Title: Scenario and Use-Case De nition Deliverable:...

Version from May 2, 2016 16:27

Safe human-robot interaction in logistic applications for highly flexible warehouses

Title: Scenario and Use-Case Definition

Deliverable: D1.1

Prepared by:

Name Denis StoglOrganisation KITDate May 2, 2016Contributor(s) All partners

Approved by:

First Reviewer Christian WurllSecond Reviewer Gael Ecorchard

The SafeLog project is funded by the European Commission within Horizon2020 under GA-Nr. 688117.

SafeLog (688117) - D1.1


Contents

1 History 3

2 Summary 4

3 Workflow in defining scenarios and use cases 53.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53.2 Description of the scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53.3 Identification of use cases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.4 Example use case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4 Scenarios and use cases 94.1 Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.1.1 SC01 AR based interaction in the warehouse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94.1.2 SC02 Human integration into the path planning process . . . . . . . . . . . . . . . . . . . . . . 104.1.3 SC03 Safety Level A emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.1.4 SC04 Human operating in the storage area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4.2 UseCases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134.2.1 UC01: Use AR device for guidance assistance of a human in storage area . . . . . . . . . . . . 134.2.2 UC02: AR-Device as storage area information system (robots, humans and racks) . . . . . . . 154.2.3 UC03: AR based picking assistance at the Pick Station . . . . . . . . . . . . . . . . . . . . . . 174.2.4 UC04: AR based picking assistance at the rack in the storage area . . . . . . . . . . . . . . . . 204.2.5 UC05: Violation of Safety Level A distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224.2.6 UC06: Safety Vest failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244.2.7 UC07: Replanning of the paths of the AGVs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264.2.8 UC08: Planning of the paths of the human and replanning of the paths of the AGVs . . . . . . 284.2.9 UC09: Replanning of the paths of the human and of the AGVs . . . . . . . . . . . . . . . . . . 314.2.10 UC10: Localization of the Safety Vest in the storage area . . . . . . . . . . . . . . . . . . . . . 334.2.11 UC11: Reliable Safety Vest and FMS/WMS communication . . . . . . . . . . . . . . . . . . . . 354.2.12 UC12: Safety Vest detection of moving objects . . . . . . . . . . . . . . . . . . . . . . . . . . . 374.2.13 UC13: 2 Stage Order Picking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

4.3 Stakeholders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424.3.1 Stakeholder: Warehouse Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424.3.2 Stakeholder: Equipment Supplier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

4.4 Actors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444.4.1 User: Service Technician . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444.4.2 User: Picker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454.4.3 User: Safety Infrastructure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464.4.4 User: AGV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474.4.5 User: Safety Vest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484.4.6 User: Fleet Management System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494.4.7 User: Warehouse Management System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504.4.8 User: AR Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5 Consortium 535.1 KIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535.2 SLA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535.3 CVUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545.4 UNIZG-FER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545.5 IML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555.6 KEEI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

6 Glossary 57

Bibliography 58

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1 History

Date Modifications Person

2016-05-02 Tag: Deliverable submission Bjorn Hein

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2 Summary

The purpose of this deliverable is to describe scenarios as well as to identify and describe use cases derivedfrom these scenarios. The scenarios are depicted in form of user stories known from agile development,where use cases have a standard structure with description of course of actions and bounding conditions.The description of use cases from this document is not static, instead it will evolve during the project.Based on the use cases the requirements, the specification and an implementation strategy will be derivedfor deliverables D1.2 Requirements Collection [M5], D1.3 Analysed and Structured Requirements Collection[M6] and D1.4 System Specification [M9].

This deliverable provides information on the following:

• clarifying the method that is being used for the definition of scenarios and identification of the usecases in section Overview (see 3.1),

• description of the process for scenario elicitation and its format (cf. Section Description of thescenarios (see 3.2)),

• description of the process for identification of use cases in section Identification of use cases (see 3.3)following with an example of a use case in section Example use case (see 3.4),

• finally, section 4 brings scenarios and use cases defined at this stage of the SafeLog project.

Note

The use cases in this deliverable express concepts and ideas for the SafeLog system. They are subject to changes, updates,removals or replacements at any time and will not be necessarily implemented in the project.

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3 Workflow in defining scenarios and use cases

In this section, steps done to elaborate the use cases will be summarized. The methodological approachstarts from the four scenarios and goes towards the use cases and will continue to requirements in D1.2Requirements Collection [M5].

3.1 Overview

The following is the list of methodological steps (s. Fig. 1) that lead to the complete description of the usecases. Each step is briefly described, since the objective is to provide an overview and, thus, the steps arejust listed.

Step1

Description of the 'scenarios'

Step2

Identification of the 'use cases'

Step3

Review by consortia

Review by SwissLog (End-User)

Figure 1: Steps to complete the description of the use cases.

• Step 1 – Description of the scenarios (cf. Description of the scenarios (see 3.2)): During this stepthe entire consortium personnel got introduced to the SLA-CarryPick system during the visit of SLAcustomer BLG (Event: Visit to BLG premisies as example for SwissLogs system (2016-02-01)) andduring the presentation by Philipp Hacker during the Event: Kick-off meeting (2016-02-02) (1stWorkshop day). The output of this step was a high level description of the scenarios in form of userstories linking to the desired improvements by SafeLog as well as the identification of stakeholders (s.section 4.3) for each scenario. This step served as base for the identification of use cases in the nextstep.

• Step 2 – Identification of the use cases (cf. Identification of use cases (see 3.3)): During this stepthe consortium identified use cases for four defined scenarios taking into account stakeholders andusers. The output of this step is a first, formalized high-level description of use cases and graphicsrepresenting interaction of components and users, defined as Actors (see section 4.4).

• Step 3 - Review of the scenarios and use cases: During this step the consortium did internal reviewsof scenarios and use cases by a person not involved in their identification and description as wellas personnel from SLA. Using this four-eye review process, completeness and clarity on one side andrelevance for SLA and the project itself on the other side is achieved.

Finally, it is important to mention that the description of the scenarios and use cases from this documentis not static, instead it will evolve during the project. Therefore, some of the fields from the standardstructure could be left empty. This mostly applies to the field Assigned To in use case description. Thisfield will be filled during work on further deliverables in WP1 once it is clear which internal groups (socalled Task-Forces) are responsible for each use case.

3.2 Description of the scenarios

Already during the writing of the proposal the consortium defined three important areas where SafeLoghas the ambition to go beyond the state of the art (cf. Section Ambition of SafeLog-proposal). These are:Safety concept, coordinated multi-entity path planning and assisting technologies. Also, five demonstratorsand test scenarios (cf. Section Demonstrators and Test Scenarios of SafeLog-DoW) were envisaged as basicideas. To be able to review these scenarios and get a better understanding of the SLA-CarryPick system,all project partners visited the warehouse of SLA’ customer BLG and participated in the workshop duringthe event (cf. Event: Visit to BLG premisies as example for SwissLogs system (2016-02-01)).

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Based on the gained knowledge and ideas from the proposal and the visit, the consortium defined fourscenarios presented in section 4.1. These scenarios are written in form of user stories used in the agiledevelopment approach (cf. [1]). The scenarios are are specified to cover ambitions of the project andprovide guidance by defining use cases, requirements and finally test cases (cf. D1.2 Requirements Collection[M5]).

3.3 Identification of use cases

This step will identify some relevant use cases from the scenario definition. A use case describes a high-levelaction using details about work-flow, triggers and conditions which need to occur to fulfil the action. In therest of this section use-case data are described, whereas the next section gives an example of use case.

A use case has the following parts: General Information table, as well as Description and work-flow,Conditions, and Further Info sections. These parts will be described in detail in the following.

Within the General Information table, the ID gives a unique identifier for the use case which is used inlater sections and it will be used during the project to reference it. The Status field describes the status ofthe use case with the following values: Proposed, Approved, Incorporated, Refused. These values will changeduring the project, as developments progress. Each use case has one of the three priorities Critical, Majoror Minor. Critical use cases will be implemented during the project. The Major ones have almost thesame relevance and should be implemented by the end of the project. The use cases with Minor priorityshould also be implemented but might be skipped due to work load conditions. The Assigned To fieldstates a working group, so called task-force, that wants to contribute to the realization of this use case.At the current stage this field is intentionally left empty and it will be filled as development is advancing.Important fields are the Include and Extended by fields since they give the relationships between use cases.The Scenario field relates the use case to one or more scenarios and, finally, the Actors field provides a listof actors involved in the use case.

