4,701 research outputs found
Federated Robust Embedded Systems: Concepts and Challenges
The development within the area of embedded systems (ESs) is moving rapidly, not least due to falling costs of computation and communication equipment. It is believed that increased communication opportunities will lead to the future ESs no longer being parts of isolated products, but rather parts of larger communities or federations of ESs, within which information is exchanged for the benefit of all participants. This vision is asserted by a number of interrelated research topics, such as the internet of things, cyber-physical systems, systems of systems, and multi-agent systems. In this work, the focus is primarily on ESs, with their specific real-time and safety requirements.
While the vision of interconnected ESs is quite promising, it also brings great challenges to the development of future systems in an efficient, safe, and reliable way. In this work, a pre-study has been carried out in order to gain a better understanding about common concepts and challenges that naturally arise in federations of ESs. The work was organized around a series of workshops, with contributions from both academic participants and industrial partners with a strong experience in ES development.
During the workshops, a portfolio of possible ES federation scenarios was collected, and a number of application examples were discussed more thoroughly on different abstraction levels, starting from screening the nature of interactions on the federation level and proceeding down to the implementation details within each ES. These discussions led to a better understanding of what can be expected in the future federated ESs. In this report, the discussed applications are summarized, together with their characteristics, challenges, and necessary solution elements, providing a ground for the future research within the area of communicating ESs
Adaptive Robot Framework: Providing Versatility and Autonomy to Manufacturing Robots Through FSM, Skills and Agents
207 p.The main conclusions that can be extracted from an analysis of the current situation and future trends of the industry,in particular manufacturing plants, are the following: there is a growing need to provide customization of products, ahigh variation of production volumes and a downward trend in the availability of skilled operators due to the ageingof the population. Adapting to this new scenario is a challenge for companies, especially small and medium-sizedenterprises (SMEs) that are suffering first-hand how their specialization is turning against them.The objective of this work is to provide a tool that can serve as a basis to face these challenges in an effective way.Therefore the presented framework, thanks to its modular architecture, allows focusing on the different needs of eachparticular company and offers the possibility of scaling the system for future requirements. The presented platform isdivided into three layers, namely: interface with robot systems, the execution engine and the application developmentlayer.Taking advantage of the provided ecosystem by this framework, different modules have been developed in order toface the mentioned challenges of the industry. On the one hand, to address the need of product customization, theintegration of tools that increase the versatility of the cell are proposed. An example of such tools is skill basedprogramming. By applying this technique a process can be intuitively adapted to the variations or customizations thateach product requires. The use of skills favours the reuse and generalization of developed robot programs.Regarding the variation of the production volumes, a system which permits a greater mobility and a faster reconfigurationis necessary. If in a certain situation a line has a production peak, mechanisms for balancing the loadwith a reasonable cost are required. In this respect, the architecture allows an easy integration of different roboticsystems, actuators, sensors, etc. In addition, thanks to the developed calibration and set-up techniques, the system canbe adapted to new workspaces at an effective time/cost.With respect to the third mentioned topic, an agent-based monitoring system is proposed. This module opens up amultitude of possibilities for the integration of auxiliary modules of protection and security for collaboration andinteraction between people and robots, something that will be necessary in the not so distant future.For demonstrating the advantages and adaptability improvement of the developed framework, a series of real usecases have been presented. In each of them different problematic has been resolved using developed skills,demonstrating how are adapted easily to the different casuistic
Viewfinder: final activity report
The VIEW-FINDER project (2006-2009) is an 'Advanced Robotics' project that seeks to apply a semi-autonomous robotic system to inspect ground safety in the event of a fire. Its primary aim is to gather data (visual and chemical) in order to assist rescue personnel. A base station combines the gathered information with information retrieved from off-site sources.
The project addresses key issues related to map building and reconstruction, interfacing local command information with external sources, human-robot interfaces and semi-autonomous robot navigation.
