PVCROV : an experimental platform for multi-robot control systems

As the field of multi-robot control systems grows, the demand for flexible, robust and precise multi-robot testbeds increases. Up to this point, the testbeds that do exist for testing multi-robot controllers are often expensive, hard to deploy, and typically constrained to a single plane of motion. These constraints limit the capacity to conduct research which is why team Autonomously Controlled Electromechanical Systems (ACES) has created the PVCROV system. PVCROV is a low cost, underwater platform for testing multi-robot control systems. By utilizing an underwater environment, ACES created a testbed that is not constrained to a single plane of motion. Additionally, the advantage of an underwater testbed is the ability to simulate weightlessness, as if in a space environment. Both of these features make this testbed extremely valuable to multi-robot research as they open the door for conducting experiments that previously could not be performed. ACES final product consisted of four PVCROV\u27s tethered to a surface buoy with wireless command and control via an \u27onshore\u27 control computer. Each system was designed, simulated, manufactured and tested based on requirements developed from a customer needs survey performed with the targeted research team. Although complete functionality was not achieved, a new team of students has started a new iteration of the development process which will bring the system up to full functionality. With graduate student experimenters already involved, ACES has created a testbed that will provide great value to the robotics research program at SCU

Verification of knowledge shared across design and manufacture using a foundation ontology

Seamless computer-based knowledge sharing between departments of a manufacturing enterprise is useful in preventing unnecessary design revisions. A lack of interoperability between independently developed knowledge bases, however, is a major impediment in the development of a seamless knowledge sharing system. Interoperability, being an ability to overcome semantic and syntactic differences during computer-based knowledge sharing can be enhanced through the use of ontologies. Ontologies in computer science terms are hierarchical structures of knowledge stored in a computer-based knowledge base. Ontologies have been accepted by all as an interoperable medium to provide a non-subjective way of storing and sharing knowledge across diverse domains. Some semantic and syntactic differences, however, still crop up when these ontological knowledge bases are developed independently. A case study in an aerospace components manufacturing company suggests that shape features of a component are perceived differently by the designing and manufacturing departments. These differences cause further misunderstanding and misinterpretation when computer-based knowledge sharing systems are used across the two domains. Foundation or core ontologies can be used to overcome these differences and to ensure a seamless sharing of knowledge. This is because these ontologies provide a common grounding for domain ontologies to be used by individual domains or department. This common grounding can be used by the mediation and knowledge verification systems to authenticate the meaning of knowledge understood across different domains. For this reason, this research proposes a knowledge verification framework for developing a system capable of verifying knowledge between those domain ontologies which are developed out of a common core or foundation ontology. This framework makes use of ontology logic to standardize the way concepts from a foundation and core-concepts ontology are used in domain ontologies and then by using the same principles the knowledge being shared is verified. The Knowledge Frame Language which is based on Common Logic is used for formalizing example ontologies. The ontology editor used for browsing and querying ontologies is the Integrated Ontology Development Environment (IODE) by Highfleet Inc. An ontological product modelling technique is also developed in this research, to test the proposed framework in the scenario of manufacturability analysis. The proposed framework is then validated through a Java API specially developed for this purpose. Real industrial examples experienced during the case study are used for validation

ARMD Workshop on Materials and Methods for Rapid Manufacturing for Commercial and Urban Aviation

This report documents the goals, organization and outcomes of the NASA Aeronautics Research Mission Directorates (ARMD) Materials and Methods for Rapid Manufacturing for Commercial and Urban Aviation Workshop. The workshop began with a series of plenary presentations by leaders in the field of structures and materials, followed by concurrent symposia focused on forecasting the future of various technologies related to rapid manufacturing of metallic materials and polymeric matrix composites, referred to herein as composites. Shortly after the workshop, questionnaires were sent to key workshop participants from the aerospace industry with requests to rank the importance of a series of potential investment areas identified during the workshop. Outcomes from the workshop and subsequent questionnaires are being used as guidance for NASA investments in this important technology area

Knowledge-based Engineering in Product Development Processes - Process, IT and Knowledge Management perspectives

