Intelligent Service Robotics

https://doi.org/10.1007/s11370-020-00326-7

ORIGINAL RESEARCH PAPER

Artificial intelligence with robotics for advanced manufacturing

industry using robot‑assisted mixed‑integer programming model
Hong Xiao1 · BalaAnand Muthu2 · Seifedine Nimer Kadry3

Received: 30 January 2020 / Accepted: 22 May 2020

© Springer-Verlag GmbH Germany, part of Springer Nature 2020, corrected publication 2020

Abstract
Digital technologies and artificial intelligence (AI) solutions are growing and changing rapidly and staying at the top are
increasingly complicated. Presently, a rapid transformation occurs in advanced manufacturing, the world of innovation, and
mass adoption. Robots become even more crucial as now, because they can be connected to the human mind through the
machine/brain interface as AI evolves. A significant need to enhance productivity from the manufacturing sector provides
the world economy with punishing challenges. The paper addresses the problem in real-world industry applications of the
enforcement of an autonomous industrial mobile robot, in all such areas, namely communication, scheduling, mobile robot
technology, and planning. The robot-assisted mixed-integer programming model (RA-MIPM) has been proposed for find-
ing the optimal solution for the problem. This paper deals with the issue of the sequence of optimum feeding in a cell with
feeders fed by a mobile manipulation arm robot. The efficiency criteria are to reduce the robot’s cumulative travel time in
a particular program horizon. Besides, the robot must be designed for production lines to operate within the cell without a
lack of feed components.

Keywords  Artificial intelligence · Robotics · Advanced manufacturing industry

1 Introduction and its related works
Manufacturers compete to meet the ever-changing demands
of the market [1]. This requires manufacturing lines that are
sufficiently adaptive, intelligent and flexible to meet cur-
rent demands. The leaders of businesses and manufacturers
concluded that business and industrial production should be
integrated [2]. An important step forward in industrial pro-
cesses and strategies is needed for such integration. Besides,
the integration of a variety of facets, including suppliers,
* Hong Xiao
Xiaohong198017@163.com
BalaAnand Muthu
balavdy@gmail.com
Seifedine Nimer Kadry
s.kadry@bau.edu.lb
1 learning to take the image, perform image processing and
School of Finance and Economics, Anhui Science
and Technology University, Bengbu 233100, AnHui, China
2 environment and tells what the operator is going to do next
V.R.S. College of Engineering & Technology, Villupuram,
India
3
Beirut Arab University, Lebnon, Lebanon
manufacturing lines and clients, will make it possible [3].
In the last decade, AI algorithms have been used to examine
sustainability [4]. The autonomous workforce is sensitive
to human intent which desires to inform them. The human
should work together with the robots, not only without
apprehension and with peace of mind, realizing that they are
respected and worked with their robotic co-workers properly
[5]. This will lead to an exceptionally high-quality produc-
tion process, prosperous trustworthiness and lower waste
and associated costs. Robots are a programmable machine
and an ideal human collaborator for certain situations, which
can perform repetitive tasks [6]. The next industrial revolu-
tion may introduce a new generation, robotic productions
with a human touch has the collaborative robots that are
aware of the human presence and therefore responsible for
the health and risk requirements. The worker begins a task
and a robot uses a camera to track the process. The robot
is linked with a processing computer, which uses machine
learn patterns [7]. It monitors human beings, monitors the
with the help of a deep learning analysis of human intentions