Within the Description and work-flow section, the Description, Trigger, and Flow paragraphs providea complete description of the use case. The Description paragraph starts with a short textual descriptionof the use case followed by a graphical representation in form of UML-Use case diagram. The diagramrepresents actors (components and workers) and actions they are involved into as well as the sequence ofactions. The Trigger paragraph describes the the initiator of a use case. It is what causes the use caseto start. In the Flow paragraph, Normal Flow, Alternative Flow and Alternative Flow Two describe thecourse of events during the use case execution. Every use case has at least the Normal Flow part, where thenormal course is provided. The Alternative Flow and Alternative Flow Two usually differ from Normal Flowonly in few steps since they are representing an unintended, but repairable, course of events. Therefore,some steps from Normal Flow are often referenced in the Alternative Flow and Alternative Flow Two. Itis important to add that steps in the Flow description could themselves be transformed into separate usecases. However, the consortium decided to allow such complex use cases so as not to artificially increase thenumber of use cases and rather concentrate on relevant use cases and mapping to scenarios, respectively tothe SafeLog ambitions.

The Conditions section contains information about conditions that affect the use case separated intothe following paragraphs: Preconditions, Invariants and Postconditions. The Preconditions paragraphdescribes conditions which need to be satisfied before the start of the use case. The Invariants paragraphdescribes conditions that affect the use case but should not change during the course of the use case,whereas the Postconditions provides information about conditions after the course of the use case.

The last section, Further Information, contains other important information regarding the use case. Fornow, it has only a Source paragraph where the event and the list of partners accounted for the use caseintroduction are provided. As the project is running further fields could be added, such as notes aboutdevelopments and links to other data regarding the use case.

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3.4 Example use case

This section provides an example use case structure.

UCxy: SafeLog provides definition of scenarios and use cases

ID: UCxyStatus: proposedPriority: majorAssigned To: Partners involved in WPT-1.1Includes:

Extended by:

Scenario: SafeLog WP-1 scenarioActors: Scenario and use cases management system, Research partners, Industrial partners

Description and workflow

Description

The definition of the scenarios and use cases is an important part of an project. It should be done atthe beginning of the project to make the objective of the project clear for all partners. After defining thescenarios and use cases an internal review is done.

Scenario and use case definition

Scenario definition

Scenario review Use case definition

Use case review Scenario and use cases management system

Research partners

Industrial partners

Figure 2: Scenario and use case definition in SafeLog project

Trigger

Start of the project.

Normal flow

1. The whole project consortium (Research partners and Industrial partners) define scenarios usingthe Scenario and use cases management system

2. The scenarios are then reviewed by Industrial partners

3. From the scenarios the whole project consortium defines use cases using the Scenario and usecases management system

4. Use cases are reviewed by the whole consortium (Research partners and Industrial partners)

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Conditions

Preconditions

Kick-off meeting is done and all involved partners are ready to work.

Invariants

All partners have access to the scenario and use case management system.

Postconditions

All partners have a clear vision of the scenarios and use cases as objectives for developments during theproject.

Further Info

Source

All involved partners at Workshop during the Kick-off meeting.

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4 Scenarios and use cases

4.1 Scenarios

Warehouse Operator

SC01: AR based interaction in the warehouseSC02: Human integration into the path planning processSC03: Safety Level A emergency stop SC04: Human operating in the storage area

Equipment Supplier

UC03

UC13

UC02 UC04

UC01

Picker AR Device

includes

includes includes

includes

UC07

includes

UC08

includes UC09

includes

UC05

includes

UC06

includes

UC11

includes

UC12

includes

UC10

includes

Service TechnicianAGV Safety Vest Warehouse Management System

includes includesincludes

Fleet Management System

includes

includes

includes

Safety Infrastructure

includes

Figure 3: Structure of all scenarios.

4.1.1 SC01 AR based interaction in the warehouse

Stakeholders Warehouse Operator

Use case UC01 UC02 UC03 UC04 UC13

Source KIT, IML and SLA at Event: Kick-off meeting (2016-02-02)

General description

Warehouse Operator

SC01: AR based interaction in the warehouse

UC03: AR based picking assistance at the Pick Station

UC13: 2 Stage Order Picking

UC02: AR-Device as storage area information system (robots, humans and racks) UC04: AR based picking assistance at the rack in the storage area

UC01: Use AR device for guidance assistance of a human in storage area

Picker AR Device

includes

includes includes

includes

Service Technician

AGV Safety Vest Warehouse Management System

includes includesincludes

Figure 4: Structure of AR based interaction in the warehouse.

Please see Fig. 4 for the dependencies of this scenario.

Description

It is possible to use an AR device to get ad-hoc information in the warehouse.

• at the pick station• at the racks in the warehouse• at the AGV in the warehouse

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4.1.2 SC02 Human integration into the path planning process

Stakeholders Warehouse Operator

Use case UC07 UC08 UC09 UC13

Source IML, CVUT and UNIZG-FER at Event: Kick-off meeting (2016-02-02)

General description

Warehouse Operator

SC02: Human integration into the path planning process

UC07: Replanning of the paths of the AGVs

UC08: Planning of the paths of the human and replanning of the paths of the AGVs


UC09: Replanning of the paths of the human and of the AGVs

AGV Fleet Management System

includes

Service TechnicianPicker Safety Vest

includes

includes

includes

Warehouse Management System AR Device

includes

includes

Figure 5: Structure of Human integration into the path planning process.


Description

Humans can move in the workspace of the AGVs. A human can be a Picker or Service Technician. Thepath for the humans and the AGVs will be planned. It is possible to replan the path for the AGVs andthe humans if:

• an error occurs and one or more of the AGVs breaks down.• a human moves slower or faster than planned for his path.• a human leaves his path or/and moves slower or faster than planned.

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4.1.3 SC03 Safety Level A emergency stop

Stakeholders Warehouse Operator Equipment Supplier

Use case UC05 UC06 UC13

Source UNIZG-FER and KEEI at Event: Kick-off meeting (2016-02-02)

General description

Warehouse Operator

SC03: Safety Level A emergency stop

Equipment Supplier

UC05: Violation of Safety Level A distance UC06: Safety Vest failure


AGV Safety Vest Safety Infrastructure

includes includes

Service Technician Picker Warehouse Management System AR Device

Figure 6: Structure of Safety Level A emergency stop.


Description

Emergency stop is initiated for an individual AGV if it comes into Safety Level A distance to a Picker orService Technician. In case of Safety Vest failure emergancy stop for all AGVs is initiated.

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4.1.4 SC04 Human operating in the storage area

Stakeholders Warehouse Operator Equipment Supplier


Source IML, CVUT and UNIZG-FER meeting at Event: Kick-off meeting (2016-02-02)

General description

Warehouse Operator

SC04: Human operating in the storage area

Equipment Supplier

UC11: Reliable Safety Vest and FMS/WMS communication

UC12: Safety Vest detection of moving objects


UC10: Localization of the Safety Vest in the storage area

Safety Vest Fleet Management System Warehouse Management System

Service Technician Picker

includes

includes includes

AGV AR Device

includes

Figure 7: Structure of Human operating in the storage area.


Description

Humans need to enter the warehouse in order to perform a service task or picking task. A human can bea Picker or Service Technician. The location of all humans must be estimated accurately the whole timethey are inside the warehouse.

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4.2 UseCases

4.2.1 UC01: Use AR device for guidance assistance of a human in storage area

ID UC01

Status proposed

Priority critical

Assigned ToIncludesExtended by UC02 UC04 UC13

Scenario SC01

Actors Service Technician Picker AR Device

Description and work-flow

Description

The Fleet Management System assigns a task to a human inside the storage area. The human will beguided through the storage area using the AR Device to the goal position and back to the entrance (seeFig. 8).

AR based guidance

Assign task

Navigate to goal

Task information and feedback

Navigate home

Human worker

WMS

FMS

Figure 8: Use case diagram of using an AR device to assist a human in the storage area.

Trigger

A task inside the storage area is assigned to the human. Task can be maintenance (e.g. check the status ofan AGV, get an AGV from storage area, repair an AGV, etc.) or logistic task (e.g. get or put a productin the rack in the storage area).

Normal Flow

1. Human worker (Service Technician or Picker) gets a new task from the Fleet ManagementSystem or Warehouse Management System through standard HMI (Fixed screen, handheldtransceiver) or wearable devices (tablet, AR Device).

2. The worker puts on AR Device and performs set-up if needed.

3. The worker goes through entrance procedure into the safety zone of the warehouse (puts on theSafety Vest, logs into the system, etc.).

4. The Fleet Management System navigates the worker to the goal destination via AR Device.

5. On arriving at the goal destination the worker gets data about the task presented on portabledevice (tablet, AR Device, handheld transceiver) and confirms execution of the task.