Product development as a field of practice and research has significantly changed due to the general trends of globalization changing the enterprise landscapes in which products are realized. The access to partners and suppliers with high technological specialization has also led to an increased specialization of original equipment manufacturers (OEMs). Furthermore, the products are becoming increasingly complex with a high functional and technological content and many variants. Combined with shorter lifecycles which require reuse of technologies and solutions, this has resulted in an overall increased knowledge intensity which necessitates a more explicit approach towards knowledge and knowledge management in product development. In parallel, methods and IT tools for managing knowledge have been developed and are more accessible and usable today. One such approach is knowledge-based engineering (KBE), a term that was coined in the mid-1980s as a label for applications which automate the design of rule-driven geometries. In this thesis the term KBE embraces the capture and application of engineering knowledge to automate engineering tasks, regardless of domain of application, and the thesis aims at contributing to a wider utilization of KBE in product development (PD). The thesis focuses on two perspectives of KBE; as a process improvement IT method and as a knowledge management (KM) method. In the first perspective, the lack of explicit regard for the constraints of the product lifecycle management (PLM) architecture, which governs the interaction of processes and IT in PD, has been identified to negatively affect the utilization of KBE in PD processes. In the second perspective, KM theories and models can complement existing methods for identifying potential for KBE applications.Regarding the first perspective, it is concluded that explicit regard for the PLM architecture decreases the need to develop and maintain software code related to hard coded redundant data and functions in the KBE application. The concept of service oriented architecture (SOA) has been found to enable an the explicit regard for the PLM architecture.. Regarding the second perspective, it is concluded that potential for KBE applications is indicated by: 1.) application of certain types of knowledge in PD processes 2.) high maturity and formalization of the applied knowledge 3.) a codification strategy for KM and 4.) an agreement and transparency regarding how the knowledge is applied, captured and transferred. It is also concluded that the formulation of explicit KM strategies in PD should be guided by knowledge application and its relation to strategic objectives focusing on types of knowledge, their role in the PD process and the methods and tools for their application. These, in turn, affect the methods and tools deployed for knowledge capture in order for it to integrate with the processes of knowledge origin. Finally, roles and processes for knowledge transfer have to be transparent to assure the motivation of individuals to engage in the KM strategy

Knowledge-based Engineering in Product Development Processes - Process, IT and Knowledge Management perspectives

Product development as a field of practice and research has significantly changed due to the general trends of globalization changing the enterprise landscapes in which products are realized. The access to partners and suppliers with high technological specialization has also led to an increased specialization of original equipment manufacturers (OEMs). Furthermore, the products are becoming increasingly complex with a high functional and technological content and many variants. Combined with shorter lifecycles which require reuse of technologies and solutions, this has resulted in an overall increased knowledge intensity which necessitates a more explicit approach towards knowledge and knowledge management in product development. In parallel, methods and IT tools for managing knowledge have been developed and are more accessible and usable today. One such approach is knowledge-based engineering (KBE), a term that was coined in the mid-1980s as a label for applications which automate the design of rule-driven geometries. In this thesis the term KBE embraces the capture and application of engineering knowledge to automate engineering tasks, regardless of domain of application, and the thesis aims at contributing to a wider utilization of KBE in product development (PD). The thesis focuses on two perspectives of KBE; as a process improvement IT method and as a knowledge management (KM) method. In the first perspective, the lack of explicit regard for the constraints of the product lifecycle management (PLM) architecture, which governs the interaction of processes and IT in PD, has been identified to negatively affect the utilization of KBE in PD processes. In the second perspective, KM theories and models can complement existing methods for identifying potential for KBE applications.Regarding the first perspective, it is concluded that explicit regard for the PLM architecture decreases the need to develop and maintain software code related to hard coded redundant data and functions in the KBE application. The concept of service oriented architecture (SOA) has been found to enable an the explicit regard for the PLM architecture.. Regarding the second perspective, it is concluded that potential for KBE applications is indicated by: 1.) application of certain types of knowledge in PD processes 2.) high maturity and formalization of the applied knowledge 3.) a codification strategy for KM and 4.) an agreement and transparency regarding how the knowledge is applied, captured and transferred. It is also concluded that the formulation of explicit KM strategies in PD should be guided by knowledge application and its relation to strategic objectives focusing on types of knowledge, their role in the PD process and the methods and tools for their application. These, in turn, affect the methods and tools deployed for knowledge capture in order for it to integrate with the processes of knowledge origin. Finally, roles and processes for knowledge transfer have to be transparent to assure the motivation of individuals to engage in the KM strategy

