Nonterrestrial utilization of materials: Automated space manufacturing facility

Four areas related to the nonterrestrial use of materials are included: (1) material resources needed for feedstock in an orbital manufacturing facility, (2) required initial components of a nonterrestrial manufacturing facility, (3) growth and productive capability of such a facility, and (4) automation and robotics requirements of the facility

Component-based synthesis of motion planning algorithms

Combinatory Logic Synthesis generates data or runnable programs according to formal type specifications. Synthesis results are composed based on a user-specified repository of components, which brings several advantages for representing spaces of high variability. This work suggests strategies to manage the resulting variations by proposing a domain-specific brute-force search and a machine learning-based optimization procedure. The brute-force search involves the iterative generation and evaluation of machining strategies. In contrast, machine learning optimization uses statistical models to enable the exploration of the design space. The approaches involve synthesizing programs and meta-programs that manipulate, run, and evaluate programs. The methodologies are applied to the domain of motion planning algorithms, and they include the configuration of programs belonging to different algorithmic families. The study of the domain led to the identification of variability points and possible variations. Proof-of-concept repositories represent these variability points and incorporate them into their semantic structure. The selected algorithmic families involve specific computation steps or data structures, and corresponding software components represent possible variations. Experimental results demonstrate that CLS enables synthesis-driven domain-specific optimization procedures to solve complex problems by exploring spaces of high variability.Combinatory Logic Synthesis (CLS) generiert Daten oder lauffähige Programme anhand von formalen Typspezifikationen. Die Ergebnisse der Synthese werden auf Basis eines benutzerdefinierten Repositories von Komponenten zusammengestellt, was diverse Vorteile für die Beschreibung von Räumen mit hoher Variabilität mit sich bringt. Diese Arbeit stellt Strategien für den Umgang mit den resultierenden Variationen vor, indem eine domänen-spezifische Brute-Force Suche und ein maschinelles Lernverfahren für die Untersuchung eines Optimierungsproblems aufgezeigt werden. Die Brute-Force Suche besteht aus der iterativen Generierung und Evaluation von Frässtrategien. Im Gegensatz dazu nutzt der Optimierungsansatz statistische Modelle zur Erkundung des Entwurfsraums. Beide Ansätze synthetisieren Programme und Metaprogramme, welche Programme bearbeiten, ausführen und evaluieren. Diese Methoden werden auf die Domäne der Bewegungsplanungsalgorithmen angewendet und sie beinhalten die Konfiguration von Programmen, welche zu unterschiedlichen algorithmischen Familien gehören. Die Untersuchung der Domäne führte zur Identifizierung der Variabilitätspunkte und der möglichen Variationen. Entsprechende Proof of Concept Implementierungen in Form von Repositories repräsentieren jene Variabilitätspunkte und beziehen diese in ihre semantische Struktur ein. Die gewählten algorithmischen Familien sehen bestimmte Berechnungsschritte oder Datenstrukturen vor, und entsprechende Software Komponenten stellen mögliche Variationen dar. Versuchsergebnisse belegen, dass CLS synthese-getriebene domänenspezifische Optimierungsverfahren ermöglicht, welche komplexe Probleme durch die Exploration von Räumen hoher Variabilität lösen

A layered control architecture for mobile robot navigation

A Thesis submitted to the University Research Degree Committee in fulfillment ofthe requirements for the degree of DOCTOR OF PHILOSOPHY in RoboticsThis thesis addresses the problem of how to control an autonomous mobile robot navigation in indoor environments, in the face of sensor noise, imprecise information, uncertainty and limited response time. The thesis argues that the effective control of autonomous mobile robots can be achieved by organising low level and higher level control activities into a layered architecture. The low level reactive control allows the robot to respond to contingencies quickly. The higher level control allows the robot to make longer term decisions and arranges appropriate sequences for a task execution. The thesis describes the design and implementation of a two layer control architecture, a task template based sequencing layer and a fuzzy behaviour based low level control layer. The sequencing layer works at the pace of the higher level of abstraction, interprets a task plan, mediates and monitors the controlling activities. While the low level performs fast computation in response to dynamic changes in the real world and carries out robust control under uncertainty. The organisation and fusion of fuzzy behaviours are described extensively for the construction of a low level control system. A learning methodology is also developed to systematically learn fuzzy behaviours and the behaviour selection network and therefore solve the difficulties in configuring the low level control layer. A two layer control system has been implemented and used to control a simulated mobile robot performing two tasks in simulated indoor environments. The effectiveness of the layered control and learning methodology is demonstrated through the traces of controlling activities at the two different levels. The results also show a general design methodology that the high level should be used to guide the robot's actions while the low level takes care of detailed control in the face of sensor noise and environment uncertainty in real time

