title: guidelines for personal safety in flexible automated...

Version from May 16, 2017 09:19

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

Title: Guidelines for Personal Safety in Flexible Automated Warehouses

Deliverable: D5.1

Prepared by:

Name Josip BabićOrganisation KEEIDate May 16, 2017Contributor(s) Josip Babić;

Approved by:

First Reviewer Georg ThimmSecond Reviewer Ivan Marković

SafeLog (688117) - D5.1 Page 1

Ref. Ares(2017)2487296 - 16/05/2017


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



Contents

1 History 4

2 Summary 5

3 Introduction 63.1 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.2 Risk Analysis and Assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63.3 Re-design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4 European Directives 64.1 Personal Protective Equippment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74.2 Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74.3 Radio Equipment Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94.4 EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104.5 Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104.6 RoHS Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.7 Ecodesign Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

5 Standards 125.1 MD Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5.1.1 A-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125.1.2 B-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135.1.3 C-type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.2 RED Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155.3 EMC Directive Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.4 LVD Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.5 RoHS Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175.6 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

6 Conformity Assessment 176.1 EU Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7 Consortium 197.1 KIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197.2 SLA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197.3 CVUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207.4 UNIZG-FER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217.5 IML . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227.6 KEEI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8 Glossary 24

Bibliography 27



1 History

28.03.2017. - Josip Babić - Deliverable initiated.

04.05.2017. - Josip Babić - Updated with inputs from KEEI certification department.



2 Summary

This document provides selection of European directives and harmonized standards applicable to the de-velopment of systems for ensuring safety of personnel in flexible automated warehouses with AGVs. Forinstances where directly applicable directives and standards do not exist, compilation of applicable measuresand techniques from related standards is provided.



3 Introduction

3.1 Documentation

Union harmonisation legislation obliges the manufacturer to draw up technical documentation containinginformation to demonstrate the conformity of the product to the applicable requirements. This documen-tation may be part of the quality system documentation where the legislation provides for a conformityassessment procedure based on a quality system, [1].

The technical documentation must be available when the product is placed on the market, whatever itsgeographical origin or location. The technical documentation must be kept for 10 years from the date ofplacing the product on the market, unless the applicable Union harmonisation legislation expressly providesfor any other duration. This is the responsibility of the manufacturer or the authorised representativeestablished within the Union. Since the concept of “placing on the market” refers to each individualproduct, the time period needs to be calculated from the moment when the individual product that iscovered by the technical documentation is placed on the market.

The contents of the technical documentation are laid down, in each Union harmonisation act, in accordancewith the products concerned. As a rule, the documentation has to include a description of the product andof its intended use and cover the design, manufacture and operation of the product. The details included inthe documentation depend on the nature of the product and on what is considered as necessary, from thetechnical point of view, for demonstrating the conformity of the product to the essential requirements ofthe relevant Union harmonisation legislation or, if the harmonised standards have been applied, to these byindicating the essential requirements covered by the standards. The requirements in Annex II of DecisionNo [2] refer to the contents of the technical documentation that are relevant for proving the conformity ofthe product with the applicable harmonisation legislation.

3.2 Risk Analysis and Assessment

The requirement for an “adequate analysis and assessment of the risk(s)” in [2] does not oblige the man-ufacturer to conduct an additional risk assessment or to draw up additional documentation when he hasapplied harmonised standards, the development of which is based on an assessment of the relevant risk(s).Manufacturers may base their assessment on harmonised standards, which already include the risk analysis,but only as far as the risks are covered by that standard.

3.3 Re-design

In the case where a product has been subject to re-designs and re-assessments of the conformity, thetechnical documentation must reflect all versions of the product; describing the changes made, how thevarious versions of the product can be identified and information on the various conformity assessment.

4 European Directives

An EU Directive is a legislative act of the European Union, which requires member states to achievea particular result without dictating the means of achieving that result. It can be distinguished fromEuropean Union Regulations which are self-executing and do not require any implementing measures.Directives normally leave member states with a certain amount of leeway as to the exact rules to beadopted. Directives can be adopted by a variety of legislative procedures, depending on their subjectmatter, [3].

Technical description of the safety system proposed in scope of the SafeLog project, its purpose and thepurpose of the application indicate that the product is subject to the fulfillment of essential requirementsof the following directives:



• Personal Protective Equipment Directive, [4];• Machinery Directive, [5]• Radio Equipment Directive, [6];• EMC Directive, [7];• Low Voltage Directive, [8];• RoHS Directive, [9];• Ecodesign Directive [10].

4.1 Personal Protective Equippment

The Safety Vest is worn by the human and as such could be covered by EU Directive on personal protectiveequipment (PPED), [4]. According to this directive, PPE is ”any device or appliance designed to be wornor held by an individual for protection against one or more health and safety hazards”.

