La inteligencia artificial (IA) también conocida como la inteligencia no natural, presenta un gran avance para la humanidad en diferentes sectores económicos, al reemplazar procesos y funciones por sistemas expertos o  robots industriales. No obstante, se cuestiona si la IA aporta valor y desarrollo en el entorno laboral para el ser humano, si crea más empleos o todo lo contrario. El presente trabajo tiene como objetivo general presentar investigaciones relevantes sobre la inteligencia artificial y su impacto controversial en torno al empleo y desempleo en las industrias, como tema central de este documento. Así también se revisan los inicios históricos de la IA, el análisis de las diferentes perspectivas y su aplicación. En esta investigación se aborda la explicación de los sistemas inteligentes, las principales razones de uso en los diversos sectores económicos, los riesgos y ventajas de su aplicación en las organizaciones,  se precisan los sectores económicos más desarrollados en la aplicación de la tecnología  en las últimas décadas, así como  su evolución en los últimos años en el Perú y el mundo. La relevancia del tema a presentar es la IA y su aceptación en las industrias, al generar resultados positivos en las  utilidades, reducción de costos, eficiencias en los procesos y rentabilidad. Asimismo el uso de las diversas herramientas que proporciona como por ejemplo el uso de los Chatbots;  sin embargo, también hay consecuencias desfavorables de su implementación en las empresas, como el prescindir de mano de obra o puestos de trabajo, generándose así la controversia. Para el desarrollo de la investigación se utilizó una metodología correlacional, descriptiva y conceptual. Se concluirá que el impacto social de la IA va a ser enorme. Pero aún hay preguntas clave sin una respuesta clara, donde nos preguntamos si están las sociedades preparadas para lo que viene y qué medidas deberían tomar las empresas para que la inteligencia artificial mejore la forma de vida del ser humano del siglo XXI. / Artificial intelligence (AI), also known as unnatural intelligence, presents a great advance for humanity in different economic sectors, by replacing processes and functions with expert systems or industrial robots. However, it is questioned whether AI brings value and development in the work environment for the human being, if it creates more jobs or the opposite. The purpose of this paper is to present relevant research on artificial intelligence and its controversial impact on employment and unemployment in industries, as the central theme of this document. The historical beginnings of AI, the analysis of different perspectives and their application are also reviewed. This investigation addresses the explanation of intelligent systems, the main reasons for use in various economic sectors, the risks and advantages of their application in organizations, the most developed economic sectors in the application of technology in recent decades, as well as its evolution in recent years in Peru and the world. The relevance of the topic to be presented is AI and its acceptance in industries, generating positive results in profits, cost reduction, process efficiencies and profitability. Also the use of the various tools that it provides, such as the use of Chatbots; However, there are also unfavorable consequences of its implementation in companies, such as dispensing with labor or jobs, thus generating controversy. A correlational, descriptive and conceptual methodology was used for the development of the research. It will be concluded that the social impact of AI is going to be enormous. But there are still key questions without a clear answer, where we wonder if societies are prepared for what is coming and what measures companies should take to make artificial intelligence improve the way of life of the human being of the 21st century. / Trabajo de Suficiencia Profesional

Yes / The usage of AI-empowered Industrial Robots (InRos) is booming in the Auto Component Manufacturing Companies (ACMCs) across the globe. Based on a model leveraging the Technology, Organisation, and Environment (TOE) framework, this work examines the adoption of InRos in ACMCs in the context of an emerging economy. This research scrutinizes the adoption intention and potential use of InRos in ACMCs through a survey of 460 senior managers and owners of ACMCs in India. The findings indicate that perceived compatibility, external pressure, perceived benefits and support from vendors are critical predictors of InRos adoption intention. Interestingly, the study also reveals that IT infrastructure and government support do not influence InRos adoption intention. Furthermore, the analysis suggests that perceived cost issues negatively moderate the relationship between the adoption intention and potential use of InRos in ACMCs. This study offers a theoretical contribution as it deploys the traditional TOE framework and discovers counter-intuitively that IT resources are not a major driver of technology adoption: as such, it suggests that a more comprehensive framework than the traditional RBV should be adopted. The work provides managerial recommendations for managers, shedding light on the antecedents of adoption intention and potential use of InRos at ACMCs in a country where the adoption of InRos is in a nascent stage.

