Contingent task and motion planning under uncertainty for human–robot interactions

Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human operators can also collaborate with robots for the execution of some difficult actions or as helpers in sharing the task knowledge. In this scope, a contingent-based task and motion planning is proposed taking into account robot uncertainty and human–robot interactions, resulting a tree-shaped set of geometrically feasible plans. Different sorts of geometric reasoning processes are embedded inside the planner to cope with task constraints like detecting occluding objects when a robot needs to grasp an object. The proposal has been evaluated with different challenging scenarios in simulation and a real environment.Postprint (published version

Autonomous Finite Capacity Scheduling using Biological Control Principles

The vast majority of the research efforts in finite capacity scheduling over the past several years has focused on the generation of precise and almost exact measures for the working schedule presupposing complete information and a deterministic environment. During execution, however, production may be the subject of considerable variability, which may lead to frequent schedule interruptions. Production scheduling mechanisms are developed based on centralised control architecture in which all of the knowledge base and databases are modelled at the same location. This control architecture has difficulty in handling complex manufacturing systems that require knowledge and data at different locations. Adopting biological control principles refers to the process where a schedule is developed prior to the start of the processing after considering all the parameters involved at a resource involved and updated accordingly as the process executes. This research reviews the best practices in gene transcription and translation control methods and adopts these principles in the development of an autonomous finite capacity scheduling control logic aimed at reducing excessive use of manual input in planning tasks. With autonomous decision-making functionality, finite capacity scheduling will as much as practicably possible be able to respond autonomously to schedule disruptions by deployment of proactive scheduling procedures that may be used to revise or re-optimize the schedule when unexpected events occur. The novelty of this work is the ability of production resources to autonomously take decisions and the same way decisions are taken by autonomous entities in the process of gene transcription and translation. The idea has been implemented by the integration of simulation and modelling techniques with Taguchi analysis to investigate the contributions of finite capacity scheduling factors, and determination of the ‘what if’ scenarios encountered due to the existence of variability in production processes. The control logic adopts the induction rules as used in gene expression control mechanisms, studied in biological systems. Scheduling factors are identified to that effect and are investigated to find their effects on selected performance measurements for each resource in used. How they are used to deal with variability in the process is one major objective for this research as it is because of the variability that autonomous decision making becomes of interest. Although different scheduling techniques have been applied and are successful in production planning and control, the results obtained from the inclusion of the autonomous finite capacity scheduling control logic has proved that significant improvement can still be achieved

Quality costs and Industry 4.0: inspection strategy modelling and reviewing

Inspection strategy (IS) is a key component impacting quality costs. Although often considered an infexible output of initial quality plans, it may require revisions given the dynamic quality situation of the manufacturing system. It is from this background that the present study aims to model and compare diferent IS based on the cost of quality (CoQ) approach for a case study in the automotive manufacturing industry. While many computational inspection strategy models (ISMs) are available in the literature, most of them face application challenges and struggle to incorporate real-world data. The present study addresses this gap by developing a model that not only represents a real testing station in a manufacturing line but also uses historical production data. Additionally, in relation to model inputs, this study explores the challenges and opportunities of acquiring reliable quality cost estimates in the Industry 4.0 context. Among the main contributions of this work, the developed CoQ-based ISM can be used as a decision-making aiding tool for inspection revision and improvement, while conclusions about quality cost data collection in the industrial digitalization context can help advance the CoQ approach in practiceFCT|FCCN (b-on

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

Factories of the Future

Engineering; Industrial engineering; Production engineerin

Coordination and path planning of a heterogeneous multi-robot system for sheet metal drilling

This paper presents the details of a sub-system developed to address coordination between a serial manipulator robot (machining) and SwarmItFIX robot (fixturing) for a sheet metal drilling process. A heterogeneous multi-robot coordination methodology that has already been demonstrated to be successful in a milling process has been further enhanced here to make it suitable for a drilling process. For the convergence of joint angles in the trajectory planning of the serial manipulator robot, an optimisation-based approach is proposed. The velocity of the tool center point (TCP) is considered to be constant throughout, as it improves the quality of the machining. The SwarmItFIX robot abides by a revised five-step locomotion strategy to traverse between any two support locations. A new time plan that ensures multi-robot coordination has also been proposed in this work. The proposed method has been tested with three different drilling patterns, and the results show that the proposed method computes the trajectory of the serial manipulator, support locations of the SwarmItFIX and locomotion sequence of the base agent accurately