Besides the Safety Vest, the safety system envision in scope of the SafeLog project is composed of EmergencyStop Module (ESM), installed on each AGV, and of Safety Vest Base Station (SVBS), as part of theinfrastructure. Article 1 from PPED states:

”Any system placed on the market in conjuction with PPE for its connection to another external, additionaldevice shall be regarded as an integral part of that equipment even if the system is not intended to be wornor held permanently by the user for the entire period of risk exposure.”

In this situation, the SV, ESM and the SVBS could be considered as PPE and must satisfy the basic healthand safety requirements laid down in Annex II of the Directive.

This Directive does not apply to PPE covered by another directive designed to achive the same objectivesas this Directive with regard to placing on the market, free movement of goods and safety.

The SafeLog safety system must satisfy the health and safety requirements of Machinery Directive, RadioEquipment Directive, RoHS Directive and Ecodesign Directive, so there is a possibility to analyse andcompare these requirments with the health and safety requirments of PPE Directive during the developmentprocess. If all health and safety requirements will be covered by the named directives, the PPE Directivewill be exluded from consideration.

4.2 Machinery Directive

The scope of the MD covers, among others, safety components defined as components:

• which serve to fulfil a safety function,• which are independently placed on the market,• the failure and/or malfunction of which endangers the safety of persons, and• which is not necessary in order for the machinery to function, or for which normal components may

be substituted in order for the machinery to function.

Some examples of such safety components given in MD are:

• Protective devices designed to detect the presence of persons,• Logic units to ensure safety functions,• Emergency stop devices.



According to the definition and examples of safety components, Safety Vest is a safety component of theoverall roboticized warehouse system so MD is applicable to it and to the SafeLog’s safety concept ingeneral.

Procedures for assessing the conformity of machinery are given in Article 12, paragraphs 2, 3, and 4 of theDirective. For categories of machinery listed in Annex IV of the Directive, Article 12, paragraphs 3 and4 are applied. Because Safety Vest system does not fall within categories of machinery listed in AnnexIV of the Directive, assessment of conformity is conducted according to Article 12 paragraph 2, i.e. ”themanufacturer or his authorised representative shall apply the procedure for assessment of conformity withinternal checks on the manufacture of machinery provided for in Annex VIII”. This annex requires:

• For each representative type of individual series, the manufacturer or his authorized representativemust issue a technical file referred to in Annex VII. part A.

• The manufacturer must take all necessary measures to ensure the manufacturing process ensurecompliance of the manufactured equipment with the technical documentation as described in AnnexVII. Parts A and with the Directive.

The technical file must demonstrate that the machinery complies with the requirements of this Directive.It must cover the design, manufacture and operation of the machinery to the extent necessary for theconformity assessment.

The technical file shall comprise the following

• a construction file including– a general description of the machinery,– the overall drawing of the machinery and drawings of the control circuits, as well as the pertinent

descriptions and explanations necessary for understanding the operation of the machinery,– full detailed drawings, accompanied by any calculation notes, test results, certificates, etc., re-

quired to check the conformity of the machinery with the essential health and safety requirements,– the documentation on risk assessment demonstrating the procedure followed, including: (i) a list

of the essential health and safety requirements which apply to the machinery, (ii) the descriptionof the protective measures implemented to eliminate identified hazards or to reduce risks and,when appropriate, the indication of the residual risks associated with the machinery,

– the standards and other technical specifications used, indicating the essential health and safetyrequirements covered by these standards,

– any technical report giving the results of the tests carried out either by the manufacturer or bya body chosen by the manufacturer or his authorised representative,

– a copy of the instructions for the machinery,– where appropriate, the declaration of incorporation for included partly completed machinery

and the relevant assembly instructions for such machinery,– where appropriate, copies of the EC declaration of conformity of machinery or other products

incorporated into the machinery,– a copy of the EC declaration of conformity;

• for series manufacture, the internal measures that will be implemented to ensure that the machineryremains in conformity with the provisions of this Directive. The manufacturer must carry out neces-sary research and tests on components, fittings or the completed machinery to determine whether byits design or construction it is capable of being assembled and put into service safely. The relevantreports and results shall be included in the technical file.

The technical file must be made available to the competent authorities of the Member States for at least10 years following the date of manufacture of the machinery or, in the case of series manufacture, of thelast unit produced.



The technical file does not have to include detailed plans or any other specific information as regardsthe subassemblies used for the manufacture of the machinery unless a knowledge of them is essential forverification of conformity with the essential health and safety requirements.

Standards harmonized under MD are grouped into three types, [5]:

• A-type standards specify basic concepts, terminology and design principles applicable to all cate-gories of machinery. Application of such standards alone, although providing an essential frameworkfor the correct application of the Machinery Directive, is not sufficient to ensure conformity with therelevant essential health and safety requirements of the Directive and therefore does not give a fullpresumption of conformity.

