Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods

Petković, Tomislav

prikaz prve stranice dokumenta Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods

doctoral thesis

Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:261340

Petković, Tomislav

University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Cite this document

APA 6th Edition

Petković, T. (2022). Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:261340

MLA 8th Edition

Petković, Tomislav. "Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:261340

Chicago 17th Edition

Harvard

Petković, T. (2022). 'Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 September 2023, https://urn.nsk.hr/urn:nbn:hr:168:261340

Vancouver

Petković T. Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2023 September 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:261340

IEEE

T. Petković, "Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:261340

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:261340

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Metadata

Title	Human action and motion prediction in industrial human-robot shared environments using probabilistic decision-making methods
Title (croatian)	Predviđanje radnji i gibanja čovjeka u suradnim industrijskim prostorima ljudi i robota zasnovano na vjerojatnosnim metodama odlučivanja
Author	Tomislav Petković
Mentor	Ivan Marković (mentor)
Committee member	Ivan Petrović (predsjednik povjerenstva)
Committee member	Nikola Mišković (član povjerenstva)
Committee member	Tamara Grujić (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing (Department of Control and Computer Engineering) Zagreb
Defense date and country	2022-10-07, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Computing
Universal decimal classification (UDC)	004 - Computer science and technology. Computing. Data processing
Abstract	As robots are progressing towards being ubiquitous and an indispensable part of our everyday environments efficient and safe collaboration and cohabitation become imperative. In this thesis, we focus on probabilistic decision-making models for human action and motion prediction in industrial human-robot shared environments. We first introduce a framework for human intention recognition in the robotized warehouse environment. This framework is based on Markov Decision Process action validation and the Hidden Markov Model intention recognition module. We continued by utilizing this framework for precise human motion prediction that served as input for the human-aware planning algorithm. We ran multiple experiments to test the proposed algorithms: in a real-world laboratory warehouse with a worker, wearing augmented reality glasses, a virtual reality warehouse twin as well an in-house developed warehouse simulator. Finally, we utilized Long Short-Term Memory networks to predict the next object human is going to pick in a collaborative environment. In order to reduce execution time, we crafted two dimensionality reduction methods. The first one is a feature selection method that relies on signal correlation and individual merit while the second one is a feature extraction method based on the autoencoder model. A method for human action prediction using a hidden Markov model for integrated warehouse systems based on human pose measurements and virtual reality data. A human motion prediction method for human-aware robot trajectory planning in integrated warehouse systems. A method for human action prediction based on their kinematic model and probabilistic decision-making in human-robot shared industrial environments.
Abstract (croatian)	S obzirom na njihov razvoj, roboti postaju sveprisutni i neizostavan dio našeg svakodnevnog okruženja te učinkovita i sigurna suradnja s čovjekom postaje imperativ. U ovoj disertaciji fokusiramo se na predviđanje radnji i gibanja čovjeka u suradnim industrijskim prostorima ljudi i robota. Prvo predstavljamo metode za prepoznavanje namjere čovjeka u integriranom robotiziranom skladištu. Predstavljena metoda se temelji na validaciji radnji čovjeka pomoću Markovljevog procesa odlučivanja i modulu za prepoznavanje namjere temeljenog na skrivenom Markovljevom modelu. Tu metodu dodatno koristimo za precizno predviđanje ljudskog kretanja koje je poslužilo kao ulaz za o čovjeku svjesno planiranje. Proveli smo više eksperimenata kako bismo testirali predložene algoritme: u stvarnom laboratorijskom skladištu s radnikom koji nosi naočale za proširenu stvarnost, digitalnom blizancu stvarnog skladišta te pomoću simulatora skladišta. Konačno, upotrijebili smo povratne mreže s dugom kratkoročnom memorijom kako bismo predvidjeli sljedeći objekt koji će čovjek dohvatiti. Kako bismo smanjili vrijeme izvršenja, koristili smo dvije metode smanjenja dimenzionalnosti. Prva je metoda odabira značajki koja se temelji na korelaciji signala, dok je druga metoda izdvajanja značajki temeljena na modelu autoenkodera. Metoda predviđanja čovjekova djelovanja pomoću skrivenog Markovljeva modela za integrirane skladišne sustave zasnovana na mjerenju položaja čovjeka i podacima iz virtualne stvarnosti. Metoda predviđanja čovjekova gibanja za planiranje trajektorija robota svjesno blizine čovjeka u integriranim skladišnim sustavima. Metoda predviđanja čovjekova djelovanja zasnovana na kinematičkom modelu čovjeka i vjerojatnosnom odlučivanju u suradnim prostorima ljudi i robota.
Keywords
Keywords (croatian)
Language	english
URN:NBN	urn:nbn:hr:168:261340
Promotion	2022
Study programme	Title: Computer Science Study programme type: university Study level: postgraduate Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resource	Text
Extent	119 str. : graf. prikazi ; 30 cm. + CD-ROM.
File origin	Born digital
Access conditions	Open access
Terms of use
Repository	FER Repository
Created on	2022-11-28 09:59:20