Simultaneous area partitioning and allocation for complete coverage by multiple autonomous industrial robots

© 2017, Springer Science+Business Media New York. For tasks that require complete coverage of surfaces by multiple autonomous industrial robots, it is important that the robots collaborate to appropriately partition and allocate the surface areas amongst themselves such that the robot team’s objectives are optimized. An approach to this problem is presented, which takes into account unstructured and complex 3D environments, and robots with different capabilities. The proposed area partitioning and allocation approach utilizes Voronoi partitioning to partition objects’ surfaces, and multi-objective optimization to allocate the partitioned areas to the robots whilst optimizing robot team’s objectives. In addition to minimizing the overall completion time and achieving complete coverage, which are objectives particularly useful for applications such as surface cleaning, manipulability measure and joint’s torque are also optimized so as to help autonomous industrial robots to operate better in applications such as spray painting and grit-blasting. The approach is validated using six case studies that consist of comparative studies, complex simulated scenarios as well as real scenarios using data obtained from real objects and applications

Driving Manufacturing Systems for the Fourth Industrial Revolution

It has been a long way since the aroused of the Industry 4.0 and the companies' reality is not already align with this new concept. Industry 4.0 is ongoing slowly as it was expected that its maturity level should be higher. The companies´ managers should have a different approach to the adoption of the industry 4.0 enabling technologies on their manufacturing systems to create smart nets along all production process with the connection of elements on the manu-facturing system such as machines, employees, and systems. These smart nets can control and make autonomous decisions efficiently. Moreover, in the industry 4.0 environment, companies can predict problems and failures along all production process and react sooner regarding maintenance or production changes for instance. The industry 4.0 environment is a challenging area because changes the relation between humans and machines. In this way, the scope of this thesis is to contribute to companies adopting the industry 4.0 enabling technologies in their manufacturing systems to improve their competitiveness to face the incoming future. For this purpose, this thesis integrates a research line oriented to i) the understanding of the industry 4.0 concepts, and its enabling technologies to perform the vision of the smart factory, ii) the analysis of the industry 4.0 maturity level on a regional industrial sector and to understand how companies are facing the digital transformation challenges and its barriers, iii) to analyze in deep the industry 4.0 adoption in a company and understand how this company can reach higher maturity levels, and iv) the development of strategic scenarios to help companies on the digital transition, proposing risk mitigations plans and a methodology to develop stra-tegic scenarios. This thesis highlights several barriers to industry 4.0 adoption and also brings new ones to academic and practitioner discussion. The companies' perception related to these barriers Is also discussed in this thesis. The findings of this thesis are of significant interest to companies and managers as they can position themselves along this research line and take advantage of it using all phases of this thesis to perform a better knowledge of this industrial revolution, how to perform better industry 4.0 maturity levels and they can position themselves in the proposed strategic scenarios to take the necessary actions to better face this industrial revolution. In this way, it is proposed this research line for companies to accelerate their digital transformation.Já existe um longo percurso desde o aparecimento da indústria 4.0 e a realidade das empresas ainda não está alinhada com este novo conceito. A indústria 4.0 está em andamento lento, pois era esperado que o seu nível de maturidade fosse maior. Os gestores das empresas devem ter uma abordagem diferente na adoção das tecnologias facilitadoras da indústria 4.0 nos seus sistemas produtivos para criar redes inteligentes ao longo de todo o processo produtivo com a conexão de elementos do sistema produtivo como máquinas, operários e sistemas. Estas redes inteligentes podem controlar e tomar decisões autónomas com eficiência. Além disso, no ambiente da indústria 4.0, as empresas podem prever problemas e falhas ao longo de todo o processo produtivo e reagir mais cedo em relação a manutenções ou mudanças de produção, por exemplo. O ambiente da indústria 4.0 é uma área desafiadora devido às mudanças na relação entre humanos e máquinas. Desta forma, o objetivo desta tese é contribuir para que as empresas adotem as tecnologias facilitadoras das indústria 4.0 nos seus sistemas produtivos por forma a melhorar sua competitividade para enfrentar o futuro que se aproxima. Para isso, esta tese integra uma linha de investigação orientada para i) a compreensão dos conceitos da indústria 4.0, e suas tecnologias facilitadores para realizar a visão da fábrica inteligente, ii) a análise do nível de maturidade da indústria 4.0 num setor industrial regional e entender como as empresas estão enfrentando os desafios da transformação digital e suas barreiras, iii) analisar a fundo a adoção da indústria 4.0 numa empresa e entender como essa empresa pode atingir níveis mais elevados de maturidade, e iv) o desenvolvimento de cenários estratégicos para ajudar as empresas na transição digital, propondo planos de mitigação de riscos e uma metodologia para desenvolver cenários estratégicos. Esta tese destaca várias barreiras à adoção da indústria 4.0 e também traz novas barreiras para a discussão acadêmica e profissional. A perceção das empresas em relação a essas barreiras também é discutida nesta tese. As descobertas nesta tese são de grande interesse para empresas e gestores, pois podem-se posicionar ao longo desta linha de investigação e aproveitá-la utilizando todas as fases desta tese para obter um melhor conhecimento desta revolução industrial, como obter melhores níveis de maturidade da indústria 4.0 e possam posicionar-se nos cenários estratégicos propostos por forma a tomar as ações necessárias para melhorar o envolvimento nesta revolução industrial. Desta forma, propõe-se esta linha de investigação para que as empresas acelerem a sua transformação digital

