Function Block-Based Multimodal Control for Symbiotic Human–Robot Collaborative Assembly

2021 ◽  
Vol 143 (9) ◽  
Author(s):  
Sichao Liu ◽  
Lihui Wang ◽  
Xi Vincent Wang
Keyword(s):  
Robot Control ◽  
Control Approach ◽  
Function Block ◽  
Collaborative Assembly ◽  
Function Blocks ◽  
Feature Based ◽  
Human Operators ◽  
Block Based ◽  
And Control ◽  
Assembly Tasks

AbstractIn human–robot collaborative assembly, robots are often required to dynamically change their preplanned tasks to collaborate with human operators in close proximity. One essential requirement of such an environment is enhanced flexibility and adaptability, as well as reduced effort on the conventional (re)programming of robots, especially for complex assembly tasks. However, the robots used today are controlled by rigid native codes that cannot support efficient human–robot collaboration. To solve such challenges, this article presents a novel function block-enabled multimodal control approach for symbiotic human–robot collaborative assembly. Within the context, event-driven function blocks as reusable functional modules embedded with smart algorithms are used for the encapsulation of assembly feature-based tasks/processes and control commands that are transferred to the controller of robots for execution. Then, multimodal control commands in the form of sensorless haptics, gestures, and voices serve as the inputs of the function blocks to trigger task execution and human-centered robot control within a safe human–robot collaborative environment. Finally, the performed processes of the method are experimentally validated by a case study in an assembly work cell on assisting the operator during the collaborative assembly. This unique combination facilitates programming-free robot control and the implementation of the multimodal symbiotic human–robot collaborative assembly with the enhanced adaptability and flexibility.

Feature-Based Adaptive Manufacturing Equipment Control for Cloud Environments

2016 ◽  
Author(s):  
Göran Adamson ◽  
Lihui Wang ◽  
Magnus Holm ◽  
Philip Moore
Keyword(s):  
Resource Sharing ◽  
Service Management ◽  
Cloud Service ◽  
Cloud Manufacturing ◽  
Manufacturing Equipment ◽  
Control Approach ◽  
Function Block ◽  
Feature Based ◽  
Cloud Environments ◽  
Manufacturing Resources

The ideas of on-demand, scalable and pay-for-usage resource-sharing in Cloud Manufacturing are steadily attracting more interest. For implementing the concept of Manufacturing-as-a-Service in a cloud environment, description models and implementation language for resources and their capabilities are required. A standardized approach for systemized virtualization, servisilisation, retrieval, selection and composition into higher levels of functionality is necessary. For the collaborative sharing and use of networked manufacturing resources there is also a need for a control approach for distributed manufacturing equipment. In this paper, the technological perspective for an adaptive cloud service-based control approach is described, and a supporting information model for its implementation. The control is realized through the use of a network of intelligent and distributable Function Block decision modules, enabling run-time manufacturing activities to be performed according to actual manufacturing conditions. The control system’s integration to the cloud service management functionality is described, as well as a feature-level capability model and the use of ontologies and the Semantic Web.

Function Block-Enabled Integration

2009 ◽  
pp. 266-282
Author(s):  
Xun Xu
Keyword(s):  
Data Model ◽  
Dynamic Scheduling ◽  
Third Party ◽  
Function Block ◽  
Finite State ◽  
Function Blocks ◽  
G Code ◽  
Research Function ◽  
And Function ◽  
And Control

Function blocks are an IEC (International Electro-technical Commission) standard for distributed industrial processes and control systems (IEC 61499, 2005). It is based on an explicit event driven model and provides for data flow and finite state automata-based control. Based on previous research, function blocks can be used as the enabler to encapsulate process plans, integrate with a third-party dynamic scheduling system, monitor process plan during execution, and control machining jobs under normal and abnormal conditions. They are also considered to be suitable for machine-level monitoring, shop-floor execution control, and CNC control. Combination of STEP-NC and Function Blocks can be seen as a “natural marriage”. This is because the former provides an informationally complete data model but with no functionality, whereas the latter can embed intelligence and provide functionality in the data model for a more capable CNC regime. This chapter introduces the function block architecture which has been implemented in two types of integrations. The first brings together CAD, CAPP, and CAM. The key is to embed machining information in a function block system that is based on the concept of machining features. The second integration connects CAM with CNC. This is in fact an open CNC architecture that is function block driven, instead of G-code driven.