13
Vol.:(0123456789)

[8]. Figure 1 shows the advanced manufacturing industry’s
basic structure.
Manufactures visualize the requirement for evolving pro-
duction systems, combined with new help automation and
mobile robots, the best of both worlds [9]. Mobile robots
are easy-going for certain tasks, like carrying and machine
care, feeding materials, preassembly or quality checks at
the various production workstations with handling arms and
embedded batteries. These tasks are so complex that mobile
robots are capable of assuming their responsibility. Besides,
the use of mobile robots will result in fewer energy con-
sumptions or less cost-change devices than the typical fixed
surface industrial robots [10–13]. These benefits pave the
way for the implementation of mobile robots within trans-
formable manufacturing systems. In this analysis, a given
issue is considered throughout particular for a single mobile
robot that automatically performs multiple feeding actions
by collecting containers and moving and loading them in the
feeders necessary [14–17]. To reliably use mobile robots,
however, these feeding tasks must be properly configured
[18]. Therefore, it is important to prepare for mobile robots
to feed operations with a sequence to work efficiently while
meeting other technical constraints [19]. A selection of the
best sequence has been done through various feeding strate-
gies and models. Many typically inflexible robots are called
scheduling theory and operate on specified paths and carry
out several times a confined sequence of activities. There is
still an absence of planning for a free-speed mobile robot
that can travel in a production cell to execute multiple feed-
ing tasks containing the collection, transfer, and delivery of
components to feeders.
Supply
network
Economic
Regulation and financial
system
Advanced
Manufacturing
Industry
Sustainability Cost
Innovation Productivity
Fig. 1  Advanced manufacturing industry
13
Intelligent Service Robotics
The main assistance of the paper are discussed as follows,
• To scheduling the multipart feeding of a single mobile
robot, whose periods could be calculated using the inven-
tory system.
• The mathematical model has been proposed robot-
assisted mixed-integer programming model (RA-MIPM)
addresses the scheduling problem.
• The experimental results have been discussed for the bet-
ter performance of the proposed system.
The remainder of the paper discussed as follows: Here
Sects. 1 and 2 discuss the significance of AI and robotics
in the advanced manufacturing system. In Sect. 3 robot-
assisted-mixed-integer programming model (RA-MIPM)
has been proposed for the effective solution for the schedul-
ing and feeding the tasks to individual tasks. In Sect. 4 the
experimental results has been demonstrated. Finally, Sect. 5
concludes the research paper.
2 Literature review and its outcomes
Gini and Gini [20, 21] proposed the mixed-integer program-
ming model (MIP) for a mobile robot in the manufactur-
ing industry. For multiple feeding tasks, a process using the
inventory (s, Q) scheme is used with the MIP formula. The
implications of the proposed MIP model are shown by the
case study in a factory at a propeller production line. For
the solution of large-scale mobile robot planning problems,
a meta-heuristic approach will be taken into consideration.
Besides, re-programming mechanisms are to be developed
to deal with real-time disruptions based on calendars and
feedback received from the floor of the shop. For further
analysis, when reviewing a huge number of feeders and a
longer scheduling period, it will increase the complexity of
the problem.
Dang et al [22] introduced the genetic algorithm for the
optimization of the manufacturing procedure of a robotic
arm under fuzziness. For an actual manufacturing proce-
dure, the assembly line balance issue of type 2 (SALBP-2) is
solved through the implementation of fuzzy processing time.
Real processing time data values are stored and uncertainty
calculated. The genetic algorithm (GA) is the optimizing
instrument for the fuzzy SALBP-2 solution. The validity
of the approach proposed is checked for the construction
process of the metal-based robotic arm. The validity of the
proposed method is tested. The results demonstrate that
the proposed GA is capable and effective in identifying the
optimum workstations sequence, which provides the optimal
cycle time.
Zacharia et al [23] initialized the robotic kitting system
(RKS) to determine the performance of the assembly plant.
Intelligent Service Robotics
Picking of orders is the operation to collect parts neces-
sary for the assembly of finished products from the storage
places. Kitting is called making a ready-to-purchase box or
parts kit. Flexible robotic systems will greatly help indus-
tries to boost their operation’s efficiency. In robotics and