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6. The Fleet Management System navigates the worker back to the entrance via AR Device.

7. The worker goes through exit procedure form the safety zone of the warehouse.

Conditions

Preconditions

• Human worker is at his standard work-place and is able to get notification from the Fleet ManagementSystem

• Safety Vest and AR Device are ready to be used and stored at usual place (e.g. charging station)

Invariants

• System is running

Postconditions

• The worker was successfully navigated through the warehouse and it is back on his work-place• Safety Vest and AR Device device are stored at usual place (e.g. charging station)

Further Information

Source

KIT, IML and SLA at Event: Kick-off meeting (2016-02-02)

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4.2.2 UC02: AR-Device as storage area information system (robots, humans and racks)

ID UC02

Status proposed

Priority critical

Assigned ToIncludes UC01

Extended by UC13

Scenario SC01

Actors Service Technician Picker AR Device


Description

The human worker (Service Technician or Picker) freely moves through the storage area wearing AR Device,while getting information about robots, human and racks.

Robot too close

Signal worker

Look at robot

Get robot information

Look at rack

Get rack information

Worker

FMS

WMS

Get warehouse status

Figure 9: Use case diagram for using an AR device as information source in the storage area.

Trigger

Human worker is inside the safety area of the warehouse.

Normal Flow

1. The worker gets information on AR Device about the current state of the warehouse (radarmap, path directly shown).

2. If a robot gets into workers vicinity his attention is raised over AR Device (e.g. by color, sound,vibration).

3. If a worker focuses at one robot he gets information about the robot displayed on AR Device(e.g. battery status, target, ...).

4. If a worker looks at a rack he gets information about content and positions on AR Device.

Conditions

Preconditions

• AR Device is receiving data from Fleet Management System and Warehouse Management System

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Invariants

• System is running.• Human is inside the warehouses safety area and wears Safety Vest and AR Device.

Postconditions

• Human receives all necessary information presented on AR Device.• Human receives additional information he requested by looking at roboty/racks presented on AR

Device.

Further Information

Source


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4.2.3 UC03: AR based picking assistance at the Pick Station

ID UC03

Status proposed

Priority critical

Assigned ToIncludesExtended by UC04 UC13

Scenario SC01

Actors Picker AR Device


Description

Picker gets assistance for the picking task in the Pick Station.

Benefit:• Replacing pick-by-light, put-by-light, manual confirmation and automatic checking.• Removing monitor at pick station, replace hardware barcode scanner, replace confirmation but-

tons.

As fallback in a case that the AR Device object marking is not fast enough compared to Picker movements,pick-by-light and put-by-light beamer is used.

Pick Item

Place Item

Safe to pick

Signal worker

Item info and Position for picking

Pick Item

Confirm Item

Place position and info

Place item

Check item postition

Picker

AR Glasses

WMS

FMS

Figure 10: Assisted picking use case diagram.

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Trigger

New order has to be processed at the Pick Station.

Normal Flow

1. Picker at the Pick station

2. Display information that it is safe to pick

3. Pick Item

1. Warehouse Management System provides info what to pick (item information)

2. Display of shelf position where to pick (by the beamer or AR Device)

3. Picker grabs the item

4. Item is confirmed via camera in the AR Device by recognition of the bar code

4. Place item

1. Warehouse Management System provides info where to place

2. AR Device shows position where to place the item (by the beamer or AR Device)

• If AR Device is used:– show rough direction first– show exact position as soon as the Picker is at the position

3. Picker places the item

4. Item is cross checked with position and correct placing is confirmed

5. Next item is proposed

Alternative Flow



3. Pick Item


2. Display of shelf position where to pick

3. Picker grabs the wrong item

4. Item is confirmed to be wrong via camera in the AR Device by recognition of thebar code

5. Picker is alerted that the item is wrong

4. Place wrong item


2. AR Device shows position where to place wrong the item


4. Item is cross checked with position and correct placing is confirmed

5. Picker retries picking the correct item as described in the normal flow, from point 3. onwards

Secons Alternative Flow



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3. Pick Item


2. Display of shelf position where to pick

3. Picker grabs the item

4. Item is confirmed via camera in the AR Device by recognition of the bar code

4. Place item


2. AR Device shows position where to place the item


4. Item is cross checked with position and wrong placing is confirmed

5. Picker is alerted that the position is wrong

5. Correct Position by following the normal flow from point 3. onwards on the same item

6. Next item is proposed

Conditions

Preconditions

New pick task is available

Invariants

• Pick-up station fully operational• Picker at the station and wears AR Device• Certain amount of goods are placed in the racks from where goods should be picked• Certain amount of boxes are placed in the racks where good should be placed

Postconditions

Pick task is finished

Further Information

Source


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4.2.4 UC04: AR based picking assistance at the rack in the storage area

ID UC04

Status proposed

Priority critical

Assigned ToIncludes UC01 UC03

Extended by UC13

Scenario SC01

Actors Picker AR Device


Description

Picker gets assistance via the AR device to pick an item from the rack in the storage area. The FMS assignstasks to the Picker. The Picker will be guided through the racks using the AR glasses to a specific rackand shelf and the item to be picked.

Picker

AR Glasses

WMS

FMS

Guide worker to rack

Help in item picking

Check item

Guide worker home

Put on safety west

Get item information

Figure 11: Use case diagram using an AR device for assisting picking in the storage area.

Trigger

Pick task send to the Picker.

Normal Flow

1. Picker gets the information about the item which has to be picked through standard HMI (Fixedscreen, handheld transceiver) or wearable devices (tablet, AR Device).

2. Picker puts on the Safety Vest and AR Device and follows the procedures for entering AGVs’working area.

3. AR Device helps Picker to arrive and to identify the rack where the item is stored.

4. AR Device helps Picker to pick the correct item from the rack.

5. Picked item is confirmed via camera in the AR Device by recognition of the bar code.

6. Picker gets the information that the correct item is picked.

7. Picker brings the item to the picking station navigating with help of AR Device.

Alternative Flow

1. Picker gets the information about the item which has to be picked through standard HMI (Fixedscreen, handheld transceiver) or wearable devices (tablet, AR Device).

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2. Picker puts on the Safety Vest and AR Device and follows the procedures for entering AGVs’working area.

3. AR Device helps Picker to arrive and to identify the rack where the item is stored.

4. AR Device helps Picker to pick the correct item from the rack.

5. Picker item is confirmed via camera in the AR Device by recognition of the bar code.

6. Picker gets the information that the wrong item is picked.

7. AR Device shows where to place the wrong item.

8. Item is cross checked with position and correct placing is confirmed.

9. The AR Device guides the Picker again to retry picking up the correct item.

10. When the correct item is picked Picker brings it to the picking station navigating with help ofAR Device.

Conditions

Preconditions

New pick task is availble and is sent to the picker

Invariants

System is running

Postconditions

Picker has found the object and brough it to the picking station

Further Information

Source


SafeLog (688117) - D1.1


4.2.5 UC05: Violation of Safety Level A distance

ID UC05

Status proposed

Priority critical

Assigned ToIncludesExtended by UC13

Scenario SC03

Actors AGV Safety Vest


Description

Safety level A draws a virtual circle around the human operator acting as a simulated electromagnetic pulse(EMP). No movements of AGV s are allowed within this circle. Even if the human is moving around, allAGV s will stop in a safe distance to the human. This level will ensure the intrinsic safety of the overallsystem. Flows are described for the case of a single AGV, but they equally apply to the case when thereis more than one AGV in the Safety Level A radius of the human.

Safety Vest

AGV

Safety Distance A violation

AGV stops

Figure 12: AGV stops in Safety Level A distance to the Safety Vest.

Trigger

AGV closer to human (Safety Vest) than Safety Level A distance.

Normal Flow

1. Human puts on the Safety Vest.

2. Human powers up the Safety Vest.

3. Safety Vest boot up tests are automatically performed and there are no reported issues.

4. Human registers the Safety Vest and the Warehouse Management System grants him entranceto the warehouse.

5. Human intercepts an AGV, i.e. comes into distance less than Safety Level A radius from theAGV. Human can approach the AGV from any side, e.g. head on, from the back, from flank.

6. The AGV is stopped as long as the human is inside Safety Level A radius from it.

Alternative Flow



3. Safety Vest boot up tests are automatically performed and the Safety Vest reports there are noissues.


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5. AGV intercepts the human, i.e. comes into distance less than Safety Level A radius from thehuman. AGV can approach the human from any side, e.g. head on, from the back, from flank.