Development of an integrated robotic polishing system

This thesis presents research carried out as part of a project undertaken in fulfilment of the requirements of Loughborough University for the award of Philosophical Doctorate. The main focus of this research is to investigate and develop an appropriate level of automation to the existing manual finishing operations of small metallic components to achieve required surface quality and to remove superficial defects. In the manufacturing industries, polishing processes play a vital role in the development of high precision products, to give a desired surface finish, remove defects, break sharp edges, extend the working life cycle, and meet mechanical specification. The polishing operation is generally done at the final stage of the manufacturing process and can represent up to a third of the production time. Despite the growth automated technology in industry, polishing processes are still mainly carried out manually, due to the complexity and constraints of the process. Manual polishing involves a highly qualified worker polishing the workpiece by hand. These processes are very labour intensive, highly skill dependent, costly, error-prone, environmentally hazardous due to abrasive dust, and - in some cases - inefficient with long process times. In addition, the quality of the finishing is dependent on the training, experience, fatigue, physical ability, and expertise of the operator. Therefore, industries are seeking alternative solutions to be implemented within their current processes. These solutions are mainly aimed at replacing the human operator to improve the health and safety of their workforce and improve their competitiveness. Some automated solutions have already been proposed to assist or replace manual polishing processes. These solutions provide limited capabilities for specific processes or components, and a lack of flexibility and dexterity. One of the reasons for their lack of success is identified as neglecting the study and implementing the manual operations. This research initially hypothesised that for an effective development, an automated polishing system should be designed based on the manual polishing operations. Therefore, a successful implementation of an automated polishing system requires a thorough understanding of the polishing process and their operational parameters. This study began by collaborating with an industrial polishing company. The research was focused on polishing complex small components, similar to the parts typically used in the aerospace industry. The high level business processes of the polishing company were capture through several visits to the site. The low level operational parameters and the understanding of the manual operations were also captured through development of a devices that was used by the expert operators. A number of sensors were embedded to the device to facilitate recording the manual operations. For instance, the device captured the force applied by the operator (avg. 10 N) and the cycle time (e.g. 1 pass every 5 sec.). The capture data was then interpreted to manual techniques and polishing approaches that were used in developing a proof-of-concept Integrated Robotic Polishing System (IRPS). The IRPS was tested successfully through several laboratory based experiments by expert operators. The experiment results proved the capability of the proposed system in polishing a variety of part profiles, without pre-existing geometrical information about the parts. One of the main contributions made by this research is to propose a novel approach for automated polishing operations. The development of an integrated robotic polishing system, based on the research findings, uses a set of smart sensors and a force-position-by-increment control algorithm, and transpose the way that skilled workers carry out polishing processes

The Federal Conference on Intelligent Processing Equipment

Research and development projects involving intelligent processing equipment within the following U.S. agencies are addressed: Department of Agriculture, Department of Commerce, Department of Energy, Department of Defense, Environmental Protection Agency, Federal Emergency Management Agency, NASA, National Institutes of Health, and the National Science Foundation

Technology assessment of advanced automation for space missions

Six general classes of technology requirements derived during the mission definition phase of the study were identified as having maximum importance and urgency, including autonomous world model based information systems, learning and hypothesis formation, natural language and other man-machine communication, space manufacturing, teleoperators and robot systems, and computer science and technology