The VIEW-FINDER system is a semi-autonomous; the individual robot-sensors operate autonomously within the limits of the task assigned to them, that is, they will autonomously navigate through and inspect an area. Human operators monitor their operations and send high level task requests as well as low level commands through the interface to any nodes in the entire system. The human interface has to ensure the human supervisor and human interveners are provided a reduced but good and relevant overview of the ground and the robots and human rescue workers therein
A Generic Multi-Layer Architecture Based on ROS-JADE Integration for Autonomous Transport Vehicles
The design and operation of manufacturing systems is evolving to adapt to different challenges. One of the most important is the reconfiguration of the manufacturing process in response to context changes (e.g., faulty equipment or urgent orders, among others). In this sense, the Autonomous Transport Vehicle (ATV) plays a key role in building more flexible and decentralized manufacturing systems. Nowadays, robotic frameworks (RFs) are used for developing robotic systems such as ATVs, but they focus on the control of the robotic system itself. However, social abilities are required for performing intelligent interaction (peer-to-peer negotiation and decision-making) among the different and heterogeneous Cyber Physical Production Systems (such as machines, transport systems and other equipment present in the factory) to achieve manufacturing reconfiguration. This work contributes a generic multi-layer architecture that integrates a RF with a Multi-Agent System (MAS) to provide social abilities to ATVs. This architecture has been implemented on ROS and JADE, the most widespread RF and MAS framework, respectively. We believe this to be the first work that addresses the intelligent interaction of transportation systems for flexible manufacturing environments in a holistic form.This work was financed by MINECO/FEDER, UE (grant number DPI2015-68602-R) and by UPV/EHU (grant number PPG17/56)
NASA space station automation: AI-based technology review
Research and Development projects in automation for the Space Station are discussed. Artificial Intelligence (AI) based automation technologies are planned to enhance crew safety through reduced need for EVA, increase crew productivity through the reduction of routine operations, increase space station autonomy, and augment space station capability through the use of teleoperation and robotics. AI technology will also be developed for the servicing of satellites at the Space Station, system monitoring and diagnosis, space manufacturing, and the assembly of large space structures
Development of an autonomous mobile towing vehicle for logistic tasks
Frequently carrying high loads and performing repetitive
tasks compromises the ergonomics of individuals, a recurrent scenario
in hospital environments. In this paper, we design a logistic planner of
a fleet of autonomous mobile robots for the automation of transporting
trolleys around the hospital, which is independent of the space configuration,
and robust to loss of network and deadlocks. Our robotic solution
has an innovative gripping system capable of grasping and pulling nonmodified
standard trolleys just by coupling a plate. Robots are able to
navigate autonomously, to avoid obstacles assuring the safety of operators,
to identify and dock a trolley, to access charging stations and
elevators, and to communicate with the latter. An interface was built
allowing users to command the robots through a web server. It is shown
how the proposed methodology behaves in experiments conducted at the
Faculty of Engineering of the University of Porta and Braga's Hospital.This work is financed by the ERDF - European Regional
Development Fund through the Operational Programme for Competitiveness and Internationalisation-
COMPETE 2020 Programme, and by National Funds through the Portuguese
funding agency, FCT-Fundação para a Ciência e a Tecnologia, within project
SAICTPAC/0034/2015 - POCI-01- 0145-FEDER-016418.
Authors would like to acknowledge to Trivalor, Itau and Gertal for the support of
the project RDH.info:eu-repo/semantics/publishedVersio
Teknoekonominen toteutettavuusanalyysi etäylläpidon liitettävyydestä tehtaissa
Maintenance activities play a major role in factory operations, as they prevent breakdowns and extend machine life. With the advances in sensor, computing and communications technology, sensor data can be increasingly exploited for real-time supervision of machine condition. However, the acquisition of the data is challenging due to proprietary technologies and interfaces applied in Industrial Networks. Therefore, sensor data is rarely utilized in other processes than automation. As the industry is heading towards a new industrial era, also referred to as Industrial Internet or Industrie 4.0, there is growing need to improve data availability for applications that can realize its potential value.