Advanced manufacturing machinery is a corner stone of essential industries of technologicallydeveloped societies. Their accuracy permits the production of complexproducts according to tight geometric dimensions and tolerances for high efficiency,interchangeability and sustainability. The accuracy of advanced manufacturingmachinery can be quantified by the performance measure of positioning accuracy.Positioning accuracy measures the closeness between a commanded and an attainedposition on a machine tool or industrial manipulator, and it is ruled by lawsof physics in classical mechanics and thermodynamics. These laws can be applied tomodel how much the machinery deflects due to gravity, expands due to a change intemperature and how much and how long it vibrates due to process forces; hence,one can quantify how much the accuracy decreases. Thus, to produce machinerywith ever higher accuracy and precision one can design machines which deflect,expand and vibrate less or one can understand and model the actual behaviour ofthe machinery to compensate for it.This licentiate thesis uses physics-based modelling to quantify the positioningaccuracy of machine tools and industrial robots. The work investigates the potentialincrease in positioning accuracy because of the simultaneous modelling of the kinematics,static deflections, vibrations and thermo-elasticity as a lumped-parametermodel of the machinery. Consequently the models can be used to quantify thechange of the accuracy throughout the workspace.The lumped parameter models presented in this work require empirical modelcalibration and validation. The success of both, calibration and validation, dependson the availability of the right measurement instruments, as these need to be ableto capture the actual positioning accuracy of machinery. This thesis focuses on theimportance of measurement instruments in industry and metrology and creates acatalogue of requirements and trends to identify the features of the measurementinstruments required for the factories of the future. These novel measurement instrumentsshall be able to improve model calibration and validation for an improvedoverall equipment effectiveness, improved product quality, reduced costs, improvedsafety and sustainability as a result of physics-based modelling and measurementof advanced manufacturing machinery.

Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielle. / Steerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base.

Serial manipulators, which have large work space with respect to their own volume and occupied floor space, are the most common industrial robots by far. However, in many environments the situation is unstructured and less predictable, such as aboard a space station, a nuclear waste retrieval site, or a lunar base construction site. It is almost impossible to design a single robotic system which can meet all the requirements for every task. In these circumstances, it is important to deploy a modular reconfigurable robotic system, which is suitable to various task requirements. Modular reconfigurable robots have a variety of attributes that are well suited to for these conditions, including: the ability to serve as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundany(increasing robustness). By easy disassembly and reassembly features, this serial modular robotic system will bring advantages to small and medium enterprise to save costs in the long term. This thesis focuses on developing such a serial reconfigurable modular robotic system with remote control functionality. The robotic arms are assembled by PowerCube Modules with cubic outward appearance. The control and power electronics are fully integrated on the connector block inside of the modules. Those modules are connected in series by looping through, and can work completely independently. The communication between robotic arms and PC controller is connected by the Control Area Network bus. CAN protocol detects and corrects transmission errors caused by electromagnetic interference. The local PC can directly control the robotic arm via Visual Basic code, and it can also be treated as server controller. Client PCs can access and control the robotic arm remotely through Socket communication mechanism with certain IP address and port number. A Java3D model is created on the client PC synchronously for customers online monitoring and control. The forward and inverse kinematic analysis is solved by Vector Algebraic Method. The Neutral Network Method is also introduced to improve the kinematic analysis. Multiple-layer networks are capable of approximating any function with finite number of discontinuities. For learning the inverse kinematics neural network needs information about coordinates, joint angles and actuator positions. The desired Cartesian coordinates are given as input to the neural network that returns actuator positions as output. The robot position is simulated using these actuator positions as reference values for each actuator.

This study focuses on kinematic calibration of industrial robots. Kinematic modeling, parameter identification and optimal pose selection methods are presented. A computer simulation of the kinematic calibration is performed using generated measurements with normally distributed noise. Furthermore, kinematic calibration experiments are performed on an ABB IRB 6600 industrial robot using full pose measurements taken by a laser tracking system. The kinematic model of the robot is developed using the modified Denavit - Hartenberg convention. A nonlinear least-squares method is employed during the parameter identification stage. According to the experiment results, the initial robot positioning errors are reduced by more than 80%.