A multi-agent approach for design consistency checking

The last decade has seen an explosion of interest to advanced product development methods, such as Computer Integrated Manufacture, Extended Enterprise and Concurrent Engineering. As a result of the globalization and future distribution of design and manufacturing facilities, the cooperation amongst partners is becoming more challenging due to the fact that the design process tends to be sequential and requires communication networks for planning design activities and/or a great deal of travel to/from designers' workplaces. In a virtual environment, teams of designers work together and use the Internet/Intranet for communication. The design is a multi-disciplinary task that involves several stages. These stages include input data analysis, conceptual design, basic structural design, detail design, production design, manufacturing processes analysis, and documentation. As a result, the virtual team, normally, is very changeable in term of designers' participation. Moreover, the environment itself changes over time. This leads to a potential increase in the number of design. A methodology of Intelligent Distributed Mismatch Control (IDMC) is proposed to alleviate some of the related difficulties. This thesis looks at the Intelligent Distributed Mismatch Control, in the context of the European Aerospace Industry, and suggests a methodology for a conceptual framework based on a multi-agent architecture. This multi-agent architecture is a kernel of an Intelligent Distributed Mismatch Control System (IDMCS) that aims at ensuring that the overall design is consistent and acceptable to all participating partners. A Methodology of Intelligent Distributed Mismatch Control is introduced and successfully implemented to detect design mismatches in complex design environments. A description of the research models and methods for intelligent mismatch control, a taxonomy of design mismatches, and an investigation into potential applications, such as aerospace design, are presented. The Multi-agent framework for mismatch control is developed and described. Based on the methodology used for the IDMC application, a formal framework for a multi-agent system is developed. The Methods and Principles are trialed out using an Aerospace Distributed Design application, namely the design of an A340 wing box. The ontology of knowledge for agent-based Intelligent Distributed Mismatch Control System is introduced, as well as the distributed collaborative environment for consortium based projects

Surface Autonomous Vehicle for Emergency Rescue

The goal of this document is to clearly define the problem parameters and project objectives and to clearly describe the design process, planned final design, and manufacturing and testing procedures for the senior design project of Team 26: SAVER -- the Surface Autonomous Vehicle for Emergency Rescue. This is both for the purpose of project planning and for clear communication between all parties involved in the project. The objective of the SAVER project is to develop a proof of concept for an autonomous maritime search and rescue vehicle for aiding in man-overboard missions. To accomplish this goal, a list of specifications was developed based on background research and interviews with potential customers. These specifications, discussed later in this document, guided the design process, analysis, and testing plans, which are also covered. Based on this research and analysis, the SAVER team developed a final design consisting of a structural hull and frame made from fiberglass and MDF, respectively, which was to be waterproofed and filled with foam. An electronics system would monitor the relative positions of the vehicle and victim via GPS and actuate a thruster and rudder. This prototype was designed to be safe, reliable, and effective, and was expected to meet all specifications. By April 2020, due to the COVID-19 pandemic, the Cal Poly campus was shut down and all work was being carried out remotely. Without access to campus labs or shops, the team’s ability to complete work on this project was seriously limited. Through meetings with their sponsor and advisor, the project’s scope underwent major changes, and a new plan was established. The team was to focus on completing the mechatronics portion of the build and fully documenting all current and future design plans so that a future senior project team could complete the work at a later time. These scope changes as well as all manufacturing and testing work completed both before and after the scope change are discussed in this document as well. In order to make it possible for a future senior project team to complete work on this project, detailed plans for manufacturing, assembly, and testing of the device, as well as thorough documentation of the completed electronics build and device firmware are also included. Additionally, a “Guide for Future Team” is included as Appendix Q, which discusses a few of the biggest concerns and issues that the team has faced as well as some advice and references to assist future engineers with the continuation of this project

Mass customisation procedures in engine assembly

The implementation of mass customisation into a manufacturing environment is by no means an easy task to achieve. This thesis will attempt to investigate the areas within a manufacturing company that require change in order to be integrated into a mass customised environment. The hypothesis behind the research is that all aspects of mass customisation in manufacturing can be brought together in a framework for the implementation of new products into a mass customised organisation. Two major case study investigations were undertaken at a diesel engine manufacturing company, Cummins Engines, at their Darlington Engine Plant to observe current practices for new product introduction and identify opportunities for improvement through tailoring the procedures towards a mass customised environment. An objective of the research was to understand the inter-relationships between processes and departmental structures. Recommendations for possible improvements in processes, procedures and practices in mass customisation framework are included, with a particular focus on new product introduction. The work carried out within the thesis will look at what inputs are required within a new product introduction programme in order to get the desired outputs. The typical inputs will include the relationships between different departments within an organisation and what is required in order to introduce a mass customised produc

