Feature based workshop oriented NC planning for asymmetric rotational parts

This thesis describes research which is aimed at devising a framework for a feature based workshop oriented NC planning. The principal objective of this thesis is to utilize a feature based method which can rationalize and enhance part description and in particular part planning and programming on the shop-floor. This work has been done taking into account new developments in the area of shop floor programming. The importance of the techniques and conventions which are addressed in this thesis stems from the recognition that the most effective way to improve and enhance part description is to capture the intent of the engineering drawing by devising a medium in which the recurring patterns of turned components can be modelled for machining. Experimental application software which allows the user to describe the workpiece and subsequently generate the manufacturing code has been realized

Neural Extended Kalman Filter for State Estimation of Automated Guided Vehicle in Manufacturing Environment

To navigate autonomously in a manufacturing environment Automated Guided Vehicle (AGV) needs the ability to infer its pose. This paper presents the implementation of the Extended Kalman Filter (EKF) coupled with a feedforward neural network for the Visual Simultaneous Localization and Mapping (VSLAM). The neural extended Kalman filter (NEKF) is applied on-line to model error between real and estimated robot motion. Implementation of the NEKF is achieved by using mobile robot, an experimental environment and a simple camera. By introducing neural network into the EKF estimation procedure, the quality of performance can be improved

Prediction of Robot Execution Failures Using Neural Networks

In recent years, the industrial robotic systems are designed with abilities to adapt and to learn in a structured or unstructured environment. They are able to predict and to react to the undesirable and uncontrollable disturbances which frequently interfere in mission accomplishment. In order to prevent system failure and/or unwanted robot behaviour, various techniques have been addressed. In this study, a novel approach based on the neural networks (NNs) is employed for prediction of robot execution failures. The training and testing dataset used in the experiment consists of forces and torques memorized immediately after the real robot failed in assignment execution. Two types of networks are utilized in order to find best prediction method - recurrent NNs and feedforward NNs. Moreover, we investigated 24 neural architectures implemented in Matlab software package. The experimental results confirm that this approach can be successfully applied to the failures prediction problem, and that the NNs outperform other artificial intelligence techniques in this domain. To further validate a novel method, real world experiments are conducted on a Khepera II mobile robot in an indoor structured environment. The obtained results for trajectory tracking problem proved usefulness and the applicability of the proposed solution

Automation and Robotics: Latest Achievements, Challenges and Prospects

This SI presents the latest achievements, challenges and prospects for drives, actuators, sensors, controls and robot navigation with reverse validation and applications in the field of industrial automation and robotics. Automation, supported by robotics, can effectively speed up and improve production. The industrialization of complex mechatronic components, especially robots, requires a large number of special processes already in the pre-production stage provided by modelling and simulation. This area of research from the very beginning includes drives, process technology, actuators, sensors, control systems and all connections in mechatronic systems. Automation and robotics form broad-spectrum areas of research, which are tightly interconnected. To reduce costs in the pre-production stage and to reduce production preparation time, it is necessary to solve complex tasks in the form of simulation with the use of standard software products and new technologies that allow, for example, machine vision and other imaging tools to examine new physical contexts, dependencies and connections

Flexible Automation and Intelligent Manufacturing: The Human-Data-Technology Nexus

This is an open access book. It gathers the first volume of the proceedings of the 31st edition of the International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2022, held on June 19 – 23, 2022, in Detroit, Michigan, USA. Covering four thematic areas including Manufacturing Processes, Machine Tools, Manufacturing Systems, and Enabling Technologies, it reports on advanced manufacturing processes, and innovative materials for 3D printing, applications of machine learning, artificial intelligence and mixed reality in various production sectors, as well as important issues in human-robot collaboration, including methods for improving safety. Contributions also cover strategies to improve quality control, supply chain management and training in the manufacturing industry, and methods supporting circular supply chain and sustainable manufacturing. All in all, this book provides academicians, engineers and professionals with extensive information on both scientific and industrial advances in the converging fields of manufacturing, production, and automation

