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This paper discusses a flexible assembly cell, including a dual arm robot in cooperation with humans for assembly tasks typically performed by operators. The robot performs these tasks both in isolation and cooperation with the human. Sensor data are used for programming the robot’s motion and controlling the program’s execution in a fenceless setup. Safety is ensured with the use of 3D sensing devices, while the tasks’ coordination is managed by the so-called station controller. The programming approach combines both offline and on-line methods, in an intuitive manner. The proposed assembly cell is demonstrated in an automotive industry case. [ABSTRACT FROM AUTHOR]

Robot programming software tools are expected to be more intuitive and user friendly. This paper proposes a method for simplifying industrial robot programming using visual sensors detecting the human motions. A vocabulary of body and hand gestures is defined, allowing the movement of robot in different directions. An external controller application is used for the transformation between human and robot motions. On the robot side, a decoder application is developed translating the human messages into robot motions. The method is integrated within an open communication architecture based on Robot Operating System (ROS), enabling thus the easy extensibility with new functionalities. An automotive industry case study demonstrated the method, including the commanding of a dual arm robot for single and bi-manual motions. [ABSTRACT FROM AUTHOR]

The Human Robot Collaborative (HRC) workplace design and the automatic task allocation can significantly decrease the time of a new set-up or a cell's reconfiguration. This paper proposes a method for an HRC workplace layout generation and the preliminary assignment of human and robot tasks. A decision making framework is proposed in order for the location of all components in the available layout space to be decided upon. The evaluation of the alternative HRC workplace layouts is based on multiple criteria. The system has been integrated with a user interface into a 3D simulation tool and tested on an automotive industry case study. [ABSTRACT FROM AUTHOR]

This paper discusses a method for the coordination of assembly tasks requiring the cooperation of humans with a robot. A ROS based architecture is used. The assembly sequence of these tasks and their characteristics are modeled in a neutral XML format generated off-line. A ROS based framework in order for different modules to communicate and coordinate their actions through the exchange of messages. The human is able to review the past and upcoming tasks in a graphical user interface. The human and robot coexist in a fenceless cell where safety is ensured using a certified camera system. This framework is applied to an automotive case study using the Process Simulate tool for the execution of assembly tasks. [ABSTRACT FROM AUTHOR]

Background: The development of high-throughput drug screening (HTS) using primary cultures provides a promising, clinically translatable approach to tailoring treatment strategies for patients with cancer. However, this has been challenging for solid tumors because of often limited amounts of tissue available. In most cases, in vitro expansion is required before HTS, which may lead to overgrowth and contamination by non-neoplastic cells., Methods: In this study, hematoxylin and eosin staining and immunohistochemical staining were performed on 129 cytopathology cases from 95 patients. These cytopathology cases comprised cell block preparations derived from primary tumor specimens or patient-derived xenografts as part of a pediatric precision oncology trial. Cytopathology cases were compared with the morphology and immunohistochemical staining profile of the original tumor. Cases were reported as tumor cells present, equivocal, or tumor cells absent. The HTS results from cytopathologically validated cultures were incorporated into a multidisciplinary tumor board report issued to the treating clinician to guide clinical decision making., Results: On cytopathologic examination, tumor cells were present in 77 of 129 cases (60%) and were absent in 38 of 129 cases (29%), whereas 14 of 129 cases (11%) were equivocal. Cultures that contained tumor cells resembled the tumors from which they were derived., Conclusions: Cytopathologic examination of tumor cell block preparations is feasible and provides detailed morphologic characterization. Cytopathologic examination is essential for ensuring that samples submitted for HTS contain representative tumor cells and that in vitro drug sensitivity data are clinically translatable., (© 2021 American Cancer Society.)