Planning Algorithms for Multi-Robot Active Perception

A fundamental task of robotic systems is to use on-board sensors and perception algorithms to understand high-level semantic properties of an environment. These semantic properties may include a map of the environment, the presence of objects, or the parameters of a dynamic field. Observations are highly viewpoint dependent and, thus, the performance of perception algorithms can be improved by planning the motion of the robots to obtain high-value observations. This motivates the problem of active perception, where the goal is to plan the motion of robots to improve perception performance. This fundamental problem is central to many robotics applications, including environmental monitoring, planetary exploration, and precision agriculture. The core contribution of this thesis is a suite of planning algorithms for multi-robot active perception. These algorithms are designed to improve system-level performance on many fronts: online and anytime planning, addressing uncertainty, optimising over a long time horizon, decentralised coordination, robustness to unreliable communication, predicting plans of other agents, and exploiting characteristics of perception models. We first propose the decentralised Monte Carlo tree search algorithm as a generally-applicable, decentralised algorithm for multi-robot planning. We then present a self-organising map algorithm designed to find paths that maximally observe points of interest. Finally, we consider the problem of mission monitoring, where a team of robots monitor the progress of a robotic mission. A spatiotemporal optimal stopping algorithm is proposed and a generalisation for decentralised monitoring. Experimental results are presented for a range of scenarios, such as marine operations and object recognition. Our analytical and empirical results demonstrate theoretically-interesting and practically-relevant properties that support the use of the approaches in practice

Knowledge Capturing in Design Briefing Process for Requirement Elicitation and Validation

Knowledge capturing and reusing are major processes of knowledge management that deal with the elicitation of valuable knowledge via some techniques and methods for use in actual and further studies, projects, services, or products. The construction industry, as well, adopts and uses some of these concepts to improve various construction processes and stages. From pre-design to building delivery knowledge management principles and briefing frameworks have been implemented across project stakeholders: client, design teams, construction teams, consultants, and facility management teams. At pre-design and design stages, understanding the client’s needs and users’ knowledge are crucial for identifying and articulating the expected requirements and objectives. Due to underperforming results and missed goals and objectives, many projects finish with highly dissatisfied clients and loss of contracts for some organizations. Knowledge capturing has beneficial effects via its principles and methods on requirement elicitation and validation at the briefing stage between user, client and designer. This paper presents the importance and usage of knowledge capturing and reusing in briefing process at pre-design and design stages especially the involvement of client and user, and explores the techniques and technologies that are usable in briefing process for requirement elicitation

An Investigation on Benefit-Cost Analysis of Greenhouse Structures in Antalya

Significant population increase across the world, loss of cultivable land and increasing demand for food put pressure on agriculture. To meet the demand, greenhouses are built, which are, light structures with transparent cladding material in order to provide controlled microclimatic environment proper for plant production. Conceptually, greenhouses are similar with manufacturing buildings where a controlled environment for manufacturing and production have been provided and proper spaces for standardized production processes have been enabled. Parallel with the trends in the world, particularly in southern regions, greenhouse structures have been increasingly constructed and operated in Turkey. A significant number of greenhouses are located at Antalya. The satellite images demonstrated that for over last three decades, there has been a continuous invasion of greenhouses on all cultivable land. There are various researches and attempts for the improvement of greenhouse design and for increasing food production by decreasing required energy consumption. However, the majority of greenhouses in Turkey are very rudimentary structures where capital required for investment is low, but maintenance requirements are high when compared with new generation greenhouse structures. In this research paper, life-long capital requirements for construction and operation of greenhouse buildings in Antalya has been investigated by using benefit-cost analysis study