artificial intelligence, a wide range of things to be selected
can be handled given some remaining limitations in connec-
tion with the diversity of components and system character-
istics. In this article, a robotic fitting system that runs on a
rail system with a robotic arm and travels through a narrow
aisle to select parts is studied. The objective is to evaluate
the performance of robotic kitting systems in cycle times
by modeling the elemental kitting operations that the robot
conducts (pick, position, journey, tool change, etc).
Boudella et al [24] introduced the collaborative assem-
bly system (CAS) to compare the traditional robot system.
The cost of direct output throughput and unit was taken
into account for comparison. In the case of joint systems, it
becomes more complicated to estimate those performance
figures, which are easy in traditional automated assembly
systems. The allocation and the way they interfere/collabo-
rate while assembly of both tasks between the human and
the robot affects the output of CAS. To take these parameters
into account, many system attributes have been introduced
and a mathematical model to determine the actual conveni-
ence of the industrial CAS establishment.
To overcome these issues, in this paper, a robot-assisted
mixed-integer programming model (RA-MIPM) has been
proposed for scheduling tasks in the various robots in the
advanced manufacturing industry. The mobile robot integra-
tion has been taken into account in this report. How to con-
figure an industrial integration and mobile robot framework
and mobile robot communicate execution and interacts with
a production system. GA-based heuristics to prepare for the
industrial application for the multiple component feeding
actions for the mobile robot has been proposed.
3 Robot‑assisted mixed‑integer
programming model
3.1 Mathematical model
A model for the mobile robot encountered m feeders to per-
form multiple tasks for feeding is established to determine an
optimal sequence. All feeding tasks are known in advance,
which correspond to the deliveries of small load carriers
(SLCs). This model takes into account the soft time win-
dows scenario that allows for breaches of the upper bound.
The mobile robot is centered on a central warehouse that
restricts the mobile robot’s carrying capacity. Integer vari-
ables make it more difficult to solve non-convex optimiza-
tion problems. A set of decision variables in the MIP model
is limited to only integer values. Memory and solution time
will increase exponentially when the problem size increases
by adding more integer variables. In general, therefore, the
MIP method can only be used for small issues with few feed-
ers in a short planning horizon of production lines, i.e., only
for a few scheduling tasks. The MIP model provides optimal
solutions for these scenarios, which are used as a benchmark
for quantifying the benefits range of the genetic algorithm-
based heuristic analysis. The following paragraphs provide
assumptions, notes, timescales, and formulation of the MIP
model. Table 1 shows the symbol description of the pro-
posed mathematical model.
3.2 Pre‑assumptions
• All tasks are periodic, autonomous and allocated to the
same robot.
• One or more SLC(s) can be borne at a time on a mobile
robot.
• The time of the mobile robot and the working time and
the feeder part rate are known and compatible with the
feeder system.
• All machine feeders are fed to the highest level mobile
analysis.
• An autonomous mobile industrial robot is viewed in an
environment free of disturbance.
The modular mobile robot system functions are as
inferred from Table 1 and Fig. 2. The architecture of the
mobile robot system and its autonomous versatility allow
it to function adequately in Cloud manufacturing (CMfg)
environments, where the dynamic flexibility of resource sup-
ply is a distinctive feature of CMfg. Besides, the capacity of
a mobile robot for rapid reconfiguration for different tasks
enables minimized downtime, high efficiency, and instant
demand response in the CMfg setting. Multipart feeding,
which is to load multiple parts or components in feeders at a
time is recently analyzed for the most appropriate procedure
for the mobile robot. These feeders are intended to supply
parts automatically in a typical production cell to machines
on one or more production lines. Manually multiple part
feeding is performed, manufacturing tasks are added to the
unvalued, and production workers are often interruptive
(intermediate or periodic). If workers fail to fill feeders, it
can interrupt production lines. The automation of multiple
feeds, therefore, has high industrial potential. The use of
the mobile robot will decrease the reliance on make feeding
tasks more versatile, human intervention, and pave a way for
the development and implementation of the manufacturing
methods based on clouds.
13
 Intelligent Service Robotics