In this research, the focus is on the feasibility of remote maintenance deployment in factories. The topic is approached from the connectivity viewpoint. The research is conducted by reviewing the literature, and by interviewing numerous industry experts regarding the connectivity and data exploitation in factories. These form the basis for the value network analysis, in which Value Network Configuration (VNC) method is applied, to analyze the value distribution among different actors in alternative remote connection cases.
As a result of the VNC analysis, three alternative value network configurations are formed. They provide a high-level technical architecture of the remote connection implementation and discuss the accumulated value of each actor concerning remote maintenance service. The insights gained from the VNCs and literature are then employed to propose a future technical architecture for remote maintenance connectivity in factories.Huoltotoimet ovat suuressa roolissa tehtaan toiminnassa, sillä ne ehkäisevät konerikkoja ja pidentävät koneen käyttöikää. Sensori-, laskenta- ja tietoliikenneteknologian kehittymisen johdosta sensoridataa voidaan hyödyntää yhä enemmän koneen kunnon reaaliaikaiseen valvontaan. Datan saanti on kuitenkin haastavaa teollisissa verkoissa käytettyjen sovelluskohtaisten teknologioiden ja liitäntöjen takia. Sen vuoksi sensoridataa hyödynnetään harvoin muissa prosesseissa kuin automaatiossa. Teollisuuden suunnatessa kohti uutta teollista aikakautta, joka tunnetaan myös nimillä Teollinen Internet ja Teollisuus 4.0, on datan saatavuutta parannettava sovelluskohteille, jotka voivat realisoida sen potentiaalisen arvon.
Tämä tutkimus tarkastelee etäylläpidon käyttöönoton toteutettavuutta tehtaissa. Aihetta lähestytään liitettävyyden näkökulmasta. Tutkimus suoritetaan tarkastelemalla kirjallisuutta sekä haastattelemalla lukuisia teollisuuden asiantuntijoita koskien liitettävyyttä ja datan hyödyntämistä tehtaissa. Nämä muodostavat perustan arvoverkkoanalyysille, jossa sovelletaan arvoverkkokonfiguraatio-menetelmää, jolla analysoidaan arvon jakautumista eri toimijoiden kesken vaihtoehtoisissa etäyhteystapauksissa.
Arvoverkkokonfiguraatioanalyysin tuloksena muodostetaan kolme vaihtoehtoista arvoverkkokonfiguraatiota. Ne tarjoavat korkean tason teknisen arkkitehtuurin etäyhteyden implementaatiosta ja tarkastelevat toimijoiden kerryttämää arvoa etäylläpitopalvelun osalta. Arvoverkkokonfiguraatioista ja kirjallisuudesta saatujen näkemysten pohjalta esitellään lisäksi tulevaisuuden tekninen arkkitehtuuri etäylläpidon liitettävyydelle tehtaissa
Flexible Supervised Autonomy for Exploration in Subterranean Environments
While the capabilities of autonomous systems have been steadily improving in
recent years, these systems still struggle to rapidly explore previously
unknown environments without the aid of GPS-assisted navigation. The DARPA
Subterranean (SubT) Challenge aimed to fast track the development of autonomous
exploration systems by evaluating their performance in real-world underground
search-and-rescue scenarios. Subterranean environments present a plethora of
challenges for robotic systems, such as limited communications, complex
topology, visually-degraded sensing, and harsh terrain. The presented solution
enables long-term autonomy with minimal human supervision by combining a
powerful and independent single-agent autonomy stack, with higher level mission
management operating over a flexible mesh network. The autonomy suite deployed
on quadruped and wheeled robots was fully independent, freeing the human
supervision to loosely supervise the mission and make high-impact strategic
decisions. We also discuss lessons learned from fielding our system at the SubT
Final Event, relating to vehicle versatility, system adaptability, and
re-configurable communications.Comment: Field Robotics special issue: DARPA Subterranean Challenge,
Advancement and Lessons Learned from the Final
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