• B-type standards deal with specific aspects of machinery safety or specific types of safeguard thatcan be used across a wide range of categories of machinery. Application of the specifications of B-typestandards confers a presumption of conformity with the essential health and safety requirements of theMachinery Directive that they cover when a C-type standard or the manufacturer’s risk assessmentshows that a technical solution specified by the B-type standard is adequate for the particular categoryor model of machinery concerned. Application of B-type standards that give specifications for safetycomponents that are independently placed on the market confers a presumption of conformity forthe safety components concerned and for the essential health and safety requirements covered by thestandards.

• C-type standards provide specifications for a given category of machinery. The different types ofmachinery belonging to the category covered by a C-type standard have a similar intended use andpresent similar hazards. C-type standards may refer to A or B-type standards, indicating which ofthe specifications of the A or B-type standard are applicable to the category of machinery concerned.When, for a given aspect of machinery safety, a C-type standard deviates from the specifications of anA or B-type standard, the specifications of the C-type standard take precedence over the specificationsof the A or B-type standard. Application of the specifications of a C-type standard on the basis ofthe manufacturer’s risk assessment confers a presumption of conformity with the essential health andsafety requirements of the Machinery Directive covered by the standard.

4.3 Radio Equipment Directive

Since the product will contain electronic components and radio modules (UWB and WiFi technology),it is necessary to meet the essential requirements of the RED Directive. The RED is applicable to thecombination of the non-radio product and the radio equipment, if the radio equipment is:

• incorporated into the non-radio product; and• permanently affixed to the non-radio product.

If the radio equipment is incorporated in a fixed and permanent way in the non-radio product at themoment of its placing on the market (i.e. in such a way that it cannot be easily accessed and readilyremoved), as specified above, this product is deemed to be a single product and must to satisfy to essentialrequirements of RED directive.

All radio equipment shall be constructed so as to ensure:

• the protection of health and safety of persons and of domestic animals and the protection of property,including the objectives with respect to safety requirements set out in LVD, regardless of the inputvoltage. This essential requirement covers all health and safety risks arising from the use of equipment,e.g. electrical, mechanical and chemical (e.g. emission of aggressive substances) as well as (but notexclusively) health aspects relating to noise, vibration and ergonomic aspects.

• an adequate level of electromagnetic compatibility as set out in EMC Directive.



• that it both effectively uses and supports the efficient use of radio spectrum in order to avoid harmfulinterference.

The application of harmonized standards in the field of health and safety, electromagnetic compatibilityand radio spectrum efficiency will fulfil the essential requirements of this Directive.

Therefore, where RED is applicable to radio equipment, the LVD and EMCD do not apply, however theRED refers to the essential requirements of the LVD and EMCD.

4.4 EMC Directive

Since the product contains electronic components, it is necessary to meet the essential requirements of theEMC Directive. In the framework of conformity assessment, two cases must be considered:

• emission and• immunity to impact of disturbances

of product providing work in the most unfavourable case.

The application of harmonized standards in the field of electromagnetic compatibility for products that areplaced in the industrial environment will fulfil the essential requirements of the Directive.

4.5 Low Voltage Directive

The purpose of this Directive is to ensure that electrical equipment on the market fulfils the requirementsproviding for a high level of protection of health and safety of persons, and of domestic animals andproperty, while guaranteeing the functioning of the internal market. This Directive shall apply to electricalequipment designed for use with a voltage rating of between 50 and 1 000 V for alternating current andbetween 75 and 1 500 V for direct current.

Requirements of this Directive applicable to the Safety Vest system

1. General conditions:

• the essential characteristics, the recognition and observance of which will ensure that elec-trical equipment will be used safely and in applications for which it was made, shall bemarked on the electrical equipment, or, if this is not possible, on an accompanying docu-ment;

• the electrical equipment, together with its component parts, shall be made in such a wayas to ensure that it can be safely and properly assembled and connected;

• the electrical equipment shall be so designed and manufactured as to ensure that protectionagainst the hazards set out in points 2 and 3 is assured, providing that the equipment isused in applications for which it was made and is adequately maintained.

2. Protection against hazards arising from the electrical equipment. Measures of a technical natureshall be laid down in accordance with point 1, in order to ensure that:

• persons and domestic animals are adequately protected against the danger of physicalinjury or other harm which might be caused by direct or indirect contact;

• temperatures, arcs or radiation which would cause a danger, are not produced;• persons, domestic animals and property are adequately protected against non-electrical

dangers caused by the electrical equipment which are revealed by experience;• the insulation is suitable for foreseeable conditions.

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3. Protection against hazards which may be caused by external influences on the electrical equip-ment. Technical measures shall be laid down in accordance with point 1, in order to ensure thatthe electrical equipment:

• meets the expected mechanical requirements in such a way that persons, domestic animalsand property are not endangered;

• is resistant to non-mechanical influences in expected environmental conditions, in such away that persons, domestic animals and property are not endangered;

• does not endanger persons, domestic animals and property in foreseeable conditions ofoverload.

