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Polyimide deposition of thick layers (50‐60 μm after soft‐bake) is very important in the field of microelectronics; in particular for fabrication of microwave circuits for telecommunications, micromachining applications, MCM‐D and, in general, for pattern transfer. Spin coating is, even in this case, the only method that can provide good results in terms of quality, repeatability and reliability. This paper discusses problems concerning the polyimide deposition process for obtaining thick layers with an uniformity value within 10% and studying the process itself from a mathematical point of view. In particular, the thickness variation versus frequency has been analysed, checking the mathematical model in which the dependence is ω^−K(K=0.5). It is shown that the polyimide behaves differently depending on the residual solvents at the end of the process and that the model is verified only if the solvents are completely evaporated at the end of the process also. This resolves a certain confusion in the literature where the value of K changes from 0.5 to 1 with different justifications.

The purpose of this paper is to develop a control strategy for human–robot collaborative manipulation tasks that can deal with proximity signals from 373 interconnected cells of an artificial skin.

The robot and the operator accomplish an industrial task while interacting in a shared workspace. The robot controller detects and avoids collisions based on the information from the artificial skin. Conflicting constraints can be handled by prioritizing between hard and soft constraints or by weighing the different constraints.

Weak soft constraints (low weight) are specified to command the robot to move along a nominal path with constant velocity. Stronger soft constraints (higher weight) prevent collisions by means of either moving the end effector backward along the path or circumventing an obstacle. The proposed approach is validated experimentally.

As a first contribution, this paper proposes a discrete optimization algorithm activates an a priori selected maximum number of cells. The algorithm selects the appropriate distribution based on the amplitude of each signal and the spatial distribution of the proximity measurements. A second contribution is the specification of a human–robot collaborative application as an optimization problem using eTaSL (expression graph-based task specification language), which provides reactive control.

The importance of miniaturisation of hybrid microwave integrated circuits (HMICs) and the increasingly stringent demands on the line‐width control of conductor lines in satellite communications and digital radio systems are well established. The importance of photolithographic processes for achieving accuracy and control of the line width necessary to guarantee performance and repeatability of HMICs is acknowledged. The purpose of this paper is to discuss problems concerning the photoresist deposition process and how spin coating is necessary for obtaining the quality, precision and repeatability required for fine line HMICs for high frequency applications.

This paper aims to increase the safety of the robots’ operation by developing a novel method for real-time implementation of velocity scaling and obstacle avoidance as the two widely accepted safety increasing concepts.

A fuzzy version of dynamic movement primitive (DMP) framework is proposed as a real-time trajectory generator with imbedded velocity scaling capability. Time constant of the DMP system is determined by a fuzzy system which makes decisions based on the distance from obstacle to the robot’s workspace and its velocity projection toward the workspace. Moreover, a combination of the DMP framework with a human-like steering mechanism and a novel configuration of virtual impedances is proposed for real-time obstacle avoidance.

The results confirm the effectiveness of the proposed method in real-time implementation of the velocity scaling and obstacle avoidance concepts in different cases of single and multiple stationary obstacles as well as moving obstacles.

As the provided experiments indicate, the proposed method can effectively increase the real-time safety of the robots’ operations. This is achieved by developing a simple method with low computational loads.

This paper proposes a novel method for real-time implementation of velocity scaling and obstacle avoidance concepts. This method eliminates the need for modification of original DMP formulation. The velocity scaling concept is implemented by using a fuzzy system to adjust the DMP’s time constant. Furthermore, the novel impedance configuration makes it possible to obtain a non-oscillatory convergence to the desired path, in all degrees of freedom.

The installation of industrial robots requires security barriers, a costly, time-consuming exercise. Collaborative robots may offer a solution; however, these systems only comply with safety standards if operating at reduced speeds. The purpose of this paper is to describe the development and implementation of a novel security system that allows human–robot coexistence while permitting the robot to execute much of its task at nominal speed.

The security system is defined by three modes: a nominal mode, a coexistence mode and a gravity compensation mode. Mode transition is triggered by three lasers, two of which are mechanically linked to the robot. These scanners create a dynamic envelope around the robot and allow the detection of operator presence or environmental changes. To avoid velocity discontinuities between transitions, the authors propose a novel time scaling method.

The paper describes the system’s mechanical, software and control architecture. The system is demonstrated experimentally on a collaborative robot and is compared with the performance of a state-of-art security system. Both a qualitative and quantitative analysis of the new system is carried out.

The mode transition method is easily implemented, requires little computing power and leaves the trajectories unchanged. As velocity discontinuities are avoided, motor wear is reduced. The execution time is substantially less than a commercial alternative. These advantages can lead to economic benefits in high-volume manufacturing environments.

This paper proposes a novel system that is based on industrial material but can generate dynamic safety zones for a collaborative robot.

Recent years have seen a technological change, Industry 4.0, in the manufacturing industry. Human–robot cooperation, a new application, is increasing and facilitating collaboration without fences, cages or any kind of separation. The purpose of the paper is to review mainstream academic publications to evaluate the current status of human–robot cooperation and identify potential areas of further research.