Table 1  Nomenclature Symbol Description

ejl lth release time of the task j

M Set of tasks
mj Number of times task j has to be performed
T Set of all possible routes
sj Robot working time at task j location
qj Periodic time of task j
rji Robot traveling time from task j location to task i location
R Planning horizon
vj The maximum level of parts in the feeder at task j location
bj Consuming rate of parts in the feeder at task j location
cjl lth due time of task j
uj The minimum level of parts in the feeder at task j location
P Maximum number of SLC’s could be carried by the robot
Decision variables
{
1 if robot travels from lth task jlocation to kth task ilocation in the route t
yikt =
jl 0 otherwise
wjl the lth starting time of task j
zjl Route number to which lth task j belongs

•Path planning •Acquire image

obstacles process image
Skills avoidance
/action

Mobile Vision
platform
Module
Interfaces: electrical,
mechanical, man
machine software,

Robot
Tooling
manipulator

•Grasp release •Manipulation

arm movement

Fig. 2  Mobile robot modular system

3.3 Time windows The task of feeder j is the periodic time as determined in

Eq. (1) which needs to be[performed with a certain number
In Eqs. (1), (2), and (3), time windows for the mobile robot of times/executions mj = R∕qj .
]

multipart feeding could be identified.

ejl+1 = ejl + qj , ∀j ∈ M�{0}, l = 1�mj (2)
(1)
( )
qj = vj − uj bj , ∀j ∈ M�{0}

13
Intelligent Service Robotics

Release time for the task j is defined by a certain amount (6)

( ) { }
cjl = ejl + uj − 0 bj ∀j ∈ M�{0}, l ∈ 1, 2, … , mj
uj (Eq. 2) when the number of parts inside the feeder j is
decreasing.
(7)
{ }
wjl ≥ ejl ∀j ∈ M�{0}, l ∈ 1, 2, … , mj
(3)
( )
cjl = ejl + uj − 0 bj , ∀j ∈ M�{0}, l = 1�mj
Constraints  (5) and (6) specify the release time and
while a task j is defined when no part is included in feeder request time for a task, and constraints (7) guarantees the
j (Eq. 3). beginning of a request for a task prior to its release.
The state diagram of the time windows is shown in Fig. 3. mi
If necessary, a request l of task j should be handled by the
∑ ∑
yik1
01 = 1 (8)
mobile robots within that request’s time window. This means i∈M�{0} k=1
the mobile robot will enter Feeder j following the upper limit
(or at the appropriate time) of the time window. On the other Constraint (8) prohibits the robot from repeating a task.
hand, the time limits are known as soft constraints. It can, mi
therefore, be modeled as a goal of the overall delay of tasks.
∑ ∑ ∑
yikt
01 ≤ 1 (9)
The late arrival at the feeder of the mobile robot j causes a i∈M�{0} k=1 t∈T
time window shift of the next task request j. If the mobile
robot reaches before the lower time limit (or release time) at Constraint (9) removes the sub-tour between the execu-
feeder j it will wait until service starts. The request release tion of a task, where Y is a subset of the YR system, where YR
time l of task j is set to when a certain level uj falls within is a set of tasks executed at feeders and in storage.
the feeder. When there are no parts in the feeder j, the time
of application l of task j is specified.
( mj mi mj )
(4)
∑∑ ∑∑ ∑ ∑ ∑
rji yikt
( )
objective function ∶ min 𝛽 jl
+ (1 − 𝛽) max 0, wjl − cjl
j∈M l=1 i∈M k=1 t∈T j∈M�{0} l=1

∑
The object function (4) minimizes the overall weighted yikt ≤ |X| − 1 ∀t ∈ T, ∀X ⊆ Xt
jl (10)
objective of mobile robotic travel time and the cumula- (j,l),(i,k)∈X

tive delay of the sequencing tasks where 𝛽 is the weighted

coefficient. (11)
{ }
XR = {(j, l|j ∈ M�{0} , l ∈∈ 1, 2, … mj }
Subject to:
( ) Constrains (10) and (11) force tasks to be performed
ejl = ejl−1 + qj + max 0, wjl−1 − cjl−1 × 1{l≥2} exactly on one route.
{ }
∀j ∈ M�{0}, l ∈ 1, 2, ..mj , ej0 = 0 (5) mi
∑∑ ∑
yikt (12)
{ }
jl = 1 ∀j ∈ M�{0}, .l ∈ 1, 2, ..mj
i∈M k=1 t∈T

Constraints (12) prohibits robots from feeding more small

load carriers than the maximum number of SLCs that P is
permitted as shown in the algorithm 1.
Task me

Release me

Feeder j

Fig. 3  State diagram of time windows

13
 Intelligent Service Robotics

( ) ( )
∑ ∑
yikt yikt
( )
wjl + 𝜔j + rji jl
−K 1− jl
+ zik − zjl
t∈T t∈T
( ) { }
× rj0 + 𝜔0 + r0i − rji ≤ wik ∀j, i ∈ M, l ∈ 1, 2, … , mi
(15)
mj
∑∑ ∑
t × yikt
{ }
zik = jl
∀i ∈ M�{0}, k ∈ 1, 2, … , mi
j∈M l=1 t∈T
(16)
∑
yikt
{ } { }
zik ≥ zjl jl
∀j, i ∈ M, l ∈ 1, 2, ..mj , k ∈ 1, 2, … mi
t∈T
(17)
yikt
{ } { }
jl
∈ {0, 1}∀t ∈ T, ∀j, i ∈ M, l ∈ 1, 2, … mj , k ∈ 1, 2, ..mi
(18)
zjl ∶ positive integer variable