Common global architecture applied to automobile electrical distribution systems

Thesis (S.M. in System Design and Management)--Massachusetts Institute of Technology, Engineering Systems Division, System Design and Management Program, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 111-112).Electrical and electronic components have a prominent role in today's vehicles. Particularly during the last two decades, functionality has been added at an exponential rate, resulting in increased complexity, especially of the Electrical Distribution System (EDS), which is the backbone of the Electrical and Electronic System (EES). Increased content and complexity of electrical systems, together with pressure to reduce the design cycle time - to bring a larger variety of products to the market and at a faster pace - are forcing car companies to re-evaluate their existing electrical development processes. One of the ways that car makers have devised to accomplish this is a common EES architecture strategy, which consists in combining communization, standardization, reusability and best practices to create flexible EES architectural concepts that will be used in a higher number of derivative vehicles. This common architecture has several benefits, the most important being: reduction of development costs and time, which translates in less time for putting the products in the market; architecture, concepts and components reuse; rapid platform modifications, to adapt to market changes and regional preferences. The EES architecture choice for a vehicle is the result of the implementation of the desired functions in hardware and software. Many considerations need to be taken into account: costs, network capabilities, modularity, manufacturing, energy management, weight, among several others. The present work aims to explain these considerations, as well as the elements of the common EES, and in particular their impact on the EDS. Another important aspect for the successful implementation of the common architecture is the EDS development process. Despite the availability of a wide range of software tools, the current EDS approach is intensely manual, relying on design experts to define and maintain the interrelationships and complexities of the core design definition. There is a need to redefine the process, from concept to manufacture using a systems engineering approach, which would yield key benefits, like shorten development time, produce accurate harness manufacturing prints, reduce wiring costs by synchronizing all input and output data. An analysis of the tools and methods for design and validation of wire harnesses will be presented in the last two chapters of this thesis.by Marcia E. Azpeitia Camacho.S.M.in System Design and Managemen

Knowledge-Based Engineering supported by the Digital-Twin: the case of the Power Transformer at EFACEC

Industry 4.0 has made it possible for emerging technologies to revolutionize how organizations operate. New applications, supported by the Internet of things, cyber physical systems, and cloud computing, take advantage of large data exchange networks that capture data from the real and virtual world, to generate valuable insights for product development. This, together with the growing digitalization of product lifecycle information, has made information the most valuable asset of an organization, as it can be applied to improve product design, reduce lead time and decrease monetary costs. However, the growing volume, formats, and purposes of the information an organization captures, also brings challenges for information management, and consequently, appropriate IM and KM instruments and strategies must be adopted to successfully take advantage of organizational knowledge. The adoption of Knowledge-based Engineering can accomplish these goals. KBE refers to the knowledge management tasks of capturing, storing, modeling, coding, and sharing of organizational knowledge, both in explicit form, such as documents, and tacit form, present in the minds of employees. Ultimately, this results in systems that can automate design tasks. Also in the context of technological advances, a new concept called Digital Twin has emerged, which employs bidirectional data transmission to mirror the lifecycle of a physical product, in the virtual realm. Proposed DT functionalities actively use organizational knowledge to improve and automate product design, and as such, this technology can be an adequate vessel for KBE. This dissertation focuses on the implementation of the Digital Twin in power transformer development processes. Using the case of Efacec, a portuguese firm of the energy sector, the DT concept was developed, and this involved defining functionalities that are driven by organizational knowledge to automate, optimize, and streamline PT design tasks, thus accomplishing the goal of KBE. Some of the proposed DT features are the generation of design templates, the identification of design non-conformities, and the capture of engineer feedback. Furthermore, the DT information architecture that is required for these functionalities to successfully be implemented, was envisioned, by defining all captured and generated information in each PT lifecycle phase. Finally, a faceted classification scheme that classifies DT information and enables queries within the DT platform, was developed