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Understanding and Dispensing Ingredients for Smart Robotic Cooking

Standards and Regulations

Team B - Ratatouille Robotics

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Agenda

Project Description�
Issues in the Industry�
Standard #1: NSF/ANSI 2 - Food Equipment�
Standard #2: ANSI/RIA R15.06 - Industrial Robots and Machinery Safety Package

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Project description

User: Commercial Kitchens User Issues: Labor shortage Inconsistent meals Low throughput Food wastage User Needs: Fast dispensing Accurate dispensing Consistent dispensing	Our Solution: Ingredient dispensing robotic arm that can be deployed for cooking or serving. Easy set up Ingredient intelligence Fast, accurate and consistent dispensing Can handle a variety of ingredients High throughput

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Issues in the food industry

https://www.fda.gov/inspections-compliance-enforcement-and-criminal-investigations/press-releases/chipotle-mexican-grill-agrees-pay-25-million-fine-resolve-charges-stemming-more-1100-cases-foodborne

Main issues:

Now moving on to the issues in food industry. One of the primary issues in the industry is related to food safety and hygiene. The article at the top was released by FDA on their website in July 2018. Approximately 647 people who dined at a Chipotle restaurant in Powell, Ohio reported illness related to Clostridium perfringens, a bacteria that grows rapidly when food is not held at appropriate temperatures. This isnt the only article in the news in the past decade. There have been many such instances where people have complained about food borne illneses. The article on the left talks about people who consumed food from wendy’s and reported food poising. On your right you see another article which talks about how restaurants and takeaways are responsible for 60% of the food poisoning cases in the country. QSRs, cloud kitchens particular have to maintain a high standards for hygiene because millions of people can get affected every single day.

With that I pass it over to Nevin to talk about our first standard.

Conclusion:

How important is

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Standard #1: NSF/ANSI 2 - Food Equipment

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What is the standard about?

Comprehensive standard for all food equipment
Safeguards the consumers who eat the food prepared using the equipment
Minimum Food protection and Sanitation requirements

Food handling and
Food processing equipment.
Food storage

Standard describes four major categories:

Materials
Design
Fabrication
Performance

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What are its prescriptions?

General sanitation practices

Prevent harborage of vermin
Prevent accumulation of dirt and debris
Food zones shall be designed for clean-in-place (CIP)

Design & construction guidelines

Of all food equipment that are used in food preparation including components such as

Casters, shelves, joints, seams, fasteners, frames, panels, light fixtures, gaskets, guides
Insulation, reinforcement & framing
Edges & nosings, latches & catches, gliders & casters, breaker strips
Inspection & maintenance panels

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To which products or markets does it apply?

This standard is applicable to:

Markets such as bakery, cafeteria, commercial kitchens, pantry units
Categories of equipment such as food handling, food processing and food storage

Does it also apply to object xyz in the kitchen? YES.

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How does it apply to our project?

Shelving unit:

Readily removable shelves to permit handling by one person
Pressure cleaning is recommended for knockdown shelving, joints and seams shall be either sealed or accessible for cleaning, and shall be capable of being completely drained.

Joints and Seams

Only Lead free solder is permitted for use in food zone
Welded joints and seams in a non food zone shall be deburred
Sealants/ lubricants used in food zone must be food grade

Equipment mounting

Portable equipment shall not weigh more than 80lb (36kg) and shall not exceed 36in in any plane
Utility connections on portable equipment shall be designed to be disconnected without the use of tools

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Standard #2: ANSI/RIA R15.06 - Industrial Robots and Machinery Safety Package

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ANSI/RIA R15.06

Provides safety requirements for

Industrial robot manufacture, remanufacture, and rebuild
Robot System integration/installation

Describes basic hazards associated with robots
Provides requirements to eliminate, or adequately reduce, the risks associated with these hazards
U.S. National Adoption of the ISO 10218
Type C standards

Machine safety standards dealing with details safety requirements for a particular machine type

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Why is it important?

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Why is it important?

Low Investment

Low Effort

COMPANIES

EMPLOYEES

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Why is it important?

Enforces common standards and nomenclature in the industry

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Targeted Group

Part - 1 : Industrial robot manufacturers

ABB, Fanuc, KUKA, UR
Provides guidance for the assurance of safety in the design and construction of the robot

Part - 2 : Robot system integration / installation

System integrators
Companies that use robotics arms in their products

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Guidelines for System Integrators

Scope:

Necessary information for the design, manufacturing, installation, operation, maintenance and decommissioning of the industrial robot system or cell
Component devices of the industrial robot system or cell

What it doesn’t include:

Does not deal specifically with hazards associated with processes (e.g. laser radiation, ejected chips, welding smoke)

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What are its main prescriptions?

Part 1: Guidelines for Manufacturer

https://www.robotics.org/userAssets/riaUploads/file/Draft_1506_Prepublication_edition.pdf

Manufacturing guidelines Power hazards shall be prevented by using guards	Emergency stopping functions Every robot shall have an emergency stop and protective stop function

Pendant controls Robot shall move in reduced speeds while initiating from pendant Dropping the pendant should not result in any unexpected motions When cableless pendants are active, visual indications should be present

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What are its main prescriptions?

Part 2: Guidelines for installer / integrator

Installation Environmental conditions should be considered Perimeter should be safeguarded	Pendant usage Ensure that cable is of sufficient length and away from environmental hazards Always maintain easy access �to E-stop
Maintenance and repair Robot should be placed in a way as to allow easy access to all areas Relevant guards shall be used �during maintenance	Collaborative usage Perform risk assessment, use protective equipment.

https://www.robotics.org/userAssets/riaUploads/file/Draft_1506_Prepublication_edition.pdf

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How does it apply to Ratatouille Robotics

Think about how do we want to position our system - Collaborative vs Non-collaborative

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Collaborative Robot Operation

End-effector hazards including the workpiece (e.g. ergonomic design, sharp edges, protrusions, working with tool changer)

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Collaborative Robot Operation

Identify and define collaboration space
Prevent or detect any person from advancing further into the safeguarded space beyond the collaborative workspace
Optional: Soft axis and space limiting

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How does it apply to Ratatouille?

Hazard identification and risk assessment

Pinch Points
cables/other hazards for slips, trips and falls

End-Effector Requirements

Does not cause release of the load in case of failure
Detachable tools are securely attached while in use

Intruding cables

Baby-proofed Sharp edges

Cable management

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Summary: How does it apply to Ratatouille?

For Ratatouille, Part 2 of the standards is applicable -> we are integrators.
Some major applicable guidelines:

Pendant usage guidelines
Collaborative usage guidelines
Robot environment and safeguarding guidelines

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Questions?

Harshit Agrawal

Sensing Lead

Sai Shruthi Balaji

Perception Lead

Abhishek Pavani

Systems Integration Lead

Nevin Valsaraj

Software Architect & Project Manager

Mohith Sakthivel

Robot Learning & Control Lead