On motion planning for narrow-clearance assemblies using virtual manikins

Li, Yi; Delfs, Niclas; Mårdberg, Peter; Bohlin, Robert; Carlson, Johan S.

doi:10.1016/j.procir.2018.03.181

Cited by 7 publications

(3 citation statements)

References 18 publications

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“…This is used to analyse human postures and motions in order to evaluate both human-product interactions and human-production system interactions and then predict ergonomics issues before the product and workplace exist physically. In IMMA, not only a biomedical model, but also a collision model using hierarchies of rectangular swept spheres (RSS) [12,30] represents a manikin. A reaching movement can be achieved by simply specifying a sequence of target positions that the fingertip has to trace.…”

Section: A Applications For Worktation Designmentioning

confidence: 99%

“…In Fig. 6, the manikin's left hand reaches deep into the engine bay of a truck to replace a headlight bulb by following a computergenerated path for a sphere [30] where the tip of a hand's middle finger was used as the manikin's end-effecter. We use a novel hierarchical controller system for reducing the time-consuming set-up [31].…”

Section: A Applications For Worktation Designmentioning

confidence: 99%

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Employing digital twins within production logistics

Hauge¹,

Zafarzadeh

Jeong

et al. 2020

2020 IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)

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Digitalisation and automation of existing processes are key competitive factors for industry. Still, logistic operations often comprise manual effort, because the movement of goods and material places stringent requirements on the interactions between different systems, human-computer/robot-interaction as well as on changes in the operative processes. In general, the introduction and uptake of new enabling technologies, like the IoT, in complex systems evolved over decades, are challenging. The experience has shown that it is hard to assess all restrictions and interactions between new and old components before any new equipment or infrastructure is implemented and put in operation. This paper presents and discusses the usage of digital twins for supporting the decision-making processes in two different areas: Workstation design and logistics operation analysis. The results are based on tests and experiments carried out in a production logistics test-bed that includes physical devices, an IoT-infrastructure and simulation software. The digital twin is realised in a combination of using Unity and the simulation software IPS. The primary results show that there is no one-size fit all in terms of granularity of the underlying simulation model as well as for the reduction of reality in the digital twin, but the results also indicate that a context-aware digital twin supports the decision-making within a given scope.

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Section: A Applications For Worktation Designmentioning

confidence: 99%

Section: A Applications For Worktation Designmentioning

confidence: 99%

Employing digital twins within production logistics

Hauge¹,

Zafarzadeh

Jeong

et al. 2020

2020 IEEE International Conference on Engineering, Technology and Innovation (ICE/ITMC)

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“…The field of proximity queries is a well-researched area of study and there exist many effective algorithms for proximity queries in a variety of scenarios. However, given these queries are a key bottleneck in many areas, such as motion planning for virtual manikin assembly (Li, Delfs, Mårdberg, Bohlin, & Carlson, 2018), any improvements to the algorithms underpinning these techniques can benefit many industries beyond digital human modelling and reveal new approaches to solving well-known problems.…”

Section: Introductionmentioning

confidence: 99%

ME-BVH: Memory Efficient Bounding Volume Hierarchies

Shellshear

Carlson

2022

Proceedings of the 7th International Digital Human Modeling Symposium -

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Collision detection and distance computation algorithms often form the bottlenecks of many digital human modelling simulations in industrial processes. When designing vehicle assembly lines or cobot assembly cells it is essential to be able to accurately simulate collision free interactions both for efficient and safe operations. Hence, any attempt to improve such algorithms can have a broad and significant impact. Most of the focus is typically on speeding up the queries, however, with models becoming larger as scenarios become more realistic and simulations include more elements such as musculoskeletal models and 3D human body modelling, other parts of the proximity query performance are becoming important such as the management of memory. In this paper, we demonstrate a new technique called ME-BVH (Memory Efficient Bounding Volume Hierarchies) to improve memory usage for proximity queries with bounding volume hierarchies. The approach utilizes a simple and effective way of grouping primitives together at the leaf level and building the bounding volume hierarchy top down to the grouped primitive leaves. The paper then shows ways of efficiently carrying out primitive and bounding volume queries to offset the greater number of potential queries. In addition, the modifications taken are simple enough to be easily applied to most bounding volume hierarchies. By using these approaches, we demonstrate on a number of real-life assembly scenarios with millions of primitives that, compared to existing approaches, our proposed method is able to save up to half of the memory used and can reduce the build times at little cost to the query performance. In addition, the methods developed here are compatible with all BVH types and queries used in ergonomic simulations, unlike many other approaches. The developed algorithms present advantages for proximity queries for deformable meshes used in digital human modelling by reducing the time it takes to build a bounding volume hierarchy which often must be rebuilt or updated many times during simulations due to mesh deformations.

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