The application of harmonized standards in the field of electrical safety for products that are placed inthe environment of households and the general population will fulfil the essential requirements of theDirective.

4.6 RoHS Directive

This Directive lays down rules on the restriction of the use of hazardous substances in electrical and elec-tronic equipment (EEE) with a view to contributing to the protection of human health and the environment,including the environmentally sound recovery and disposal of waste EEE.

Restricted substances and maximum concentration values tolerated by weight in homogeneous materials:

• Lead (0,1 %)• Mercury (0,1 %)• Cadmium (0,01 %)• Hexavalent chromium (0,1 %)• Polybrominated biphenyls (PBB) (0,1 %)• Polybrominated diphenyl ethers (PBDE) (0,1 %)

The application of harmonized standards in the field of ROHS will fulfil the essential requirements of thedirective.

4.7 Ecodesign Directive

This Directive provides for the setting of requirements which the energy-related products covered by im-plementing measures must fulfil in order to be placed on the market and/or put into service. It contributesto sustainable development by increasing energy efficiency and the level of protection of the environment,while at the same time increasing the security of the energy supply.

In accordance with the applicable implementing measure, manufacturers shall ensure, in the form theydeem appropriate, that consumers of products are provided with:

• the requisite information on the role that they can play in the sustainable use of the product; and• when required by the implementing measures, the ecological profile of the product and the benefits

of ecodesign.

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5 Standards

A harmonised standard is a European standard elaborated on the basis of a request from the EuropeanCommission to a recognised European Standards Organisation (CEN, CENELEC or ETSI) to develop aEuropean standard that provides solutions for compliance with a legal provision. Such a request providesguidelines which requested standards must respect to meet the essential requirements or other provisionsof relevant European Union harmonisation legislation.

Compliance with harmonised standards provides a presumption of conformity with the corresponding re-quirements of harmonisation legislation. Manufacturers, other economic operators or conformity assessmentbodies can use harmonised standards to demonstrate that products, services or processes comply with rel-evant EU legislation, [3].

A list of harmonized standards can be found at [11].

Standards are voluntary, consensus-based and as such do not impose any regulations. They provide thetest specifications and test methods (interoperability, safety, quality, etc.), [3].

However, laws and regulations may refer to standards and even make compliance with them compulsory.In particular, this is the case within the framework of the ”New Approach” where European Standards areused to provide presumption of conformity to mandatory (”Essential”) requirements of the Directives. Onthe other hand, manufacturers are always free to choose any technical solution that provides compliancewith the essential requirements set by the Directive. This is a very important clause because it guaranteesthe ground for technical development, crucial when manufacturers of new or innovative products, for whichstandards do not yet exist, want to certify their products according to the legal European framework, [3]. Ifa manufacturer chooses not to follow a harmonised standard or only partly, he has the obligation to provethat his equipment is in conformity with the essential requirements by other means and to provide a fulltechnical justification.

5.1 MD Standards

5.1.1 A-type

There is only one standard harmonized under MD as A-type, namely EN ISO 12100:2010 Safety of machin-ery - General principles for design - Risk assessment and risk reduction, [12]. In order to achieve compliancewith the MD, principles of risk assessment and risk reduction given by this standard must be applied tosystems intended for flexible automated warehouses with AGVs.

[12] describes procedures for

• identifying hazards,• estimating and evaluating risks, and• elimination of hazards or provision of sufficient risk reduction

during relevant phases of the machine life cycle.

Also, guidance is given on the documentation and verification of the whole process.

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5.1.2 B-type

MD type-B standards applicable to flexible automated warehouses with AGVs are:

• EN ISO 13849-1, Safety of machinery - Safety-related parts of control systems - Part 1: Generalprinciples for design, [13], provides safety requirements and guidance on the principles for the designand integration of safety-related parts of control systems (SRP/CS), including the design of software.For these parts of SRP/CS, it specifies characteristics that include the performance level required forcarrying out safety functions. It applies to SRP/CS, regardless of the type of technology and energyused (electrical, hydraulic, pneumatic, mechanical, etc.), for all kinds of machinery.

• EN ISO 13849-2, Safety of machinery - Safety-related parts of control systems - Part 2: Validation,[14], specifies the procedures and conditions to be followed for the validation by analysis and testing ofthe specified safety functions, the category and the performance level achieved by SRP/CS designedin accordance with ISO 13849-1.

• EN ISO 13850, Safety of machinery - Emergency stop function - Principles for design, [15], specifiesfunctional requirements for the emergency stop function on machinery, independent of the type ofenergy used to control the function.