6. The AGV is stopped as long as the human is inside Safety Level A radius from it.

Conditions

Preconditions

The safety infrastructure is compatible with the Safety Vest concept.

Invariants

Safety Vest has no malfunctions.

Postconditions

All AGV s within Safety Level A radius from the Safety Vest are stopped.

Further Information

Source

UNIZG-FER and KEEI at Event: Kick-off meeting (2016-02-02)

SafeLog (688117) - D1.1


4.2.6 UC06: Safety Vest failure

ID UC06

Status proposed

Priority critical


Scenario SC03

Actors Safety Infrastructure AGV Safety Vest


Description

Safety Infrastructure monitors the Safety Vest. If the Safety Vest fails, the system must stop all AGVs.

Safety Vest Safety Infrastructure

AGVs

Safety Vest failure

All AGVs stop

Figure 13: All robots stop if Vest fails.

Trigger

Safety Vest failure.

Normal Flow



3. Safety Vest boot up tests are automatically performed and there are no reported issues.

4. Human registers the Safety Vest and the Warehouse Management System grants him entranceto the shop floor.

5. During operation the Safety Vest malfunctions.

6. Safety Vest’s on line tests detect the failure.

7. The Vest informs central safety infrastructure of the failure.

8. Central safety infrastructure stops the whole system.

Alternative Flow



3. Safety Vest boot up tests are automatically performed and an error is reported.

4. It is not possible to register the west with Warehouse Management System and entrance pro-cedure from the safety zone to the warehouse cannot be performed. If the human tries to enter

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the shop floor, the whole system is stopped by existing safety infrastructure.

Conditions

Preconditions

Safety Vest has no malfunctions.

Invariants

The safety infrastructure is compatible with the Safety Vest concept.

Postconditions

All AGV s stopped.

Further Information

Source

UNIZG-FER and KEEI at Event: Kick-off meeting (2016-02-02)

SafeLog (688117) - D1.1


4.2.7 UC07: Replanning of the paths of the AGVs

ID UC07

Status proposed

Priority critical

Assigned ToIncludesExtended by UC08 UC09 UC13

Scenario SC02

Actors AGV Fleet Management System


Description

The aim of this use case is to evaluate the planning algorithms developed within WP3 in the Fleet Man-agement System in the situation when a human is not present in the workspace of the AGV’s. Specifically,the following goals will be pursued:

• to demonstrate standard behaviour of the planning algorithm,• to show benefits of it with respect to quality of the current SwissLog solution• to compare the centralized and decentralized approaches• to demonstrate scalability and robustness• to empirically specify a number of robots needed for a specific mission (planning for new warehouses)

Assume the Fleet Management System has already assigned some tasks to the AGV s but some newsituation occurs (e.g. a new priority order comes up, low battery-level, one or more AGVs break down).The FMS has to replan all/some trajectories of the AGV.

FMS (re-)planning

Error occur

Replanning of paths

Task assignment

Path planing

AGVs

FMS

Figure 14: Replanning process for AGVs no humans in the warehouse.

Trigger

• In general always if a task has to be assigned (planning)• In addition if an incident occurs

Normal Flow

1. Warehouse Management System sends tasks to Fleet Management System

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2. Fleet Management System assigns tasks to AGV’s

3. Fleet Management System plans the AGV paths regarding:

• avoiding collisions with obstacles (racks, fences, etc.) and with each other• operation time• avoiding dead-locks

and in addition to:

• presence and a number of racks at particular pick stations• length of the trajectories• time needed to realize the trajectories• energy consumption

4. Fleet Management System sends a sequence of commands realizing the calculated path of eachAGV to each AGV till new tasks arrive.

Alternative Flow

1. An error occurs at one of the AGV s

2. AGV sends an error message to the Fleet Management System

3. Fleet Management System replans the AGV’s paths (all or just in some region of interest)regarding:

• avoiding collisions with obstacles and with each other• operation time• avoiding dead-locks

and in addition to:


4. Fleet Management System sends a sequence of commands realizing the calculated path of eachAGV to each AGV till new tasks arrive.

Conditions

Preconditions

• Warehouse up and running• More available transportation tasks than AGV’s in the warehouse (to keep AGV’s running for a longer

period to verify that routing still works if an AGV breaks down)

Invariants

The AGV’s do not collide with each other.

Postconditions

All the tasks sent by Warehouse Management System to Fleet Management System were assigned to robotsand performed. It means that all racks were delivered to their final positions as requested.

Further Information

Source

CVUT and IML at Event: Kick-off meeting (2016-02-02)

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4.2.8 UC08: Planning of the paths of the human and replanning of the paths of the AGVs

ID UC08

Status proposed

Priority critical


Extended by UC09 UC13

Scenario SC02

Actors Service Technician Picker AGV Safety Vest Fleet Management System


Description

This use case aims to empirically evaluate behaviour of the planning algorithms developed within WP3in the case a human worker (e.g. Service Technician or Picker) is present in the workspace of the AGV’s.Assume the Fleet Management System has already assigned some tasks to the AGV’s and to a human workerand has planned the paths for both the AGV and the human worker. Some new situation occurs (e.g. newpriority order comes up, low battery-level, one or more AGV s break down). The Fleet Management Systemhas to replan all or some trajectories of the AGV’s. The key objective of the use case is to experimentally(in both simulation and a real environment) show that:

• Fleet Management System is able to deal with human workers (Service Technician or Picker) in aworkspace

• the generated trajectories are safe, i.e. safety zones B and C are respected properly• the algorithms are fast enough to work in a dynamic environment of a warehouse

FMS (re-)planning

Error occur

Replanning of paths

Task assignment

Path planing

AGVs

FMS

Human worker

Figure 15: Replanning AGVs paths while humans are present in the warehouse

Trigger

• In general always if a task has to be assigned (planning)• In addition if an incident occurs

Normal Flow


2. Fleet Management System assigns tasks to AGV s and a human worker

3. Fleet Management System plans paths for AGV s and the human worker regarding:

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• avoiding collisions with obstacles (racks, fences, etc.) and with each other• operation time• avoiding dead-locks• AGV s not entering zone B

and in addition to:


4. Fleet Management System sends a sequence of commands realizing the calculated path of eachAGV to each AGV till new tasks arrive

5. Fleet Management System sends a sequence of waypoints of the calculated path of the humanworker to the Service Technician or Picker till new tasks arrive

Alternative Flow

1. An error occurs at one of the AGV s

2. AGV sends error message to the Fleet Management System

3. Fleet Management System replans only the AGV s path (all or just some region of interest)regarding:


and in addition to:

• presence and a number of racks at particular pick stations• length of the trajectories• time needed to realize the trajectories• energy consumption• distance between AGV s and the human worker (the further away the better, somewhere

in zone C or slow down trajectories within zone B)



Conditions

Preconditions

• Warehouse up and running.• More available transportation tasks than AGV s in the warehouse (to keep AGV s running for a

longer period to verify that routing still works if an AGV breaks down).

Invariants

• The AGV s do not collide with each other and with the human worker.• All planned trajectories guarantee safety levels B and C.

SafeLog (688117) - D1.1


Postconditions

All the tasks sent by Warehouse Management System to Fleet Management System were assigned toAGV’s and human workers and were performed. It means that all racks were delivered to their finalpositions as requested and the human worker (Service Technician or Picker) successfully completed theplanned misson.

Further Information

Source


SafeLog (688117) - D1.1


4.2.9 UC09: Replanning of the paths of the human and of the AGVs

ID UC09

Status proposed

Priority critical

Assigned ToIncludes UC07 UC08

Extended by UC13

Scenario SC02

Actors Service Technician Picker AGV Safety Vest Fleet Management System


Description

The use case aims to demonstrate feasibility of the planning algorithms developed within WP3 to dealwith deviations of human operators’s behaviour from the current plan. Assume the human operator (e.g.Service Technician or Picker) is present in the workspace of the AGV s and the Fleet Management Systemhas already assigned some tasks to the AGV s and a human worker and has planned the paths for theAGV s and the human worker. The human worker (Service Technician or Picker) moves not accordingto the planned path, i.e. he/she leaves the path or/and moves slower or faster than planned. The FleetManagement System has to replan all/some trajectories of the AGV s as well as of the human worker.

FMS (re-)planning

Incident occurs at AGV

Error handling

Localization of human

Error occur

Replanning of paths

Task assignment

Path planing

Incident registration

Raising error

Error raising

Path changing

Unexpected pose registration

AGVsFMS

Human worker

Safety Vest

Figure 16: Replanning AGVs paths and path of human

Trigger

• In general always if a task has to be assigned (planning)• In addition if the human worker moves not according to the planed path.