Industrial Robotics

This book covers a wide range of topics relating to advanced industrial robotics, sensors and automation technologies. Although being highly technical and complex in nature, the papers presented in this book represent some of the latest cutting edge technologies and advancements in industrial robotics technology. This book covers topics such as networking, properties of manipulators, forward and inverse robot arm kinematics, motion path-planning, machine vision and many other practical topics too numerous to list here. The authors and editor of this book wish to inspire people, especially young ones, to get involved with robotic and mechatronic engineering technology and to develop new and exciting practical applications, perhaps using the ideas and concepts presented herein

Coordinate Measuring Machine (CMM) inspection planning and knowledge capture – formalising a black art

In manufacturing, the automated elicitation of engineering knowledge is a major challenge due to the increasing knowledge-intensive processes and systems used in industry. Capturing and formalizing engineering knowledge is a highly costly and time-consuming task. The existing literature covers little in this field, leaving unanswered the technical difficulties of capturing and representing knowledge in Coordinate Measuring Machine (CMM) inspection planning applications. This work presents the Inspection Planning and Capturing Knowledge (IPaCK) system, a novel paradigm for the automated capturing and formalising of human centred expertise in the field of CMM planning. The proposed solution is an innovative physical setup using a simple tracked hand-held probe that facilitates intuitive planning of a CMM measurement strategy as a user interacts with a real component. As the sequence is generated, in real time a motion tracking-based digital tool logs user activity throughout the task. A post processor then converts log file data into multiple formalised outputs representing the knowledge created and utilised during the CMM inspection planning task. Experienced CMM inspection planners validated IPaCK’s potential to produce knowledge representations of CMM planning strategies that were useful, relevant and accurate. A comparison of planning strategies resulted in the detection of measurement patterns; embedding both inspection planning knowledge and experience, constituting the first known implementation of automatically capturing best practice and defining benchmarks to evaluate future planning strategies. A task completion time (TCT) comparison against a conventional CMM showed that IPaCK facilitates faster measurement planning and part programming. On using the system, novice planners rated IPaCK and its knowledge representations to provide significant metacognition support to CMM planning and training. Experienced planners confirmed IPaCK’s knowledge capture capability and that the formats were industry acceptable, relevant and beneficial in inspection planning tasks. IPaCK could be at the heart of the next generation of CMM inspection planning systems; one that automatically captures and formalises inspection planning knowledge and experience in multiple outputs. This thesis presents the underpinning science and technology to realise the implementation

Object Detection and Tracking in Cooperative Multi-Robot Transportation

Contemporary manufacturing systems imply the utilization of autonomous robotic systems, mainly for the execution of manipulation and transportation tasks. With a goal to reduce transportation and manipulation time, improve efficiency, and achieve flexibility of intelligent manufacturing systems, two or more intelligent mobile robots can be exploited. Such multi-robot systems require coordination and some level of communication between heterogeneous or homogeneous robotic systems. In this paper, we propose the utilization of two heterogeneous robotic systems, original intelligent mobile robots RAICO (Robot with Artificial Intelligence based COgnition) and DOMINO (Deep learning-based Omnidirectional Mobile robot with Intelligent cOntrol), for transportation tasks within a laboratory model of a manufacturing environment. In order to reach an adequate cooperation level and avoid collision while moving along predefined paths, our own developed intelligent mobile robots RAICO and DOMINO will communicate their current poses, and object detection and tracking system is developed. A stereo vision system equipped with two parallelly placed industrial-grade cameras is used for image acquisition, while convolutional neural networks are utilized for object detection, classification, and tracking. The proposed object detection and tracking system enables real-time tracking of another mobile robot within the same manufacturing environment. Furthermore, continuous information about mobile robot poses and the size of the bounding box generated by the convolutional neural network in the process of detection of another mobile robot is used for estimation of object movement and collision avoidance. Mobile robot localization through time is performed based on kinematic models of two intelligent mobile robots, and conducted experiments within a laboratory model of manufacturing environment confirm the applicability of the proposed framework for object detection and collision avoidance