A Plug and Produce Framework for Industrial Collaborative Robots

Collaborative robots are today ever more interesting in response to the increasing need for agile manufacturing equipment. Contrary to traditional industrial robots, collaborative robots are intended for working in dynamic environments alongside the production staff. To cope with the dynamic environment and workflow, new configuration and control methods are needed compared to those of traditional industrial robots. The new methods should enable shop floor operators to reconfigure the robot. This article presents a plug and produce framework for industrial collaborative robots. The article focuses on the control framework enabling quick and easy exchange of hardware modules as an approach to achieving plug and produce. To solve this, an agent-based system is proposed building on top of the robot operating system. The framework enables robot operating system packages to be adapted into agents and thus supports the software sharing of the robot operating system community. A clear separation of the hardware agents and the higher level task control is achieved through standardization of the functional interface, a standardization maintaining the possibility of specialized function features. A feasibility study demonstrates the validity of the framework through a series of reconfigurations performed on a modular collaborative robot. </jats:p

FragIt:a tool to prepare input files for fragment based quantum chemical calculations

Near linear scaling fragment based quantum chemical calculations are becoming increasingly popular for treating large systems with high accuracy and is an active field of research. However, it remains difficult to set up these calculations without expert knowledge. To facilitate the use of such methods, software tools need to be available to support these methods and help to set up reasonable input files which will lower the barrier of entry for usage by non-experts. Previous tools relies on specific annotations in structure files for automatic and successful fragmentation such as residues in PDB files. We present a general fragmentation methodology and accompanying tools called FragIt to help setup these calculations. FragIt uses the SMARTS language to locate chemically appropriate fragments in large structures and is applicable to fragmentation of any molecular system given suitable SMARTS patterns. We present SMARTS patterns of fragmentation for proteins, DNA and polysaccharides, specifically for D-galactopyranose for use in cyclodextrins. FragIt is used to prepare input files for the Fragment Molecular Orbital method in the GAMESS program package, but can be extended to other computational methods easily