Normal Flow


2. Fleet Management System assigns tasks to AGV s and human worker

3. Fleet Management System plans the AGV s paths and the path of the human worker

4. The human worker leaves the planned path or moves slower or faster than planned

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5. Safety Vest registers unexpected pose (time-dependent) of the human worker

6. Safety Vest sends replanning request to the Fleet Management System

7. Fleet Management System replans the AGV s paths (all or just some/ROI) and the path of thehuman regarding:


and in addition to:




Conditions

Preconditions

• Warehouse up and running• More available transportation tasks than AGV s in the warehouse (to keep AGV s running for a

longer period to verify that routing still works if an AGV breaks down)• Tasks for human workers, e.g. pick tasks for picking at the rack in the warehouse or maintenance

tasks for Service Technician

Invariants

• The AGV s do not collide with each other and with a human worker.• All planned trajectories guarantee safety levels B and C.

Postconditions

All the tasks sent by Warehouse Management System to Fleet Management System were assigned to AGV sand a human worker (Service Technician or Picker) and performed. It means that all racks were delivered totheir final positions as requested and the human worker successfully completed the planned misson.

Further Information

Source


SafeLog (688117) - D1.1


4.2.10 UC10: Localization of the Safety Vest in the storage area

ID UC10

Status proposed

Priority critical


Extended by UC13

Scenario SC04

Actors Safety Vest Fleet Management System Warehouse Management System


Description

While the human is working in the storage area the Safety Vest must reliably estimate its location in thewarehouse. This is not only required for the Safety Level B and C but also for precise localization of theAR system. For example, human can be a Service Technician or a Picker.

Safety vest localization procedure

Localization

Registration

Access allowance

Localisation

FMS

WMS

Safety Vest

Figure 17: Safety vest localization procedure.

Trigger

Human puts on the Safety Vest, Warehouse Management System grants entrace, and the human enters thewarehouse.

Normal Flow



3. Safety Vest boot-up tests are automatically performed and there are no reported issues.


5. The Safety Vest performs localization and exchanges information with the Warehouse Manage-ment System to obtain metric location.

6. Safety Vest location and uncertainty is communicated to the Fleet Management System.

7. Safety Vest localization functions accurately and consistently during the whole operation.

Alternative Flow


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5. The Safety Vest performs localization and exchanges information with the Warehouse Manage-ment System to obtain metric location.


7. Safety Vest localization performance starts to degrade and the human is asked to collaborate.

8. Safety Vest localization accuracy is recovered and the human continues normal operation.

Secons Alternative Flow





5. Safety Vest performs localization and exchanges information with the Warehouse ManagementSystem to obtain metric location.


7. Safety Vest localization performance starts to degrade and the human is asked to collaborate.

8. Safety Vest cannot recover from inaccurate localization and the human and the Fleet Manage-ment System is alerted.

Conditions

Preconditions

The Safety Vest system can exchange data with the Fleet Management System and Warehouse ManagementSystem and estimate its location and pertaining uncertainty.

Invariants

Safety Vest and Fleet Management System communication performs seamlessly.

Postconditions

Safety Vest accurately perfomed localization during the whole operation in the warehouse.

Further Information

Source

UNIZG-FER, CVUT and IML at Event: Kick-off meeting (2016-02-02)

SafeLog (688117) - D1.1


4.2.11 UC11: Reliable Safety Vest and FMS/WMS communication

ID UC11

Status proposed

Priority critical

Assigned ToIncludesExtended by UC10 UC13

Scenario SC04

Actors Safety Vest Fleet Management System Warehouse Management System


Description

The Safety Vest and the Fleet Management System and Warehouse Management System need to exchangeinformation reliably. The Safety Vest needs data from Fleet Management System and Warehouse Manage-ment System to be able to localize accurately in the shop floor and it needs to report its uncertainty andthe estimated location back to the Fleet Management System and Warehouse Management System. Forexample, Human can be a Service Technician or a Picker.

Safety Vest and FMS/WMS communication

Safe data exchange

FMS

WMS

Safety Vest

Figure 18: Reliable Safety Vest, FMS and WMS communication.

Trigger

Human powers up the Safety Vest.

Normal Flow



3. Safety Vest communicates reliably and exchanges necessary data with the Fleet ManagementSystem and Warehouse Management System during runtime.

Alternative Flow



3. Safety Vest communication and exchange of necessary data with the Fleet Management Systemand Warehouse Management System during runtime lag more than expected or fails completely.

SafeLog (688117) - D1.1


4. Human is notified about the lag-of-communication failure.

Conditions

Preconditions

Communication protocol between the Safety Vest and the Fleet Management System and Warehouse Man-agement System is defined and runs.

Invariants

Communication equipment on the Safety Vest is not malfunctioning.

Postconditions

During runtime the Safety Vest, the Fleet Management System and the Warehouse Management Systemexchange reliably necessary data.

Further Information

Source

UNIZG-FER, CVUT and IML at Event: Kick-off meeting (2016-02-02)

SafeLog (688117) - D1.1


4.2.12 UC12: Safety Vest detection of moving objects

ID UC12

Status proposed

Priority critical


Scenario SC04

Actors Service Technician Picker Safety Vest Warehouse Management System


Description

One of the tasks of the Safety Vest vision system will be to detect moving objects in the vicinity of theSafety Vest. This information can be used to alert the Human of moving objects whose trajectory mightcoincide with the human’s location. For example, human can be a Service Technician or a Picker.

Safety Vest detection of moving objects

Detection of moving objects

Objects state and trajectory estimation

Alarm

Picker

Safety Vest

Figure 19: Safety Vest detection of moving objects.

Trigger

One or more unknown moving objects enter the field of view of the Safety Vest vision system.

Normal Flow





5. Safety Vest vision system detects one or more moving objects in its field of view.

6. Objects’ state is estimated and future trajectory predicted in time.

7. Human is alerted about moving objects if their trajectory might coincide with the human’slocation

Conditions

Preconditions

Moving object detection method with the Safety Vest vision system is developed and implemented and analerting system is available.

SafeLog (688117) - D1.1


Invariants

The Safety Vest vision system is not malfunctioning.

Postconditions

The Safety Vest detects reliably moving objects in its vicinity.

Further Information

Source

UNIZG-FER internal meeting.

SafeLog (688117) - D1.1


4.2.13 UC13: 2 Stage Order Picking

ID UC13

Status proposed

Priority critical

Assigned ToIncludes UC01 UC02 UC03 UC04 UC07 UC08 UC09 UC05 UC06 UC10 UC11 UC12

Extended byScenario SC01 SC02 SC03 SC04

Actors Service Technician Picker AGV Safety Vest Warehouse Management System AR Device


Description

Present features of the SafeLog project in one case. In the 2 Stage Order Picking process customer ordersare picked in two different steps. First a Picker picks batches at the pick station in order to increase thepickable item quantity. The picked goods are then stored to batch racks that only contain goods of a specificbatch. Then the completed batch racks are stored back to the storage area, preferentialy to an exclusiveaisle at the periphery of the warehouse. After all required items are available in the batch rack area, theWarehouse Management System activates the second picking stage. This is done manually (without AGVtansport) by a second Picker in the aisle. The second Picker is able to pick the final customer orders formthe batch rack with a higher efficiency due to the fact that the walking distance between the batch racksis reduced significantly in comparison to the distances between the original source racks.

AR Device

FMS

Safety Vest

Picking Assistance in Storage UC4

Picking Assistance at Pick Station UC3

Guidance in Warehouse UC2

Guidance for Service Technician UC1

Planning Humans Replanning AGVs UC8

Assign Tasks

Replanning AGV Paths UC7

Localization in Warehouse Uc10

1. Picker

2. Picker

Service Technician

WMS

AGVs

include

include

Figure 20: 2 Stage Order Picking.

SafeLog (688117) - D1.1


Trigger

Warehouse Management System creates new transport tasks for a 2-Stage Order Picking process.