A systematic literature review is offered that searches, appraises, synthetizes and analyses relevant works.

The authors report the prevailing status of human–robot collaboration, human factors, complexity/ programming, safety, collision avoidance, instructing the robot system and other aspects of human–robot collaboration.

This paper identifies new directions and potential research in practice of human–robot collaboration, such as measuring the degree of collaboration, integrating human–robot cooperation into teamwork theories, effective functional relocation of the robot and product design for human robot collaboration.

This paper will be useful for three cohorts of readers, namely, the manufacturers who require a baseline for development and deployment of robots; users of robots-seeking manufacturing advantage and researchers looking for new directions for further exploration of human–machine collaboration.

Human–robot collaboration (HRC) is on the rise in a bid for improved flexibility in production cells. In the context of overlapping workspace between a human operator and an industrial robot, the major cause for concern rests on the safety of the former.

In light of recent advances and trends, this paper proposes to implement a monitoring system for the shared workspace HRC, which supplements the robot, to locate the human operator and to ensure that at all times a minimum safe distance is respected by the robot with respect to its human partner. The monitoring system consists of four neural networks, namely, an object detector, two neural networks responsible for assessing the detections and a simple, custom speech recognizer.

It was observed that with due consideration of the production cell, it is possible to create excellent data sets which result in promising performances of the neural networks. Each neural network can be further improved by using its mistakes as examples thrown back in the data set. Thus, the whole monitoring system can achieve a reliable performance.

Success of the proposed framework may lead to any industrial robot being suitable for use in HRC.

This paper proposes a system comprising neural networks in most part, and it looks at a digital representation of the workspace from a different angle. The exclusive use of neural networks is seen as an attempt to propose a system which can be relatively easily deployed in industrial settings as neural networks can be fine-tuned for adjustments.

An attempt has been made to appraise the nutritional uniqueness of breast milk for infants. Colostrum, being rich in nutritional attributes, must be offered to infants after birth. Advantages proclaimed by breast milk are better digestibility, absorption, intestinal and brain development and protection of children from getting over‐weight. Feeding of fresh breast milk rather than stored or boiled milk is suggested to avoid nutritional losses. Human milk does not completely satisfy the nutritional requirement of infants over three months old and is required to be supplemented with solid foods. Technological innovations made in commercial infant milk powder have not been able to meet the critical nutritional requirements of infants. Since no formulae can duplicate breast milk completely, governmental regulations therefore should stress the importance of breast feeding.

Because of the increased use of robots in the industry, it has become inevitable for humans and robots to be able to work together. Therefore, human security has become the primary noncompromising factor of joint human and robot operations. For this reason, the purpose of this study was to develop a safe human-robot interaction software based on vision and touch.

The software consists of three modules. Firstly, the vision module has two tasks: to determine whether there is a human presence and to measure the distance between the robot and the human within the robot’s working space using convolutional neural networks (CNNs) and depth sensors. Secondly, the touch detection module perceives whether or not a human physically touches the robot within the same work environment using robot axis torques, wavelet packet decomposition algorithm and CNN. Lastly, the robot’s operating speed is adjusted according to hazard levels came from vision and touch module using the robot’s control module.

The developed software was tested with an industrial robot manipulator and successful results were obtained with minimal error.

The success of the developed algorithm was demonstrated in the current study and the algorithm can be used in other industrial robots for safety.

In this study, a new and practical safety algorithm is proposed and the health of people working with industrial robots is guaranteed.

The purpose of this paper is to assess, from an organisational perspective, the internal efficacy of public policies designed to stimulate voluntary inter‐municipal partnerships. In particular, it sets out to assess the capacity of such incentive‐based policies to push the councils in the direction desired by the legislator, i.e. service sharing and joint policymaking.

A qualitative approach (exploratory case study) has been adopted. Primary data from semi‐structured interviews with administrators and public managers were collected and analysed along with secondary data on the inter‐municipal partnerships established in the important Italian region of Lombardy. The critical contingencies and conditions that shape local voluntary collaborations are compared with the assumptions of a model developed by Montjoy and O'Toole.

The paper questions the assumption that access to additional resources is enough to induce the councils to collaborate in service sharing and joint policymaking. While, on the one side, the councils' organisational and managerial limitations condition their willingness and capacity to forge long‐term relationships, on the other, the pressure on councils tasked with partnership implementation (especially the aggregation leaders) and the effort to ensure the orchestration of the activities and joint decision making lead them to opt for the less structured forms of cooperation (e.g. bilateral agreements). The most binding and ambitious collaborative forms are also those exposed to risks, including stagnation and goal displacement.

Unlike the mainstream studies on local partnerships, this paper addresses the policies that incentivise the setting up and development of such initiatives. The paper further develops the use of a model that policymakers will find a valuable aid in predicting agency responses to external mandates and in identifying the different types of potential implementation pitfalls.