Integration of a robotic arm into test automation

Abstract. The aim of this thesis work is to implement and integrate a Universal Robots’ UR5e arm robot into test automation. A six-axis arm robot was needed by test automation processes to solve a problem of including various physical products to test automation pipelines. The goal is to build a stable system, that fills all requirements set for this work. The final system needed to be easily integrated to an existing test automation body, without needing any large-scale changes to test automation’s architecture. The robot also needed to be operational around the clock, ready to receive tasks from external test automation software. This means the system needed to remain in a ready state for long periods of time without a need to manually start the robot’s test runs. As the most important requirement, the robot needed to be able to execute tasks given by the test software. Tasks may include complex movement patterns, that would include testing dependencies and functionalities between multiple different products. This thesis introduces industrial robot models, compares industrial robots and cobots with their functionalities, and reviews their current markets and future projections. In addition, common test automation tools are introduced, most of which are used in this implementation. With the current test automation structure and tools introduced, the solution for this work was planned and built. Before final implementation, multiple possible methods for connecting the robot to test automation pipelines were evaluated. This thesis works solution links the robot with test automation tools using a Python API, that uses Universal Robots’ RTDE module. With RTDE, a real-time connection was established between the robot and its control PC. With these methods, all movement logic could be moved from the robot’s own controller into an external control PC where the Python API is executed. Through this, the responsibility of deciding the robot’s next tasks could be passed to an external test software. The result was a dynamic testing system that was easily integrated to existing processes. After building safety systems, solving mechanical challenges, and establishing a functional RTDE connection, the final solution was tested against various error scenarios. The final implementation was a versatile, easy to use, and externally controlled robot API, that could be expanded into other use cases outside test automation.Käsivarsirobotin integrointi testiautomaatioon. Tiivistelmä. Tämän työn tarkoitus on implementoida ja integroida Universal Robotsin UR5e käsivarsirobotti testiautomaation käyttöön. Käsivarsirobottia tarvittiin testiautomaatioon ratkaisemaan monien fyysisten tuotteiden liikuttelun tarvetta. Työn tavoite on rakentaa stabiili systeemi, joka saavuttaa kaikki työlle annetut vaatimukset. Lopullisen ratkaisun piti olla helposti testiautomaatioon integroitava, jolloin suuria muutoksia testiautomaation olemassa olevaan rakenteeseen ei vaadittaisi. Robotin piti myös olla saatavilla ja valmiina suorittamaan testiautomaation ohjelmistoilta tulevia käskyjä ympäri vuorokauden. Järjestelmän piti siis pysyä vastaanottavassa tilassa pitkiä aikoja ilman, että robottia pitäisi käynnistää testiajoa varten manuaalisesti. Tärkeimpänä vaatimuksena robotin tuli kyetä suorittamaan testiohjelmiston käskystä monipuolisia liiketoimintoja, jotka sisältävät useiden eri tuotteiden keskinäisten riippuvuuksien testaamista. Työssä tutustutaan tuotannon robotiikkaan, tuotantorobottien ja cobottien toimintamalleihin, sekä niiden kaupallisiin lukemiin ja näkymiin. Lisäksi esitellään yleiset ja tässä työssä käytetyt testiautomaation työkalut. Työkalujen ja testiautomaation komponenttien avulla selvitetään nykyisen testiautomaation rakenne ja suunnitellaan ratkaisua ongelmaan. Ennen lopullista toteutusta tutkitaan erilaiset mahdollisuudet robotin ja testiautomaation yhteyden rakentamiseen. Työssä toteutetaan robotin ja testikomponenttien linkitys rakentamalla Python APIrajapinta, joka käyttää Universal Robotsin tukemaa RTDE-moduulia. RTDE:n avulla robotin ja sen ohjaustietokoneen välille saadaan rakennettua jatkuvan reaaliaikaisen datansiirron väylä. Näillä menetelmillä kaikki ohjauslogiikka voitiin siirtää robotin kontrollerista ulkoiselle ohjaustietokoneelle, jossa Python rajapintaa ajetaan. Tätä kautta vastuu robotin liikuttamisesta saatiin siirrettyä testiohjelmistolle, jolloin saavutettiin dynaaminen integroitu systeemi. Turvajärjestelmien rakentamisen, mekaanisten haasteiden ratkaisemisen ja valmiin RTDE-yhteyden saavuttamisen jälkeen lopullista tuotetta testattiin erilaisten vikatilanteiden varalta. Lopullisen implementaation tulos oli monipuolinen ja helposti käytettävä ulkoisesti ohjattava robottirajapinta, jonka käyttöä voitaisiin helposti laajentaa myös muihin tehtäviin testiautomaation ulkopuolell

Design of an adaptive force and stiffness controlled compliant device for robotic polishing

Polishing is a repetitive task done in an unhealthy environment. Often more than half of the manufacturing time is required to polish a die. The manual polishing process is a tedious work actively rely on a skilled human worker. Industrial Robot has replaced the human in performing these tasks. For robotic polishing to control the polishing force, an active compliant device is used. Due to the compressibility of air, a pneumatic system is preferred as the actuator of the device. The force of the actuator is controlled by regulating air pressure in both chambers of the cylinder. However, to improve productivity, a constant polishing force alone is not sufficient, the stiffness is also considered. The current work involved a new adaptive approach to model and control of the force and stiffness of an active compliant device. The device can adaptively control the compliance and force in real time compensating the gravitational effect due to the mass, gravity, and orientation of the tool. The designed single axis controller consists of a dual acting pneumatic cylinder attached to the end effector of an industrial robot. The effectiveness of the force and stiffness controlled polishing system was proved through experiments --Abstract, page iii