Normal Flow

1. Warehouse Management System creates transport tasks for the required source racks

2. Fleet Management System assigns the transport tasks to the AGVs

3. AGV deliver the source racks to the SafeLog pick station

4. The first Picker at the SafeLog pick station executes the pick and place tasks of the first stageaccording to the process information that is displayed by the AR device

5. Once the batch rack is full, the Warehouse Management System creates a transport task todeliver the rack to a batch-rack-zone located at the periphery of the storage area

6. After a sufficient amount of full batch racks is available, the Warehouse Management Systemwill create manual pick tasks

7. The Fleet Management System will assign the pick tasks to the second Picker

8. The Fleet Management System will plan the route for the second Picker and replan the routesfor the AGV s that are already on their way

9. The AR device will guide the second Picker to the aisle with the full batch racks

10. The AR device will support the second Picker to find quickly the items in the batch racks andplace them to the correct order carton

11. After all orders are finished the Fleet Management System will calculate the path and the ARdevice will show the directions out of the storage area to the packaging area where the ordercartons will be finished for shipment

Alternative Flow

1. In step 3 of the normal flow an AGV deviates from its path and stops with an error (e.g. becauseof a dropped item)

2. A Service Technician equipped with a Safety Vest and AR device is called to resolve the problem

3. Fleet Management System plans the route for the Service Technician and might replan theroutes for the AGV that are already on their way

4. The AR device will guide him to the location of the incident, all other AGV will continuedelivering racks

5. After the Service Technician resolved the problem the AGV is operational again and will con-tinue its task as soon as the Service Technician is outside the Safety Level A distance

6. Fleet Management System plans the route for the Service Technician to the outside of thestorage area and might replan the routes for the AGV that are already on their way

7. This flow continues with step 4 of the normal flow

Conditions

Preconditions

• Batch rack with empty compartments is located at the SafeLog pick station.• Second Picker is available for manual picking

Invariants

• First Picker is equipped with Safety Vest and AR device• First Picker is located at a SafeLog pick station which is in picking mode

SafeLog (688117) - D1.1


• Second Picker is equipped with Safety Vest, AR device and shopping cart

Postconditions

Second Picker delivered all order cartons with the correct items and quantity to the packaging area.

Further Information

Source

SafeLog (688117) - D1.1


4.3 Stakeholders

4.3.1 Stakeholder: Warehouse Operator

Representative SLA, IML

Skill-Level Business

Scenario SC01 SC02 SC03 SC04

General description

Description

The entity is responsible for the operation of the entire warehouse system.

There is no actual Warehouse Operator representative in the project, but such stakeholder’s interests arerepresented by SLA and IML.

Interests

Safe and efficient operation of the warehouse.

Involvement

Definition of requirements in WP1 and validation of Project’s outputs in WP6.

Success Criteria

Successful integration of the Project’s outputs in the Warehouse system.

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4.3.2 Stakeholder: Equipment Supplier

Representative SLA, KEEI

Skill-Level business

Scenario SC03 SC04

General description

Description

The entity is in charge of supplying automation equipment to the Warehouse Operator entity.

Interests

A safe, efficient and cost effective automation solutions that can be offered to diverse Warehouse Opera-tors.

Involvement

Active participation during the whole project, principally in WP1, WP5, and WP6.

Success Criteria

A safe and efficient Safety Concept is developed as well as components needed to build it. The EquipmentSupplier can offer these to its customers (i.e. to Warehouse Operators) and in this way improve its marketposition.

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4.4 Actors

4.4.1 User: Service Technician

Representative Warehouse Operator

Skill-Level Expert

Use case UC01 UC02 UC08 UC09 UC12 UC13

General description

Description

The Service Technician is a human worker in the warehouse. His/her task is to keep the warehouse systemin operation. Therefore, the Service Technician has to maintain the hardware parts of the system andresolve all disorders which occur during operation.

Responsibilities

• Has to keep the warehouse system running– Maintenance of the AGVs– Maintenance of the Pick Stations– Maintenance of the Racks– Resolving disorders (e.g. AGV deviated from its path, dropped items, ...)

Needed Features

• Assistance in finding the incident– Guidance to incident– Ad-hoc information on-site– Status information about AGV s

• Safeguard of path (clearing the path for the robots from fallen goods, broken robots, etc.)

Utilized Tools

• Safety Vest• AR Device• HMI of the Fleet Management System• Towing device to remove broken AGVs from the warehouse

Success Criteria

A Service Technician is able to move safely through the warehouse without the need to shut down theentire system. A Service Technician can perform maintenance tasks and resolve disorders while the systemis running.

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4.4.2 User: Picker

Representative Warehouse Operator

Skill-Level Medium

Use case UC01 UC02 UC03 UC04 UC08 UC09 UC12 UC13

General description

Description

A Picker is a human worker in the warehouse. The task of the Picker is to pick items from racks or putthem away into racks. These tasks can take place at a pick station or directly at a rack in the storagearea.

Responsibilities

• Picking the right goods in the warehouse• Placing the goods in the correct box• Put away the arriving goods into the correct racks

Needed Features

• Assistance in finding the goods to pick• Assistance in picking the right goods• Assistance in placing the goods in the right position

Utilized Tools

• AR Device• Barcode Scanner• Safety Vest• Shopping cart for picking in the storage area (e.g. 2:superscript:?? stage picking)

Success Criteria

The Picker is able to accomplish the pick or put away tasks at the Pick Station and directly at the rack inthe storage area. The Safety Vest, together with the Fleet Management System, ensures that the Pickeris always protected against AGVs. The HMI of the Warehouse Management System and especially theAR Device improve the working speed and the process reliabiltiy due to improved and targeted informa-tion.

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4.4.3 User: Safety Infrastructure

Representative Equipment Supplier

Skill-Level technical system

Use case UC06

General description

Description

The Safety Infrastructure monitors all safety-related components of the warehouse and brings the ware-houses’ automation systems in a safe state in case of failure.

Responsibilities

The Safety Infrastructure provides the following services:

• emitting of heartbeat signal to all AGVs. AGVs stop in case this heartbeat stops• receiving the heartbeat signal from active Safety Vest• stopping sending the heartbeat to AGVs if the heartbeat from any of the active Safety Vest stops

Needed Features

The Safety Infrastructure needs to know which of the available Safety Vest are active, i.e. which SafetyVest are worn by humans inside AGVs working area.

Utilized Tools

• radio communication with AGVs• radio communication with active Safety Vest

Success Criteria

Any unsafe failure causes the Safety Infrastructure to take the whole warehouse automation system into asafe state.

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4.4.4 User: AGV

Representative SLA


Use case UC05 UC06 UC07 UC08 UC09 UC13

General description

Description

Automated Guided Vehicles (AGVs) are robots controlled by the Fleet Management System and providingautomatic transportation of goods inside the warehouse.

Responsibilities

AGVs execute commands received from the FMS such as:

• go to a specific position• turn• pick up rack• drop rack

Needed Features

• An AGV must stop if it does not receive the heartbeat signal from the Safety Infrastructure before apredefined time.

• An AGV must stop if it comes into Safety Level A distance from a Safety Vest.

Utilized Tools

• Wireless communication with the Fleet Management System• Safe communication with the Safety Infrastructure

Success Criteria

AGVs execute commands in a safe and efficient manner.

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4.4.5 User: Safety Vest



Use case UC05 UC06 UC08 UC09 UC10 UC11 UC12 UC13

General description

Description

The Safety Vest enables humans to safely enter and work in a flexible warehouse system with AGVs.

Responsibilities

A Safety Vest enables:

• localization of human inside the warehouse• stopping of AGVs inside Safety Level A distance of the Safety Vest• stopping of all AGVs in case of the Safety Vest failure

Needed Features

A Safety Vest must interface other systems:

• AGVs in order to stop them in case of danger• Safety Infrastructure in order to ensure safety in case of Safety Vest failure• Fleet Management System in order to try to prevent occurrence of dangerous situations

Utilized Tools

• Wireless communication• ranging method

Success Criteria

There are no moving AGVs inside Safety Level A distance from the Safety Vest.

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4.4.6 User: Fleet Management System




General description

Description

The Fleet Management System cares about scheduling and computing trajectories for AGVs based onorders given by the Warehouse Management System. The Fleet Management System plans the paths ofhumans (Service Technician and Picker) and AGVs, so that close encounters between these entities aregenerally avoided (Safety Level C). If a human deviates from a pre-planned path, the routes for the AGVsare automatically replanned.

Responsibilities

With the precise localization of all human workers in the warehouse, the Fleet Management System will plantrajectories for heterogeneous human-robot system taking into account all kind of AGV abilities (carriersingle bins, pallet transporter, forklifter, measurement/maintenance vehicle) and human specialized tasks(picker, reloader, system architect, maintenance personnel, programmer). The Fleet Management Systemwill take into account the dynamic changes caused by human interaction with the system, with respect toorders based on availability and priority.

The Fleet Management System:

• Plans the paths of humans and AGVs• Replans the routes for the AGVs in case of humans deviation from pre-planned path.

Needed Features

• Real-time trajectory replanning• Human avoidance planning• Heterogeneous fleet planning

Utilized Tools

• Wireless communication with each Safety Vest• Wireless communication with each AGV

Success Criteria

The Fleet Management System manages all the AGVs and humans in the warehouse safely and efficientlyin the domain of Safety Level C. Violations of Safety Levels A and B are mostly avoided.