(19)
{ }
∀j ∈ M�{0}, l ∈ 1, 2, … mj

Constraint (14) assigns the task to a path, and constraint

(15) provides an upward route number sequence for task exe-
cution. The types of variables are defined by the constraints
(16) and (17). Hence the robot-assisted mixed-integer pro-
gramming model (RA-MIPM) has been proposed for finding
the optimal solution for the problem. This paper deals with
the issue of the sequence of optimum feeding in a cell with
feeders fed by a mobile manipulation arm robot.

As shown in the Algorithm 1, a genetic algorithm heuris-

tic model and mathematical model are proposed. Besides, 4 Experimental results
the mobile robot can communicate and exchange informa-
tion between the other manufacturing systems and mobile (i) Productivity Ratio
robots in flexible manufacturing circumstances. The pro- Industrial robots are showing increased labor productiv-
posed approach offers insight into the contribution and skills ity overall productivity and wages. Besides, while the effect
of the moving robot technology to cloud production systems. of industrial robots on overall working hours is significant,
To demonstrate how successful the suggested technique is, there is evidence that low-quality worker employment and,
a real-world test on the impeller production line of a factory to a lesser extent mid-skilled worker employment are being
and computer tests are carried out. The GA heuristic allows reduced. The method proposed will enhance operational
the multipart service feeding problem of the mobile robot to efficiency, productivity and reduce production cycles and
be converted to almost optimum solutions. minimizes work injury. The robot and man can usually work
mi at the same time when assembling large components. The
productivity in this ideal case can reach the highest stand-
∑∑ ∑
yikt
{ }
jl = 1 ∀j ∈ M�{0}, .l ∈ 1, 2, … , mj (13)
j∈M l=1 t∈T ards. However, small parts may avoid the robot arm from
doing its work and vice versa by obstruction. This leads to
Constraint (13) deals with the time requirements for travel optimal times and a reduction in productivity. The proposed
between every pair of tasks where K is a huge sufficient feeder system increases productivity in the manufacturing
constant. If two runs are connected and are not in the same environment. Figure 4 shows the productivity ratio of the
way to the same task or tasks, the robot should visit the store proposed system.
to load filled SLC’s and unload empty. (ii) Safety Performance of Robotic system
mj mi The incidence rate was used before and after computer
automation was introduced to compare the safety perfor-
∑∑ ∑ ∑
yikt
jl
≤ Pn ∀t ∈ T (14)
j∈M l=1 i∈M�{0} k=1 mance of the industry manufacturer. In general, the auto-
mated process has dramatically modified the manufacturing

13
Intelligent Service Robotics

Fig. 4  Productivity ratio

Fig. 5  Safety performance of
robotic system

environment and this research shows that the impact on pro- Table 2  Safety performance analysis
duction environments of automation safety is complex and Total number MIP RKS SALBP-2 CAS RA-MIPM
extends beyond the simple improvement or degradation of of datasets
safety performance. The performance criterion is to reduce
the robot’s total travel time to a certain plan horizon. Fig- 10 24.2 26.7 30.4 35.2 40.3
20 35.8 56.4 68.2 79.3 71.1
ure 5 shows the safety performance of the robotic system.
30 46.9 66.3 78.1 80.2 81.7
Table 2 shows the real demonstration and quantitative
40 57.8 78.9 84.3 85.7 88.6
tests are performed to analyze the methodology. In particu-
50 60.7 80.1 86.9 88.1 98.7
lar, the performance of the mixed-integer programming
model and heuristical genetic algorithm-based real data has
been used to examine the real-world example of two dif-
ferent cases. Finally, different problem cases are randomly (iii) Efficiency Ratio determination
produced and tested to demonstrate more convincingly the Robots are key productivity enhancement tools. To date,
performance of the approaches proposed. the majority of robotic adoptions are in production where