• EN 60204-1, Safety of machinery - Electrical equipment of machines - Part 1: General requirements,[16], is relevant for application of electrical, electronic and programmable electronic equipment andsystems to machines not portable by hand while working, including a group of machines workingtogether in a coordinated manner.

• EN 62061, Safety of machinery: Functional safety of electrical, electronic and programmable electroniccontrol systems, [17], specifies requirements and makes recommendations for the design, integrationand validation of safety-related electrical, electronic and programmable electronic control systems(SRECS) for machines.

Overall relationship of MD standards for safety-related control systems development is shown in Fig. 1.Requirements for the system are derived from risk assessment and reduction analysis performed accordingto [12] and from the standard [16]. If the control system implements emergency stop function, thanrequirements of [15] must also be considered. The development, including validation, is then conductedaccording to [13] and [14] and/or [17].

As can be seen from scopes of the standards and from usage scheme in Fig. 1, there is a lot of overlapbetween standards [13] and [17]. Guidelines for the selection of one of these standard for a particular projectis given in introduction of both standards and can be summarized with following table.

Table 5.1: Recommended application of IEC 62061 and ISO 13849-1

# Technology ISO 13849-1 IEC 62061

A non-electrical applicable not covered

B electromechanical restricted to designated archi-tectures and upt to PL = e

all architectures up to SIL 3

C complex electronics restricted to designated archi-tectures and upt to PL = d


D A combined with B restricted to designated archi-tectures and upt to PL = e

applicable

E C combined with B restricted to designated archi-tectures and upt to PL = d


F C combined with A, or C com-bined with A and B

applicable applicable

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Figure 1: Relation of applicable MD standards.

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General recommendation is to use [13] for non-electrical and simple electrical systems, while [17] is recom-mended for complex electronical systems. The two standards are compatible and can be combined, e.g. [13]can be used for hydraulic and electromechanical components with programmable electronical componentsare developed according to [17].

Additionally, for complex programmable systems [17] references EN IEC 61508 series of standards titledFunctional safety of electrical/electronic/programmable electronic safety-related systems, [18]. This is abasic functional safety standard applicable to all kinds of industry, and [17] is its domain-specific imple-mentation.

5.1.3 C-type

There exist no harmonized C-type standard that can be applied to flexible automated warehouses withAGVs. Various standard come close to be applicable, but fail due to their limited scope, e.g.

• EN 528, Rail dependent storage and retrieval equipment - Safety requirements, applies to all types ofstorage/retrieval machines, restricted to the rails on which they travel within and outside the aisles,which embody lifting means and may embody lateral handling facilities, for the storage and retrievalof unit loads and/or long goods such as bar materials and/or for order picking or similar duties.This standard does not apply to free ranging industrial trucks or robots and is thus not applicable toflexible automated warehouses with AGVs.

• EN ISO 10218, Robots and robotic devices - Safety requirements for industrial robots, specifies re-quirements and guidelines for the inherent safe design, protective measures and information for useof industrial robots. Since ”industrial robot” is defined as a manipulator designed to move materi-als, parts and tools, and perform a variety of programmed tasks in manufacturing and productionsettings, this standard is also not applicable to warehouses populated with AGVs.

• EN ISO 13482, Robots and robotic devices - Safety requirements for personal care robots, specifiesrequirements and guidelines for the inherently safe design, protective measures, and information foruse of personal care robots, in particular mobile servant, physical assistant and person carrier robots.It covers human-robot physical contact applications and is this not applicable to flexible automatedwarehouses where contact between AGVs and humans is to be avoided.

As there are no C-type MD standards applicable to flexible automated warehouses with AGVs, safety-relevant systems and sub-systems of such warehouses must be developed according to applicable A- andB-type standards.

5.2 RED Standards

Which standards from the scope of Radio Equipment Directive are applicable to flexible automated ware-house depends on applied technology. In case of SafeLog system WiFi and UWB communications are usedso appropriate standards must be selected.

Standards applicable to UWB communications

• ETSI EN 302 065-1, Short Range Devices (SRD) using Ultra Wide Band technology (UWB); Har-monised Standard covering the essential requirements of article 3.2 of the Directive 2014/53/EU; Part1: Requirements for Generic UWB applications, [19];

• ETSI EN 303 883, Short Range Devices (SRD) using Ultra Wide Band (UWB); Measurement Tech-niques, [20];

• ETSI EN 300 328, Electromagnetic compatibility and Radio spectrum Matters (ERM); Widebandtransmission systems; Data transmission equipment operating in the 2,4 GHz ISM band and usingwide band modulation techniques; Harmonized EN covering the essential requirements of article 3.2of the R&TTE Directive, [21].

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Standards applicable to WiFi communication:

• ETSI EN 301 489-17, Electromagnetic compatibility and Radio spectrum Matters (ERM); ElectroMag-netic Compatibility (EMC) standard for radio equipment; Part 17: Specific conditions for BroadbandData Transmission Systems, [22].