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4.4.7 User: Warehouse Management System




General description

Description

The Warehouse Management System is a key part of the supply chain and primarily aims at controlling themovements and storage of materials within a warehouse and process the associated transactions, includingshipping, receiving, putaway and picking. It places orders on the rest of the system by defining which itemneeds be picked from which rack or placed into which rack. It is the top-most system of the warehouse.

Responsibilities

A Warehouse Management System:

• Controls the movements and storage of materials within a warehouse• Processes the associated transactions, including shipping, receiving, putaway and picking• Places orders on the rest of the system by defining which item needs be picked/placed and from/into

which rack

Needed Features

Task creation:

• Inventory allocation• Assignment of transportation tasks to the Fleet Management System• Assignment of work tasks to Pick Stations or Picker’s (e.g. pick task, putaway task, rack maintenance

task)

Utilized Tools

• Safe comunication with the Fleet Management System.

Success Criteria

The Warehouse Management System manages all the movements and storage of materials within a ware-house safely and efficiently.

Further Information

Remark

Reviewer1: Philipp Hacker, 2016-04-28

• Substituted the term object with the term item• Extended Needed Featrues

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4.4.8 User: AR Device

Representative Equipment Supplier, Warehouse Operator



General description

Description

The Augmented Reality (AR) device enables interaction for the human working in a flexible warehousesystem with AGVs.

Responsibilities

The AR Device enables:

• High-resolution head localization• Visualisation of paths for the Picker and Service Technician inside the safety area• Visualisation of AGVs in the human vicinity taking into account the view direction• Maintenance data for AGVs• Interaction with the system (sending confirmations, statuses, etc...)• Easy identification and finding of racks and products in them

Needed Features

The AR Device needs to interface with:

• The Fleet Management System for getting the positions and navigation plans for robots and pathsfor human

• The Fleet Management System to get the status of the robots• The Warehouse Management System to get the rack and products’ positions• The Fleet Management System regarding task and robot status control

The AR Device needs to present different types of data to the user:

• Map and layout of the storage• Position and navigation plans for AGVs and humans (depending on view direction)• Position of racks and products in the warehouse (depending on view direction)

The AR Device needs to have the following functionalities:

• Detection of user’s view direction• Recognition of different markers used in warehouse

Utilized Tools

• Wireless communication for connection to near-field devices (Safety Vest and other operators devices).

Success Criteria

New interaction device for interaction with the flexible warehouse system. Faster arrival at the goal positioninside the safety area, faster and more convenient execution of maintenance tasks.

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Leader Denis Stogl

Member Josip Babic; Bjorn Hein; Soren Kerner; Ivan Petrovic; Libor Preucil; Christian Wurll;

General description

Task

This is the general assembly task-force, used to indicate that the specific task (Usecase/Requirement) ismost likely to be deligate to a specific task-force

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5 Consortium

5.1 Karlsruhe Institute of Technology

The Karlsruhe Institute of Technology (KIT) is a higher education and researchorganisation with about 10.000 employees, 25.000 students, and a total annualbudget of about 750 million Euros. It bundles the missions of both precursoryinstitutions: a university of the state of Baden-Wurttemberg with teaching andresearch tasks and a large-scale research institution of the Helmholtz Associa-tion conducting program-oriented provident research on behalf of the FederalRepublic of Germany. Within these missions, KIT is operating along the three strategic fields of action ofresearch, teaching, and innovation.

In establishing innovative research structures, KIT is pursuing joint strategies and visions. KIT is devoted totop research and excellent academic education as well as to being a prominent location of academic life, life-long learning, comprehensive advanced training, exchange of know-how, and sustainable innovation culture.KIT’s research profile is characterised by a strong focus on information and communication technology,energy technology and mobility. It has significant competencies in the fields of optics and photonics,climate and environment, and the inter-relations of humans and technology. It hosts a significant numberof infrastructures of federal or European importance.

KIT builds on the extensive experience its predecessors have gained in EC-funded research from more than1000 projects up to now.

The Intelligent Process Control and Robotics Lab (IPR) is part of the Institute for Anthropomaticsand Robotics (IAR) and covers a vast variety of robotic and automation areas. Research in the field ofindustrial automation comprises conception and realisation of sensor based autonomous robots for typicaltasks in production. Another area is safe human robot co-operation integrating multiple sensors and novelinteraction techniques. Further activities consist of designing modular control and diagnosis systems forrobots, robot cells and plants based on multi-agent architectures.

FORscience is the central Proposal and Project Management Service at KIT. Established in 2009, itpools KIT’s many years of experience in project management. The Project Management Office thus offersprofessional expertise in all aspects of project management. Its members have substantial experience insupporting EU and other projects from proposal phase to execution, including for example the FP7-CPDACCIWA and the Horizon2020-FoF ProRegio, for both of which FORscience serves as the PMO.

Role

KIT has two roles:

1. KIT will be coordinator of SafeLog. Coordinating person will be Bjorn Hein. The depart-ment FORScience of KIT will handle all management issues (s. previous paragraph, sectionManagement structure and procedures and WP8 in document Part 1).

2. Regarding research and innovation KIT will mainly focus on the human-system interactionand assistive technologies in the envisioned flexible and collaborative warehouse WP4 with thecorresponding relations to the other work packages.

5.2 Swisslog Automation GmbH

Swisslog is one of the leading companies for automation and logistics solutions.For many years Swisslog has been a technological leader in many industrialsectors and has been exploiting innovative solutions for its customers. Theportfolio of Swisslog comprises

• Intelligent material handling, production, and automation technologies• Conveyor systems for light goods and pallets• Shuttle systems and cranes• Storage and Robot systems for automated case picking

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• Automated Guided Vehicles• Production lines and equipment for building materials• Modular Warehouse Management and Control Systems

Swisslog is eager in participating in this project as Swisslog sees a big chance in exploiting the fast growinglogistics automation market by state-of-the-art goods-to-man systems. Swisslog however wants to supportEuropean research to give this research an industrial platform.

Role

Swisslog provides expertise in automation and logistics ranging from industrial robot applications, electricaloverhead monorails, transport AGVs and goods-to-man systems. Swisslog will handle the demonstratorbased on a fleet of mobile goods-to-man robots. For this system prior work exists comprised of fleet-manager, standard safety infrastructure and also a 2D emulation environment. Swisslog will take the leadof WP1 and WP6.

5.3 Czech Technical University in Prague

The CZECH TECHNICAL UNIVERSITY IN PRAGUE (CVUT), founded in1707, is one of the oldest technical universities and currently the leading tech-nical university in the Czech Republic with approx. 23000 students enrolledin engineering courses. With over 1700 members of academic staff is also oneof the largest research institutions in the Czech Republic. The Czech Insti-tute of Informatics, Robotics, and Cybernetics (CIIRC) that will participatein the project is a new institute of CVUT founded in 2013 with the aim toconcentrate an excellent research in the fields robotics, intelligent, distributedand complex systems, automatic control, computer-aided manufacturing, bioinformatics, biomedicine andassistive technologies. The key researchers of CIIRC have come from the Department of Cybernetics, Fac-ulty of Electrical Engineering of CVUT this year, which is recognized as an outstanding research centreat the CVUT. In 2000 the department received the “EU Centre of Excellence”’ award and in 2006 theprestigious European IST Prize by the European Commission. The Department includes over 80 academicstaff and researchers, and over 30 Ph.D. students. The research focus covers the areas of intelligent mobilerobotics, computer vision, artificial intelligence, biomedical engineering, and multi-agent systems. The de-partment has been actively involved in scientific collaboration with international partners via various typesof research programmes namely FP7/FP6/FP5 programmes. The Department has a strong industrial ex-perience in providing research and development, training services and customized solutions to internationalindustrial partners (e.g. Robert Bosch GmbH, Rockwell Automation, SKODA AUTO/Gedas CR, CA-DENCE, DENSO Automotive, BAE Systems). Additionally the department extensively collaborates withthe defense industry (European Office for Aerospace Research and Development, US Air Force ResearchLaboratory, US Office for Naval Research and Army Research Laboratory).

Intelligent Mobile Robotics divison (IMR) (http://imr.felk.cvut.cz) will be involved in theproject. This unique laboratory founded in 1993 and headed by Dr. Libor Preucil since, steadily buildsexcellence in mobile and intelligent systems and robots and stand for major stakeholders in the fieldin the Czech Republic. Recently, he co-founded Center for Advanced Field Robotics (CAFR)(http://lynx1.felk.cvut.cz/cafr) bringing together main robotics research labs and industry in theCzech Republic. Dr. Libor Preucil is going to supervise herein suggested project and will assure the toplevel quality research within.