13
 Intelligent Service Robotics

a wide range of manual tasks are performed with greater Table 3  Efficiency ratio determination
efficiency and consistency than humans. The convergence Total number MIP RKS SALBP-2 CAS RA-MIPM
of digital technology and production is leading to a new of datasets
paradigm of production: a high-volume, high mix strategy
10 48.1 56.2 45.5 79.1 80.1
that makes it possible for cost-effective production in smaller
20 50.3 67.2 53.4 80.8 83.3
manufacturing plants to meet local markets more efficiently
30 55.6 78.7 59.7 83.6 84.5
throughout the world. The proposed method achieves a high-
40 66.5 79.8 64.1 84.4 90.7
efficiency ratio when compared to other existing methods.
50 79.8 80.3 68.3 86.2 97.9
Figure 6 demonstrates the efficiency ratio of the proposed
method.
Table 3 demonstrates the efficiency ratio of the proposed
RA-MIPM method. Artificial intelligence (AI) with robots cycle time, processing times are then used. The results
is capable of enhancing and enhancing human capacity and show the efficiency and capability of the proposed genetic
helping companies to achieve more quickly and more effi- algorithm in identifying the optimum cycle time of tasks
ciently. It can reduce costs and increase productivity, profit- assigned to the workstations. Figure 8 demonstrates the
ability, efficiency and workplace efficiency. cycle time versus the number of generations.
(iv) Computational cost Hence, the efficiency criteria are to reduce the robot’s
In manufacturing, continuous maintenance of machinery cumulative travel time in a particular program horizon has
and equipment for production lines represents a significant been experimentally analyzed. Besides, the robot must be
cost and has an important effect based on any asset-related designed for production lines to operate within the cell with-
production activity. The proposed method permits drastic out a lack of feed components shows significant outcomes.
reductions in expensively unplanned downtimes and an
extension of the RUL of production machinery and equip-
ment to the rest of the useful life. The proposed RA-MIPM 5 Conclusion
method has low maintenance cost when compared to other
MIP, RKS, SALBP-2, and CAS. Figure 7 demonstrates the The article examines the problem of the realization in the
computational cost of the proposed RA-MIPM method. real-world of an autonomous, mobile industrial robot. The
(v) Cycle time versus Generations multi-criteria optimization problem is taken into account
For a real process of manufacture reviewing in the pro- in the mobile robot planning tasks and the interactions,
cessing times the flexibility. Since the data determined in communications and mobile robot technology. The key
the realistic environment are uncertain and imprecise, there novelties of this paper include the planning of soft-time
are major interests in considering the robot-assistant MIPM work periods concurrently and the limitation of the mobile
method. Real data values are collected and estimated in robot’s capability and the mobile robot technology transi-
uncertain terms for processing times. To find the optimal tion from a lab setup to an application in the real world.

Fig. 6  Efficiency ratio determi-

nation

13
Intelligent Service Robotics
Fig. 7  Computational cost
Fig. 8  Cycle time versus num-
ber of generations
Mobile robot technologies and abilities, as well as ways of
using the mobile robot, are furthermore the basis to develop
and implement cloud-based production systems that provide
the resource provision with a more dynamic and versatile
design, and provide near-immediate access to the abilities
and resources and with the help of artificial intelligence
technology. To find near-optimal solutions, a heuristical GA
was then introduced. Then, using MIP solutions, the quality
of these solutions can be evaluated as baselines to quantify
the advantages. To show how the MPI, genetic algorithm-
based heuristic and the real-world evidence in a production
line and more numerical experiments has been represented.
Acknowledgements  This research is supported by Humanities and
Social Sciences Key Project of Anhui Provincial Department of Educa-
tion: Research on the Evaluation of the Efficiency of Technology Inno-
vation in Equipment Manufacturing Industry in Anhui Province and
the Driving Path of Global Collaborative Innovation(SK2018A0585).
References
1. Bahrin MA, Othman MF, Azli NN, Talib MF (2016) Industry
4.0: a review on industrial automation and robotic. J Teknol
78(6–13):137–143
2. Hasegawa Y (2006) Construction automation and robotics in
the 21st century. In International symposium on automation and
robotics in construction (ISARC), pp 565–568
13

