Design and evaluation environment for collision-free motion planning of cooperating redundant robots

This paper deals with path planning methods suitable for use with closely cooperating kinematically redundant robots (primarily open-chain rigid-link manipulators) avoiding collision with segments and obstacles. A Matlab-based environment has been set up for designing such methods and evaluating already existing ones. Within this framework, several of the commonly used distance or intrusion criteria and corresponding path optimization methods have been examined for efficiency and reliability. Finally, proposals for further improvement of the methods are given

Efficiency and Security of Process Transparency in Production Networks - A View of Expectations, Obstacles and Potentials

Much of the resilience and flexibility of production networks lies in the transparency of processes that allows timely perception of actual process states and adequate decisions or intervention at the proper point of the production system. Such degree of observability and permeability do, however, bear risks of malevolent tapping or interference with the information stream which, in the case of production systems, can put both business and physical processes at risk, requiring careful exploration of security threats in horizontal and vertical integration, and individual end-to-end connections likewise. Also, different levels of networked production present specific needs—high throughput and low time lag on the shop-floor level, or tolerances for confidence, gambling and bounded-rational views in cross-company relations—that may conflict with security policies. The paper presents a systematic summary of such apparently contradicting preferences, and possible approaches of reconciliation currently perceived to be relevant on various abstraction levels of production networks.status: publishe

Meta-data alignment in open Tracking & Tracing systems

In Tracking and Tracing systems, attributes of objects (such as location, time, status and temperature) are recorded as these objects move through a supply chain. In closed, dedicated systems, the attributes to record and store are determined at design time. However, in open Tracking and Tracing systems, the attributes are not known beforehand, as the type of objects and the set of stakeholders may evolve over time. Many supply chains require open Tracking and Tracing systems. The participants in the supply chain are individual companies, spread over many countries. Their trading relations change constantly. Usually they participate in multiple supply chains. E.g., a company producing chemicals may serve the chemical industry, the food industry and the textile industry at the same time. Transport companies carry goods for multiple industry sectors. Yet, they play a role in the traceability of all goods they produce or carry. Open tracking and Tracing systems are not dedicated for a certain type of product or object nor for a specific industry sector. They simply record the location, time and other attributes of the identified objects, and store that information in the data store of the object owner, based on the identification (e.g. RFID) tag. What attributes are to be stored is determined by stakeholders, such as (end) users of the object. In some cases (e.g. food) legislation prescribes what to record. An open Tracking and Tracing system therefore needs to be able to dynamically handle the set of attributes to be recorded and stored. In this chapter, a method is presented that enables components of Tracking and Tracing systems to negotiate at run time what attributes may be stored for a particular object type. Components may include scanning equipment, data stores and query clients. Attributes may be of any data type, including time, location, status, temperature and ownership. Apart from simple attributes, associations between objects may be recorded and stored, e.g. when an object is packed in another object, loaded in a truck or container or assembled to be a new object. The method makes use of findings in ontology engineering and of type theory. New types are based on existing types, with some restrictions. Both the range of values of a type and its meta‐attributes (such as cardinality) may be restricted to define a new type. Programmatically, concepts of co‐ and contra variance are used to make the method implementable. The method was developed in two European funded research projects: TraSer and ADVANCE. In TraSer, a truly open and extensible Tracking and Tracing system was developed (TraSer project consortium, 2006; Monostori et al., 2009). In ADVANCE, a distributed management information system for logistics operations was designed and implemented, that makes use of Tracking and Tracing information (ADVANCE project consortium, 2010; Kemény et al., 2011a)

The MTA SZTAKI Smart Factory: Platform for Research and Project-oriented Skill Development in Higher Education

Nowadays, the potential of learning factories as test beds and research plants is gaining recognition, and several facilities are extended or built up already with these complementing purposes in mind---among them the Smart Factory at the Fraunhofer Project Center at MTA SZTAKI currently completing a major stage of development. The paper presents the structure and key design principles of the plant, and explains how the composition and functionalities of the equipment implement focal principles of the Industry 4.0 and Cyber-Physical Systems concepts. Furthermore, it is shown how the Smart Factory provides students with challenges and resources for project-oriented development of their skills, and where these opportunities fit into technical higher education by hosting both individual student projects and courses with a specific structure of progress