A system for improving safety in an interaction between a human and an industrial machine in an automated manufacturing environment, comprising: (i) a cyber-mechanical system including at least one industrial machine; (ii) the cyber-mechanical system comprising a cyber-mechanical control system for processing inputs to produce control outputs for the at least one industrial machine; (iii) the cyber-mechanical system further comprising a task planner configured to translate high level goals into scheduled tasks for the at least one industrial machine; (iv) the cyber-mechanical system further comprising a perception module configured to receive information relating to at least one industrial machine including position and information relating to the goals and the tasks required to complete the goals and information relating to the environment, wherein the environment includes presence of one or more humans; (v) an interaction reasoner configured to receive inputs comprising information corresponding to the presence of the one or more humans and information relating to the at least one machine including position and information relating to the goals and the tasks required to complete the goals; process the received inputs to consider context of interactions that occur between each of the at least one machine with respect to the one or more humans; and identify at least one interaction between the at least one industrial machine and a human working in cooperation with the at least one industrial machine to accomplish the goals; (vi) an image generator that produces an interaction image (211, 305) that defines machine-to-human information to be conveyed that circumscribes immediate human-machine interaction considerations, wherein the image generator further produces a foreshadowing image, wherein the foreshadowing image defines machine-to-human information to be conveyed that circumscribes near-future interaction considerations; and (vii) an image projector associated with each of the at least one industrial machines, the image projector configured to project the interaction image and the foreshadowing image and to provide contrast between a projected interaction image and a projected foreshadowing image; wherein the terms interaction image and the foreshadowing image refer to an output form that belongs to any possible output domain, such as visual, audio, and/or haptic and projecting refers to outputting the images into a domain specific projection such as audio, visual and/or haptic. (i) a cyber-mechanical system including at least one industrial machine; (ii) the cyber-mechanical system comprising a cyber-mechanical control system for processing inputs to produce control outputs for the at least one industrial machine; (iii) the cyber-mechanical system further comprising a task planner configured to translate high level goals into scheduled tasks for the at least one industrial machine; (iv) the cyber-mechanical system further comprising a perception module configured to receive information relating to at least one industrial machine including position and information relating to the goals and the tasks required to complete the goals and information relating to the environment, wherein the environment includes presence of one or more humans; (v) an interaction reasoner configured to receive inputs comprising information corresponding to the presence of the one or more humans and information relating to the at least one machine including position and information relating to the goals and the tasks required to complete the goals; process the received inputs to consider context of interactions that occur between each of the at least one machine with respect to the one or more humans; and identify at least one interaction between the at least one industrial machine and a human working in cooperation with the at least one industrial machine to accomplish the goals; receive inputs comprising information corresponding to the presence of the one or more humans and information relating to the at least one machine including position and information relating to the goals and the tasks required to complete the goals; process the received inputs to consider context of interactions that occur between each of the at least one machine with respect to the one or more humans; and identify at least one interaction between the at least one industrial machine and a human working in cooperation with the at least one industrial machine to accomplish the goals; (vi) an image generator that produces an interaction image (211, 305) that defines machine-to-human information to be conveyed that circumscribes immediate human-machine interaction considerations, wherein the image generator further produces a foreshadowing image, wherein the foreshadowing image defines machine-to-human information to be conveyed that circumscribes near-future interaction considerations; and (vii) an image projector associated with each of the at least one industrial machines, the image projector configured to project the interaction image and the foreshadowing image and to provide contrast between a projected interaction image and a projected foreshadowing image; wherein the terms interaction image and the foreshadowing image refer to an output form that belongs to any possible output domain, such as visual, audio, and/or haptic and projecting refers to outputting the images into a domain specific projection such as audio, visual and/or haptic.