<p>Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. The first steps towards a toolbox are implemented in the Maple programming language.</p><p>A series of possible applications for the toolbox can be mentioned. One example is to estimate the pose of the robot tool using an extended Kalman filter by means of extra sensors mounted on the robot. The kinematic equations and the relations necessary for the extended Kalman filter can be derived in the modelling tool. Iterative learning control, ILC, using an estimate of the tool position can then improve the robot performance.</p><p>The second part of the thesis is devoted to ILC, which is a control method that is applicable when the robot performs a repetitive movement starting from the same initial conditions every repetition. The algorithm compensates for repetitive errors by adding a correction signal to the reference. Studies where ILC is applied to a real industrial platform is less common in the literature, which motivates the work in this thesis.</p><p>A first-order ILC filter with iteration-independent operators derived using a heuristic design approach is used, which results in a non-causal algorithm. A simulation study is made, where a flexible two-mass model is used as a simplified linear model of a single robot joint and the ILC algorithm applied is based on motor-angle measurements only. It is shown that when a model error is introduced in the relation between the arm and motor reference angle, it is not necessary that the error on the arm side is reduced as much as the error on the motor side, or in fact reduced at all.</p><p>In the experiments the ILC algorithm is applied to a large-size commercial industrial robot, performing a circular motion that is relevant for a laser-cutting application. The same ILC design variables are used for all six motors and the learning is stopped after five iterations, which is motivated in practice by experimental results. Performance on the motor side and the corresponding performance on the arm side, using a laser-measurement system, is studied. Even though the result on the motor side is good, it is no guarantee that the errors on the arm side are decreasing. One has to be very careful when dealing with resonant systems when the controlled variable is not directly measured and included in the algorithm. This indicates that the results on the arm side may be improved when an estimate of, for example, the tool position is used in the ILC algorithm.</p> / <p>Bra modeller av industrirobotar behövs i en mängd olika tillämpningar, som till exempel mekanisk design, simulering av prestanda, reglering, diagnos, övervakning och offline-programmering. I första delen av avhandlingen studeras modellering av framåtkinematiken för en seriell robot och implementeringen av ett modelleringsverktyg, en toolbox, för kinematikmodellering i Maple beskrivs ingående.</p><p>Ett antal möjliga tillämpningar för toolboxen kan nämnas. Ett exempel är att med hjälp av extra sensorer monterade på roboten och ett så kallat extended Kalmanfilter förbättra skattningen av positionen och orienteringen för robotverktyget. De kinematiska ekvationerna och sambanden som behövs för extended Kalmanfiltret kan beräknas med hjälp av modelleringsverktyget. Reglering genom iterativ inlärning - iterative learning control, ILC - där en skattning av verktygspositionen används, kan sedan förbättra robotens prestanda.</p><p>Andra delen av avhandlingen är tillägnad ILC. Det är en reglermetod som är användbar när roboten utför en repetitiv rörelse som startar från samma initialvillkor varje gång. Algoritmen kompenserar för de repetitiva felen genom att addera en korrektionsterm till referenssignalen. Studier där ILC är tillämpad på en verklig industriell plattform är mindre vanligt i litteraturen, vilket motiverar arbetet i avhandlingen.</p><p>Ett första ordningens ILC-filter med iterationsoberoende operatorer används. ILC-algoritmen är framtagen enligt ett heuristiskt tillvägagångssätt, vilket resulterar i en ickekausal algoritm. I en simuleringsstudie med en flexibel tvåmassemodell som en förenklad linjär modell av en enskild robotled, används en ILC-algoritm baserad endast på motorvinkelmätningar. Det visar sig att när ett modellfel introduceras i sambandet mellan arm- och motorvinkelreferensen, är det inte säkert att felet på armsidan minskar så mycket som felet på motorsidan, eller minskar överhuvudtaget.</p><p>I experiment tillämpas ILC-algoritmen på en stor kommersiell industrirobot som utför en cirkelrörelse som är relevant för en laserskärningstillämpning. Samma designvariabler används för alla sex motorerna och inlärningen stoppas efter fem iterationer, vilket är motiverat i praktiken genom experimentella resultat. Prestanda på motorsidan studeras, och motsvarande prestanda på armsidan mäts med ett lasermätsystem. Trots goda resultat på motorsidan finns det inga garantier för minskande fel på armsidan. Stor försiktighet krävs när experimenten innefattar ett resonant system där den reglerade variabeln inte är mätt explicit och inkluderad i algoritmen. Detta visar på möjligheten att förbättra resultaten på armsidan då en skattning av till exempel verktygspositionen används i ILC-algoritmen.</p> / Report code: LiU-TEK-LIC-2008:1.

Thesis (doctoral)--University of Oulu, 2003. / Includes bibliographical references (p. 207-218). Also available on the World Wide Web.

M.Ing. / Intelligent object identification (the ability to find the identity, position and orientation of an remote object) in a Manufacturing environment plays an important role in the areas of Automation and Manufacturing. Radio frequency identification (RFID) systems have solve the problem of finding the identity of a remote object, but it fails to determine the position and orientation. The Global Positioning System (GPS) have a solution to find the position of a remote object in the global environment, but in a Manufacturing environment it fails. The main obstacle to overcome in finding a unique solution with radio frequency technology is reflections. This thesis investigates the idea of finding the identity, position (and orientation) of a (dormant) chip remotely. The chip transmits a binary signal at 244kHz. The string is Amplitude modulated. The receiver demodulates the signal to obtain the chip's identity. The receiver antenna is divided into four quadrants. First the quadrant in which the chip is located are determined. Three different voltages are then measured to obtain the position of the chip in the specific quadrant. Reflections can be ignored since the system works at a low frequency.

