Ethics requirements

The objective is to ensure compliance with the ‘ethics requirements’ set out in this work package.

Use-cases, user requirements and system architecture

The aim of this work package is to define in details the project requirements, based on end-user functional specifications.
The key objectives are:

i) To generate a detailed definition of user requirements collected from the end users.

ii) To undertake a state of the art analysis of tools being used and to generate a clear gap analysis.

iii) To define the technical
requirements for the work carried out by the technical partners.

iv) To design the project framework and solution, outlining all key components and their functional specification.

v) To define the interfaces, including APIs for each

vi) To map and design the overall architecture, which will be the backbone of the solution.

Factory-level modelling, cognitive perception and orchestration

The key objectives of this WP are:

i) Development of a novel hierarchical factory floor process model, based on the notion of aCells; i.e. highly adaptable cells in terms of resources, spatial arrangement, responsibilities and interconnections.

ii) To develop a human worker model (WM) that will learn from its interactions with the human user, taking into account the internal state of the user.

iii) Development of a novel VR environment for the spatial modelling of the overall factory floor and target WEEE devices, capable to drive robotic hazard analysis and contribute to system training.

iv) Development of the HR-Recycler orchestration engine, responsible for task assignment, scheduling and real-time collaborative process management throughout the factory floor, on the basis of cognitive perception coupled
with the factory model and its aCells comprising human and robot resources.

AI-enabled cell-level perception methods

The key objectives of the WP are:

i) To equip each factory cell with advanced AI perception methods that will boost
its level of autonomy and efficiency.

ii) To support robot vision tasks related to the perceiving of the surrounding environment.

iii) To investigate physics-based haptic simulation to enable a realistic and intuitive interaction in VR applications.

iv) To develop novel “sensorimotor” approaches for human-like object learning.

Robotic actions planning and control

The key objectives of this workpackage are summarised below:

i) To design a unified control policy, learned from human demonstrations, capable of regulating both the robot motion and its physical interaction with the environment.

ii) To provide a solution for understanding the construction plan of unknown devices for disassembly.

iii) To introduce a force-adaptive grasping strategy with tactile sensing gripper fingers for safe grasping of different components.

iv) To deliver a safety planner that will ensure robot secure operation as well as human and material safety.

v) To provide a lifelong mapping strategy for navigation of AGVs and facilitate holistic shop-floor decision making.

Human-robot collaboration schemes

The key objectives of the workpackage are:

i) To validate the theoretical approaches that affect Human-Robot Interaction.

ii) To provide socially relevant percepts and behavioural sets that allow for successful social interactions.

iii) To develop novel techniques that are adaptive and personalised to each human worker to ensure successful collaboration.

iv) To develop machine-learning techniques that learn from human input using communication methods that are responsive to individual needs.

v) To develop a social interaction engine that will generate interaction primitives from which communication can be bootstrapped.

vi) To develop methods for legible robot motion generation.

Smart mechatronics H/W for efficient HRC

The aim of this work package is to develop the smart mechatronics solutions that will materialize the methods implemented in the previous WPs (4-7).

The key objectives are:

i) To implement AGV able to realise grasping and classification of different devices.

ii) To build a robotic arm able to assist in extracting valuable/hazardous components out of the electric/electronic devices.

iii) To provide a robotic solution for realizing the component sorting task.

System integration

The aim of this work package is to integrate S/W and H/W modules developed in WPs 4-8, into the overall, technically validated HR-Recycler system, ready for demonstration in the pilot sites.

The key objectives are: i) To define and follow a well-structured integration plan following the system architecture of WP3 (T9.1).

ii) To integrate the developed H/W modules in the realistic factory floors of the pilot sites (T9.1).

iii) To integrate all S/W components and H/W modules within a ROS-based integration approach (T9.2). iv) To define and execute a technology validation plan for the overall HR-Recycler system (T9.3).

Pilot studies demonstration and evaluation

This WP will provide the capacity to orchestrate demonstrations in order to enable validation from users within a realistic environment, accommodating a number of key scenarios and tests cases in the context of HR-Recycler.

More specifically, the objectives of this WP can be summarised as follows:

i) To properly define the scenarios for the pilot studies.

ii) To plan and prepare the pilot execution.

iii) To actually perform the validation and demonstration in relevant and operational environments.

iv) To assess the results from the demonstration.

v) To provide feedbacks to the other technical WPs on possible adjustments.

Dissemination and exploitation

The specific objectives of the WP are summarised below:

i) To develop and implement a tailored dissemination plan for the project.

ii) To raise public awareness throughout effective dissemination actions.

iii) To guarantee broad dissemination of the project results to the relevant stakeholders.

iv) To set-up and maintain an ambitious exploitation plan.

v) To build up the HR-Recycler community, involving relevant stakeholders and end-users.

Project management

The objective of this WP is to coordinate the project and monitor its evolution: the achievement of the project objectives within budget and deadlines, periodic reporting, quality management, achievement of milestones, handling of IPR,
arrangement of periodic meetings, monitoring of project development and cost reporting.