3. Ebel KH (1986) The impact of industrial robots on the world of
work. Int’l Lab Rev 125:39
4. Fei M, Haiou Z, Guilan W (2010) Application of industrial robot
in rapid prototype manufacturing technology. In: 2010 the 2nd
international conference on industrial mechatronics and automa-
tion, vol 1, pp 218–220. IEEE
5. Stenmark M, Malec J (2015) Knowledge-based instruction of
manipulation tasks for industrial robotics. Robot Comput Inte-
grated Manufact 1(33):56–67
6. Johnson GI, Wilson JR (1988) Future directions and research
issues for ergonomics and advanced manufacturing technology
(AMT). Appl Ergon 19(1):3–8
7. Gupta YP (1989) Advanced manufacturing systems: analysis of
trends. Manag Decision 27(5)
8. Schou C, Damgaard JS, Bøgh S, Madsen O (2013 Oct 24)
Human–robot interface for instructing industrial tasks using kin-
esthetic teaching. In: IEEE ISR 2013, pp 1–6. IEEE
9. Miljković Z, Vuković N, Babić B (2008) Mobile robot localiza-
tion in a manufacturing environment. In: Proceedings of the 3rd
international conference on manufacturing engineering (ICMEN
2008), pp 01–03
10. Stenmark M, Malec J (2013 Nov 20) Knowledge-based industrial
robotics. In: SCAI, pp 265–274
11. Nilsson K, Johansson R (1999) Integrated architecture for
industrial robot programming and control. Robot Auton Syst
29(4):205–226
12. Brady M (1985) Artificial intelligence and robotics. Artif Intell
26(1):79–121
13. Dopico M, Gomez A, De la Fuente D, García N, Rosillo R, Puche
J (2016) A vision of industry 4.0 from an artificial intelligence
point of view. In: Proceedings on the international conference on
artificial intelligence (ICAI), p 407. The Steering Committee of
The World Congress in Computer Science, Computer Engineering
and Applied Computing (World Comp)
14. Keisner A, Raffo J, Wunsch-Vincent S (2016) Robotics: break-
through technologies, innovation, intellectual property. Фopcaйт
10(2 (eng))
13
Intelligent Service Robotics
15. Aliev R, Aliev F, Babaev M (1991) Fuzzy process control and
knowledge engineering in petrochemical and robotic manufactur-
ing. Verlag TUV Rheinland
16. Dunne T (1994) Plant age and technology use in US manufactur-
ing industries. Rand J Econ 1:488–499
17. Rosen CA (1979) Machine vision and robotics: industrial require-
ments. In: DoddLothar Rossol GG (ed) Computer vision and sen-
sor-based robots, pp 3–22. Springer, Boston
18. Pedersen MR, Nalpantidis L, Andersen RS, Schou C, Bøgh S,
Krüger V, Madsen O (2016) Robot skills for manufacturing: from
concept to industrial deployment. Robot Comput Integr Manufact
1(37):282–291
19. Munakata T (1994) Commercial and industrial AI. Commun ACM
37(3):23–26
20. Gini M, Gini G (1984) Recovering from failures: a new challenge
for industrial robotics. In: Robotics and artificial intelligence, pp
579–588. Springer, Berlin
21. Dang QV, Nielsen I, Steger-Jensen K (2011) Mathematical for-
mulation for mobile robot scheduling problem in a manufacturing
cell. In: IFIP international conference on advances in production
management systems, pp 37–44. Springer, Berlin, Heidelberg
22. Zacharia PT, Tsirkas SA, Kabouridis G, Yiannopoulos AC, Gian-
nopoulos GI (2018) Genetic-based optimization of the manufac-
turing process of a robotic arm under fuzziness. Math Problem
Eng. p 12
23. Boudella ME, Sahin E, Dallery Y (2016) A mathematical model to
assess the performance of a robotic kitting system in an assembly
plant. In: 11th international conference on modeling, optimization
and simulation-MOSIM’16
24. Faccio M, Bottin M, Rosati G (2019) Collaborative and traditional
robotic assembly: a comparison model. Int J Adv Manufact Tech-
nol 102(5–8):1355–1372
Publisher’s Note Springer Nature remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.