Good models of industrial robots are necessary in a variety of applications, such as mechanical design, performance simulation, control, diagnosis, supervision and offline programming. This motivates the need for good modelling tools. In the first part of this thesis the forward kinematic modelling of serial industrial robots is studied. The first steps towards a toolbox are implemented in the Maple programming language. A series of possible applications for the toolbox can be mentioned. One example is to estimate the pose of the robot tool using an extended Kalman filter by means of extra sensors mounted on the robot. The kinematic equations and the relations necessary for the extended Kalman filter can be derived in the modelling tool. Iterative learning control, ILC, using an estimate of the tool position can then improve the robot performance. The second part of the thesis is devoted to ILC, which is a control method that is applicable when the robot performs a repetitive movement starting from the same initial conditions every repetition. The algorithm compensates for repetitive errors by adding a correction signal to the reference. Studies where ILC is applied to a real industrial platform is less common in the literature, which motivates the work in this thesis. A first-order ILC filter with iteration-independent operators derived using a heuristic design approach is used, which results in a non-causal algorithm. A simulation study is made, where a flexible two-mass model is used as a simplified linear model of a single robot joint and the ILC algorithm applied is based on motor-angle measurements only. It is shown that when a model error is introduced in the relation between the arm and motor reference angle, it is not necessary that the error on the arm side is reduced as much as the error on the motor side, or in fact reduced at all. In the experiments the ILC algorithm is applied to a large-size commercial industrial robot, performing a circular motion that is relevant for a laser-cutting application. The same ILC design variables are used for all six motors and the learning is stopped after five iterations, which is motivated in practice by experimental results. Performance on the motor side and the corresponding performance on the arm side, using a laser-measurement system, is studied. Even though the result on the motor side is good, it is no guarantee that the errors on the arm side are decreasing. One has to be very careful when dealing with resonant systems when the controlled variable is not directly measured and included in the algorithm. This indicates that the results on the arm side may be improved when an estimate of, for example, the tool position is used in the ILC algorithm. / Bra modeller av industrirobotar behövs i en mängd olika tillämpningar, som till exempel mekanisk design, simulering av prestanda, reglering, diagnos, övervakning och offline-programmering. I första delen av avhandlingen studeras modellering av framåtkinematiken för en seriell robot och implementeringen av ett modelleringsverktyg, en toolbox, för kinematikmodellering i Maple beskrivs ingående. Ett antal möjliga tillämpningar för toolboxen kan nämnas. Ett exempel är att med hjälp av extra sensorer monterade på roboten och ett så kallat extended Kalmanfilter förbättra skattningen av positionen och orienteringen för robotverktyget. De kinematiska ekvationerna och sambanden som behövs för extended Kalmanfiltret kan beräknas med hjälp av modelleringsverktyget. Reglering genom iterativ inlärning - iterative learning control, ILC - där en skattning av verktygspositionen används, kan sedan förbättra robotens prestanda. Andra delen av avhandlingen är tillägnad ILC. Det är en reglermetod som är användbar när roboten utför en repetitiv rörelse som startar från samma initialvillkor varje gång. Algoritmen kompenserar för de repetitiva felen genom att addera en korrektionsterm till referenssignalen. Studier där ILC är tillämpad på en verklig industriell plattform är mindre vanligt i litteraturen, vilket motiverar arbetet i avhandlingen. Ett första ordningens ILC-filter med iterationsoberoende operatorer används. ILC-algoritmen är framtagen enligt ett heuristiskt tillvägagångssätt, vilket resulterar i en ickekausal algoritm. I en simuleringsstudie med en flexibel tvåmassemodell som en förenklad linjär modell av en enskild robotled, används en ILC-algoritm baserad endast på motorvinkelmätningar. Det visar sig att när ett modellfel introduceras i sambandet mellan arm- och motorvinkelreferensen, är det inte säkert att felet på armsidan minskar så mycket som felet på motorsidan, eller minskar överhuvudtaget. I experiment tillämpas ILC-algoritmen på en stor kommersiell industrirobot som utför en cirkelrörelse som är relevant för en laserskärningstillämpning. Samma designvariabler används för alla sex motorerna och inlärningen stoppas efter fem iterationer, vilket är motiverat i praktiken genom experimentella resultat. Prestanda på motorsidan studeras, och motsvarande prestanda på armsidan mäts med ett lasermätsystem. Trots goda resultat på motorsidan finns det inga garantier för minskande fel på armsidan. Stor försiktighet krävs när experimenten innefattar ett resonant system där den reglerade variabeln inte är mätt explicit och inkluderad i algoritmen. Detta visar på möjligheten att förbättra resultaten på armsidan då en skattning av till exempel verktygspositionen används i ILC-algoritmen. / <p>Report code: LiU-TEK-LIC-2008:1.</p>