5.3 EMC Directive Standards

Electromagnetic compatibility is concerned with two topics:

• Emission - study of countermeasures for reducing unwanted electromagnetic energy generation andrelease into the environment.

• Immunity - examination of the ability of equipment to function correctly in the presence of unwantedemissions.

A generic standard for EMC immunity applicable to electrical and electronic equipment intended for use inindustrial locations if no relevant dedicated product or product-family EMC immunity standard exists isIEC 61000-6-2, Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity standardfor industrial environments, [23].

Similarly, for emissions EN 61000-6-4, Electromagnetic compatibility (EMC) - Part 6-4: Generic standards- Emission standard for industrial environments, [24].

Additionally, following standards are applicable:

• EN 61326-3-1, Electrical equipment for measurement, control and laboratory use - EMC requirements- Part 3-1: Immunity requirements for safety-related systems and for equipment intended to performsafety-related functions (functional safety) - General industrial applications, [25];

• EN 61000-3-2, Electromagnetic compatibility (EMC) - Part 3-2: Limits - Limits for harmonic currentemissions (equipment input current ≤ 16 A per phase, [26];

• EN 61000-3-3, Electromagnetic compatibility (EMC) - Part 3-3: Limits - Limitation of voltagechanges, voltage fluctuations and flicker in public low-voltage supply systems, for equipment withrated current less or equal to 16 A per phase and not subject to conditional connection, [27].

5.4 LVD Standards

Standards harmonized under LVD and applicable to flexible automated warehouses in general, and SafeLogsystme in particular, are:

• EN 60950-1, Information technology equipment - Safety - Part 1: General requirements, [28], is ap-plicable to mains-powered or battery-powered information technology equipment, including electricalbusiness equipment and associated equipment, with a rated voltage not exceeding 600 V.

• EN 62233, Measurement methods for electromagnetic fields of household appliances and similar appa-ratus with regard to human exposure, [29], deals with electromagnetic fields up to 300 GHz and definesmethods for evaluating the electric field strength and magnetic flux density around household andsimilar electrical appliances, including the conditions during testing as well as measuring distancesand positions.

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5.5 RoHS Standards

Under RoHS directive there is only one harmonized standard, namely EN 50581, Technical documentationfor the assessment of electrical and electronic products with respect to the restriction of hazardous substances,[30].

Additional guidance on sampling and testing products for RoHS is given in IEC 62321, Electrotechnical prod-ucts - Determination of levels of six regulated substances (lead, mercury, cadmium, hexavalent chromium,polybrominated biphenyls, polybrominated diphenyl ethers), [31].

5.6 Communication

Safety-relevant messages should in a flexible automated warehouse with AGVs be transmitted over a com-munication channel compliant to EN IEC 61784-3 standard series, Industrial communication networks -Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions, [32]. This series ex-plains some common principles that can be used in the transmission of safety-relevant messages amongparticipants within a distributed network which use fieldbus technology in accordance with the require-ments of IEC 61508 series for functional safety. These principles are based on the black channel approach.They can be used in various industrial applications such as process control, manufacturing automation andmachinery.

6 Conformity Assessment

According to requirements of Machinery, RED, RoHS and Ecodesign Directives, manufacturer or his autho-rized representative must carry out an assessment of the conformity with the internal control of productionprovided in the respective enclosures of the mentioned Directives.

Conformity assessment of the personal safety system in a flexible automated warehouse must be carried outin such a way that the manufacturer ensures and declares that the product meets the relevant requirementsof the relevant Directives. As proof of the above, the manufacturer will hold on disposal to the competentinspection bodies the technical file containing the information specified in the Annexes to the Directives.

6.1 EU Declaration of Conformity

Union harmonisation legislation imposes an obligation on the manufacturer to draw up and sign an EUDeclaration of Conformity before placing a product on the market. The manufacturer or his authorisedrepresentative established within the Union must draw up and sign an EU Declaration of Conformity aspart of the conformity assessment procedure provided for in the Union harmonisation legislation. TheEU declaration of conformity is the document that states that that the product satisfies the essentialrequirements of the applicable legislation. By drawing up and signing the EU Declaration of Conformity,the manufacturer assumes responsibility for the compliance of the product. Just as it is the case for thetechnical documentation, the EU Declaration of Conformity must be kept for ten years from the dateof placing the product on the market, unless the legislation provides for any other duration. This isthe responsibility of the manufacturer or the authorised representative established within the Union. Forimported products, the importer must take on this responsibility for the DoC.

The contents of the EU Declaration of Conformity either refer to the model declaration contained inAnnex III of Decision No 768/2008/EC, [2], or a model declaration directly annexed to the sectoral Unionharmonisation legislation at stake. The standard [33] has been drawn up with the objective of providing thegeneral criteria for the declaration of conformity, and it can also be used as a guidance document providedit is in line with the applicable Union harmonisation legislation.