Role

CVUT will lead WP3. The target of the workpackage is to realize a planning module that will provide coor-dinated plans for robots and humans in the warehouse CVUT will also significantly contribute localizationactivities in WP2 as well as specification and requirement analyzis WP1 and integration WP6.

5.4 University of Zagreb, Faculty of Electrical Engineering and Computing

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http://imr.felk.cvut.cz

http://lynx1.felk.cvut.cz/cafr


The UNIZG-FER (http://www.fer.unizg.hr/en) is the highest-qualitymember of the University of Zagreb, with a large and modern infrastructuredevoted to research-based education. Currently UNIZG-FER participates inmore than 20 projects financed by EU through various grant schemes (HORI-ZON 2020, FP7, IPA, COST, etc.). With 170 professors, 220 graduate teachingand research assistants, 4.000 students enrolled in various programs, and op-erating in facilities of more than 40.000 m2, UNIZG-FER is the largest andleading educational technical and R&D institution in the fields of electrical andcomputer engineering and computer science in Croatia. UNIZG-FER is organised in 12 Departments whichrepresent the focal points of education and R&D. Research related to this project will be carried out at theDepartment of Control and Computer Engineering (DCCE) by the Autonomous Mobile Robotics group(AMOR group, http://act.rasip.fer.hr/groups_amor.php).

The AMOR group has a long tradition in research of advanced control strategies and estimation techniquesand their application in autonomous navigation of ground and aerial robots in unknown and dynamicenvironments. The major research activities of the group include: Simultaneous Localization and Mapping(SLAM), Detection and Tracking of Moving Objects (DATMO) and Motion Planning and Control (MPAC).The Group currently consists of 3 Postdocs and 5 PhD students directed by Prof. Ivan Petrovic. Laboratoryof the AMOR group is equipped with state of the art ground mobile platforms, aerial vehicle, sets ofadvanced perception sensors, flying arena, etc. The group coordinated the major national robotic researchprogram “Intelligent robotic systems and autonomous vehicles” (2007-2014), which involved 5 major roboticresearch groups in Croatia. The group has also a long tradition of collaboration with research centres in theEU and worldwide. Currently, Professor Petrovic, the head of the AMOR group, is coordinating the EUproject “ACROSS - Centre of Research Excellence for Cooperative Robotic Systems” (http://across.fer.unizg.hr), which involves 14 research groups from the University of Zagreb and 16 research institutionsfrom 10 European countries. AMOR group recently successfully organised two robotic conferences: (1)the 4th European Conference on Mobile Robots - ECMR’09 (www.ecmr09.fer.hr) and (2) the 10th IFACSymposium on Robot Control - SYOROCO 2012 (http://www.syroco2012.org).

Role

UNIZG-FER will lead WP2. The target of the workpackage is development of a holistic safety conceptthat will allow safe collaboration of humans and robots in the warehouse. UNIZG-FER will also contributein human aware planning in WP3, localization and human intention recognition in WP4, specificationand requirement analyzis in WP1 and integration in WP6.

5.5 Fraunhofer IML

The Fraunhofer Institute for Material Flow and Logistics (IML) has been tack-ling logistic tasks, mainly the process, hardware and software development forinternal and external logistics. The IML turnover consists of more than 50% ofindustrial contracts for software development in different logistical applications,supply chain consulting and R&D of novel logistical solutions. Knowledge acquired from funded projects isdirectly transferred in industrial contracts. So made-to-measure arranged teams create cross-industry andcustomer-specific solutions in the area of materials handling, warehouse management, supply chain man-agement, simulation supported business and system planning and also traffic systems, closed loop economy,resources logistics, building logistics and e-business. IML is said to be first address for all questions withrespect to holistic logistics, the employees work on all fields of internal and external logistics. At the Insti-tute, founded in 1981, there are at the moment 200 employees as well as 250 post-graduates, supported bycolleagues in workshops, laboratories and service areas.

Role

IML has a comprehensive knowledge about a multitude of interlogistic applications as well as a deepknowledge about development of embedded eletronic components and robotic solution.

In this position IML will contribute to the overal integration of the different concepts by leading the WP6.

SafeLog (688117) - D1.1

http://www.fer.unizg.hr/en

http://act.rasip.fer.hr/groups_amor.php

http://across.fer.unizg.hr

http://across.fer.unizg.hr

http://www.syroco2012.org


Furthermore IML will bring in the expert knowledge in embedded systems and communication technologiesto contribute majorly to the safety concept and hardware development of the vest as part of WP4.

5.6 KONCAR - Electrical Engineering Institute Inc.

KONCAR – Electrical Engineering Institute (www.koncar-institut.com)is a leading Croatian industrial institute involved in R&D of equipment andtechnologies for efficient and reliable energy conversion and power transmis-sion. As a result of a 50-year-tradition in applied R&D, KEEI has developedproprietary solutions for monitoring systems (transformers, electrical rotatingmachines, bay/switchyard, wind turbines), off-grid power supplies as well as platforms for design of de-manding embedded HW/SW systems (including safety related SIL4 platforms). KEEI has been involved inseveral European and national R&D grant schemes (EUREKA, Proof of Concept (PoC), IPA, ERDF etc.)and has a lot of experience in implementation of various R&D projects. Currently there are 164 employeesat KEEI, it is organized in 6 departments and its premises occupy 13.000 m2. In the frame of 6 departmentsthere are specialised R&D sub-departments and 9 well-equipped laboratories which are used for R&D sup-port, testing and diagnostics. In July 2014 KEEI became a Notified Body of the European Commissionfor several important EC directives (low voltage equipment, machinery, EMC, radio and telecommunica-tions terminal equipment, appliances burning gaseous fuels, pressure equipment and personal protectiveequipment). Research related to the proposed project will be carried out by Control, Renewables & PowerElectronics Department. This Department employs 30 experts and offers extensive knowledge in design,development and testing of industrial embedded control systems (HW and SW components), renewableenergy solutions and power converters used in traction and energy applications.

Control, Renewables & Power Electronics Department: The Department is specialized in design,development and testing of industrial embedded control systems, renewable energy systems and powerconverters. It develops HW and SW components for industrial embedded control systems and completesystems for highly demanding applications such as rail vehicles and power engineering. Based on initialtechnical and functional requirements, the Department prepares complete production documentation, per-forms various tests (type/serial) and eventually provides product life-cycle management. The Departmenthas successfully developed railway crossing safety platform SIL 4 which was positively assessed by TUVaccording to EN50126, EN 50128 and EN50129.

Role

KEEI will lead WP5. The goal of this work package is to develop a Safety Vest which enables humansto safely enter and work in a flexible warehouse system with AGVs. Special attention shall be given tosafety certification of the safety west and the Safety Concept developed in WP2. KEEI will contribute tothe Project with its experience in embedded systems design and in development and certification of safetycritical control systems for railway applications.

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6 Glossary

Glossary

AGVAutomated Guided Vehicle: An Automated Guided Vehicle is a mobile robot that follows markers orwires in the floor. 10, 11, 20, 21, 26, 28, 31, 40, 44–46, 48, 49, 51, 54, 56

ARAugmented Reality: Augmented reality is a visualization technique where a direct (e.g throughglasses) or indirect (through a camera and screen) view of the real world is supplemented by sensoryinput and data to achieve a better and more informative understanding of the scene.. 9, 13, 15, 20,33, 40, 41

EMCElectromagnetic compatibility: Electromagnetic compatibility is the branch of electrical scienceswhich studies the unintentional generation. 56

FMSFleet Managment System: The Fleet Management System cares about scheduling and computingtrajectories for mobile robots based on orders given by the WMS. The present system will be updatedwith real-time replanning. 20, 26, 35, 47

PMOThe Project Management Office: The project Management Office consists of personnel from KITFORScience (cf. description of KIT). 53

SILSafety Integrity Level: Safety integrity level is a relative level of risk-reduction provided by a safetyfunction. 56

WMSWarehouse Management System: The Warehouse Management System is a key part of the supplychain and primarily aims at controlling the movements and storage of materials within a warehouseand processing the associated transactions. 35

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References[1] S. W. Ambler, “User stories: An agile introduction,” 2014. [Online]. Available: http:

//www.agilemodeling.com/artifacts/userStory.htm

SafeLog (688117) - D1.1

http://www.agilemodeling.com/artifacts/userStory.htm

http://www.agilemodeling.com/artifacts/userStory.htm

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