Intro
Preface
Contents
1 Introduction
1.1 Circular Economy
1.2 Industry 4.0
1.3 Product-Service Systems
1.4 The FENIX Project
References
2 Circular Business Models Identification
2.1 Current State of the Art on CBMs and Their Classification Methods
2.2 Current State of the Art on Industrial Benefits Related with CBMs
2.3 Identification of the FENIX Industrial Benefits
2.4 Identification of the FENIX CBMs
2.5 Implementation of the FENIX CBM Assessment Matrixes
2.6 Conclusions
References
3 Circular Economy Performance Assessment

3.1 State of the Art on Circular Economy Performance Assessment Methods
3.2 The Circular Economy Performance Assessment Methodology
3.3 Circularity Product Assessment (CPA) Methodology
3.3.1 CPA Phase 1-Objectives Definition and Settings
3.3.2 CPA Phase 2-Inventory Analysis and Resource Flows Decomposition
3.3.3 CPA Phase 3-Weights and Indexes Calculation
3.3.4 CPA Phase 4-Circularity Indexes Calculation
3.4 Conclusions
References
4 Semi-automated PCB Disassembly Station
4.1 State of the Art on WEEE Disassembly Processes
4.1.1 Cobots and Disassembly Processes

4.1.2 Cobots and WEEE Disassembly Processes
4.1.3 Cobots and PCB Disassembly Processes
4.2 The Semi-automated PCB Disassembly Station at POLIMI's Industry 4.0 Lab
4.2.1 Structure of the PCB Disassembly Station
4.2.2 The PCB Disassembly Process in Detail
4.2.3 Front/Back PCB Disassembly Process Setup
4.2.4 Front/back PCB Desoldering Process
4.3 ROS-Based Control Architecture Setup
4.3.1 Low-Level Real Time Controller
4.3.2 High-Level Task and Safety Management Controller
4.3.3 Cobot State and Trajectory Planning Real Time Visualization Tool

4.3.4 Operator-Oriented Manual Control Interface
4.3.5 Real Time Process Data Gathering Tool
4.3.6 Desk Web Interface
4.3.7 FRANKA® Control Interface
4.4 Application and Results
4.4.1 Manual Desoldering Tests
4.4.2 Cobot-Assisted Desoldering Tests
4.4.3 Data Gathering from Cobot-Assisted Desoldering Tests
4.5 Conclusions
References
5 A Mobile Pilot Plant for the Recovery of Precious and Critical Raw Materials
5.1 Introduction
5.2 Pilot Plant Design and Description by Process Performing
5.2.1 GOLD REC 1 Process Description

5.2.2 GOLD REC 2 Process Description
5.3 Conclusion
References
6 An Innovative (DIW-Based) Additive Manufacturing Process
6.1 Direct Ink Writing
6.1.1 DIW Technology Introduction
6.1.2 Ink Process Generation for DIW Technology
6.1.3 Printable DIW Parts Design Criteria
6.2 Whys of DIW
6.3 FENIX's DIW Machine
6.3.1 Machine Parts
6.3.2 Printing Process with FENIX Machine
6.3.3 First Test Validation
6.3.4 Sintering Process Parameters
6.4 Technology's Viability
6.4.1 Applications in the Industry
6.4.2 Applications in the Industry
6.5 Conclusions