The declaration may take the form of a document, a label or equivalent, and must contain sufficientinformation to enable all products covered by it to be traced back to it.

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The model declaration of [2] contains:

1. A number identifying the product. This number does not need to be unique to each product.It could refer to a product, batch, type or a serial number. This is left to the discretion of themanufacturer;

2. The name and address of the manufacturer or the authorised representative issuing the decla-ration;

3. A statement that the declaration is issued under the sole responsibility of the manufacturer;

4. The identification of the product allowing traceability. This is basically any relevant infor-mation supplementary to point 1 describing the product and allowing for its traceability. Itmay where relevant for the identification of the product contain an image, but unless specifiedas a requirement in the Union harmonisation legislation this is left to the discretion of themanufacturer;

5. All relevant Union harmonisation legislation complied with; the referenced standards or othertechnical specifications (such as national technical standards and specifications) in a precise,complete and clearly defined way; this implies that the version and/or date of the relevantstandard is specified;

6. The name and identification number of the notified body when it has been involved in theconformity assessment procedure;

7. All supplementary information that may be required (for example grade, category), if applicable;

8. The date of issue of the declaration; signature and title or an equivalent marking of authorisedperson ; this could be any date after the completion of the conformity assessment.

Where several pieces of Union harmonisation legislation apply to a product, the manufacturer or the au-thorised representative has to provide a single declaration of conformity in respect of all such Union acts.It is accepted that the single declaration may be a dossier made up of relevant individual Declarations ofconformity. The EU declaration of conformity must be made available to the surveillance authority upon re-quest. Moreover, Union harmonisation legislation relating to machinery, equipment in potentially explosiveatmospheres, radio and terminal telecommunication equipment, measuring instruments, recreational craft,lifts, high-speed and conventional rail systems and constituents of the European Air Traffic Managementnetwork require products to be accompanied by the EU declaration of conformity. The EU declaration ofconformity must be translated into the language or languages required by the Member State in which theproduct is placed or made available on the market. Union harmonisation legislation does not necessarilyspecify who has the obligation to translate. Logically, this should be the manufacturer or another economicoperator making the product available.

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7 Consortium

7.1 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-Württemberg 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 threestrategic fields of action of research, 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 Björn 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.

7.2 Swisslog Automation GmbH

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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• 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.

7.3 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 builds

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http://imr.felk.cvut.cz


excellence 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 Přeučil 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.

7.4 University of Zagreb, Faculty of Electrical Engineering and Computing

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 electricaland computer engineering and computer science in Croatia. UNIZG-FER isorganised in 12 Departments which represent the focal points of education andR&D. Research related to this project will be carried out at the Department ofControl 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 Petrović. 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 Petrović, 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.

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http://lynx1.felk.cvut.cz/cafrhttp://www.fer.unizg.hr/enhttp://act.rasip.fer.hr/groups_amor.phphttp://across.fer.unizg.hrhttp://across.fer.unizg.hrhttp://www.syroco2012.org


7.5 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 ac-quired from funded projects is directly transferred in industrial contracts. Somade-to-measure arranged teams create cross-industry and customer-specific solutions in the area of ma-terials handling, warehouse management, supply chain management, simulation supported business andsystem planning and also traffic systems, closed loop economy, resources logistics, building logistics ande-business. IML is said to be first address for all questions with respect to holistic logistics, the employeeswork on all fields of internal and external logistics. At the Institute, founded in 1981, there are at themoment 200 employees as well as 250 post-graduates, supported by colleagues in workshops, laboratoriesand 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.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.

7.6 KONCAR - Electrical Engineering Institute Inc.

KONČAR – 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 asplatforms for design of demanding embedded HW/SW systems (including safetyrelated SIL4 platforms). KEEI has been involved in several European and national R&D grant schemes(EUREKA, Proof of Concept (PoC), IPA, ERDF etc.) and has a lot of experience in implementation ofvarious R&D projects. Currently there are 164 employees at KEEI, it is organized in 6 departments andits premises occupy 13.000 m2. In the frame of 6 departments there are specialised R&D sub-departmentsand 9 well-equipped laboratories which are used for R&D support, testing and diagnostics. In July 2014KEEI became a Notified Body of the European Commission for several important EC directives (low volt-age equipment, machinery, EMC, radio and telecommunications terminal equipment, appliances burninggaseous fuels, pressure equipment and personal protective equipment). Research related to the proposedproject will be carried out by Control, Renewables & Power Electronics Department. This Departmentemploys 30 experts and offers extensive knowledge in design, development and testing of industrial embed-ded control systems (HW and SW components), renewable energy solutions and power converters used intraction 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 initial

