary perspectives from academia and industry. Successful long-term outcomes of this work also include new product design guidelines, new business models of remanufacturing, and new models of their impact on American manufacturing and remanufacturing. The ultimate goal of this project is to develop the necessary research personnel, research infrastructure, and foundational work to expand the opportunities for studying future technology, future workers, and future work at the level of a FW-HTF full research proposal.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.