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technical 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 TÜVaccording 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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8 Glossary

Glossary

AGVAutomated Guided Vehicle: An Automated Guided Vehicle is a mobile robot that follows markersor wires in the floor, or uses vision, magnets, or lasers for navigation. They are most often used inindustrial applications to move materials around a manufacturing facility or warehouse. Applicationof the automatic guided vehicle has broadened during the late 20th century.. 5, 7, 12, 13, 15, 17, 20,23

DoCDeclaration of Conformity: The EC declaration of conformity is the written statement and the asingle declaration drawn up by the manufacturer to demonstrate the fulfilment of the EU require-ments relating to a product bearing the CE marking he has manufactured. The declaration shallbe in respect of all Community acts applicable to the product containing all information requiredfor the identification of Community harmonisation legislation to which the declaration relates. Thisdeclaration must cover one or more products manufactured, clearly identified by means of productname, product code or other unambiguous reference and must be kept by the manufacturer, or hisEuropean Authorised Representative if the manufacturer is based outside the EU.. 17

EMCElectromagnetic compatibility: Electromagnetic compatibility is the branch of electrical scienceswhich studies the unintentional generation, propagation and reception of electromagnetic energywith reference to the unwanted effects (Electromagnetic interference, or EMI) that such energy mayinduce. The goal of EMC is the correct operation, in the same electromagnetic environment, ofdifferent equipment which use electromagnetic phenomena, and the avoidance of any interferenceeffects - Wikipedia.. 7, 9, 10, 16, 22

ESMEmergency Stop Module: Emergency Stop Module is AGV’s interface to Safety Vest. It enablesan AGV to detect Safety Vests inside Safety Level A distance and assert emergency stop in suchsituations.. 7

LVDLow Voltage Directive: The Low Voltage Directive (LVD) 2006/95/EC is one of the oldest SingleMarket Directives adopted by the European Union before the ”New” or ”Global” Approach. The Di-rective provides common broad objectives for safety regulations, so that electrical equipment approvedby any EU member country will be acceptable for use in all other EU countries. The Low VoltageDirective does not supply any specific technical standards that must be met, instead relying on IECtechnical standards to guide designers to produce safe products. Products that conform to the generalprinciples of the Low Voltage Directive and the relevant particular safety standards are marked withthe CE marking to indicate compliance and acceptance throughout the EU. Conformance is assertedby the manufacturer based on its conformity assessment.. 9, 10, 16

MDMachinery Directive: The Directive 2006/42/EC of the European Parliament and of the Council of17 May 2006 is a European Union directive concerning machinery and certain parts of machinery. Itsmain intent is to ensure a common safety level in machinery placed on the market or put in servicein all member states and to ensure freedom of movement within the European Union by stating that”member states shall not prohibit, restrict or impede the placing on the market and/or putting intoservice in their territory of machinery which complies with [the] Directive”.. 7–9, 12–15

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PLPerformance Level: discrete level used to specify the ability of safety-related parts of control systemsto perform a safety function under foreseeable conditions.. 13

PMOThe Project Management Office: The project Management Office consists of personnel from KITFORScience (cf. description of KIT). 19

PPEPersonal Protective Equipment: Any device or appliance designed to be worn or held by an individualfor protection against one or more health and safety hazards.. 7

SILSafety Integrity Level: Safety integrity level is a relative level of risk-reduction provided by a safetyfunction, or a targeted level of risk reduction. In other words, SIL is a measurement of performancerequired for a safety instrumented function.. 13, 22, 23

SRP/CSSafety-Related Parts of Control Systems: Parts of control systems related to safety.. 13

SVSafety Vest: A vest which enables, together with other systems, persons to work safely in automatedwarehouses alongside AGVs.. 7

UWBUltra-Wide-Band: UWB is a radio technology pioneered by Robert A. Scholtz and others that canuse a very low energy level for short-range, high-bandwidth communications over a large portion ofthe radio spectrum. UWB has traditional applications in non-cooperative radar imaging. Most recentapplications target sensor data collection, precision locating and tracking applications. Unlike spreadspectrum, UWB transmits in a manner that does not interfere with conventional narrowband andcarrier wave transmission in the same frequency band.. 15

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HistorySummaryIntroductionDocumentationRisk Analysis and AssessmentRe-design

European DirectivesPersonal Protective EquippmentMachinery DirectiveRadio Equipment DirectiveEMC DirectiveLow Voltage DirectiveRoHS DirectiveEcodesign Directive

StandardsMD StandardsA-typeB-typeC-type

RED StandardsEMC Directive StandardsLVD StandardsRoHS StandardsCommunication

Conformity AssessmentEU Declaration of Conformity

ConsortiumKITSLACVUTUNIZG-FERIMLKEEI

GlossaryBibliography

title: guidelines for personal safety in flexible automated...

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