Function block-based human-robot collaborative assembly driven by brainwaves

CIRP Annals ◽  
2021 ◽  
Author(s):  
Lihui Wang ◽  
Sichao Liu ◽  
Clayton Cooper ◽  
Xi Vincent Wang ◽  
Robert X. Gao
Keyword(s):  
Function Block ◽  
Collaborative Assembly ◽  
Block Based

scholarly journals Application of the Sequence Planner Control Framework to an Intelligent Automation System with a Focus on Error Handling

Machines ◽  
2021 ◽  
Vol 9 (3) ◽  
pp. 59
Author(s):  
Martin Dahl ◽  
Kristofer Bengtsson ◽  
Petter Falkman
Keyword(s):  
Autonomous Robots ◽  
Experimental Results ◽  
Automation System ◽  
Material Transport ◽  
Error Handling ◽  
Control Framework ◽  
Automation Systems ◽  
Human Operators ◽  
And Control ◽  
Assembly Tasks

Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation.

Function Block-Based Integration Mechanisms for Adaptive and Flexible Cloud Manufacturing

2015 ◽  
Author(s):  
Xi Vincent Wang ◽  
Lihui Wang
Keyword(s):  
Data Storage ◽  
Cloud Manufacturing ◽  
Cloud Services ◽  
Function Block ◽  
Flexible Architecture ◽  
Function Blocks ◽  
Integration Mechanisms ◽  
Manufacturing Facilities ◽  
Block Based ◽  
And Function

Cloud Computing is the new enabling technology that offers centralised computing, flexible data storage, and scalable services. In the manufacturing context, it is possible to extend the Cloud technology for integrating and provisioning manufacturing facilities and capabilities in terms of Cloud services. In this paper, a function block-based integration mechanism is developed to integrate various types of manufacturing facilities. A Cloud-based architecture is also deployed to provide a service pool which maintains these facilities in terms of manufacturing services. The proposed framework and mechanisms are evaluated by implementations. In practice, it is possible to establish an integrated manufacturing environment across multiple levels with the support of manufacturing Cloud and function blocks. It provides a flexible architecture as well as adaptive and integration methodologies for the Cloud manufacturing system.

Function Block Design to Enable Adaptive Job Shop Operations

2007 ◽  
Author(s):  
Lihui Wang ◽  
Hsi-Yung Feng ◽  
Changjin Song ◽  
Wei Jin
Keyword(s):  
Job Shop ◽  
Block Design ◽  
Shop Floor ◽  
Manufacturing Companies ◽  
New Approach ◽  
Process Plan ◽  
Function Block ◽  
Job Shop Operations ◽  
Function Blocks ◽  
Block Based

Small volume and high product-mix contribute greatly to the complexity of job shop operations. In addition, shop floor uncertainty or fluctuation is another issue regularly challenging manufacturing companies, including job delay, urgent job insertion, fixture shortage, missing tool, and even machine breakdown. Targeting the uncertainty, we propose a function block based approach to generating adaptive process plans. Enabled by the function blocks, a so-generated process plan is responsive and tolerant to an unpredictable change. This paper presents in detail how a function block is designed and what it can do during process plan execution. It is expected that this new approach can largely enhance the dynamism of fluctuating job shop operations.

Virtual Function Block Mechanism in the Cloud Manufacturing Environment

2013 ◽  
Vol 694-697 ◽  
pp. 2438-2441 ◽  
Author(s):  
Xi Vincent Wang ◽  
Xun W Xu
Keyword(s):  
Service Oriented Architecture ◽  
Cloud Service ◽  
Cloud Manufacturing ◽  
Manufacturing Environment ◽  
Function Block ◽  
Integration Mechanism ◽  
Data Flows ◽  
Service Oriented ◽  
Function Blocks ◽  
Block Based

CManufacturing is a new manufacturing model that has evolved from Service-Oriented Architecture, networked manufacturing and CComputing. It provides intelligent, interoperable and distributed manufacturing model for the industry. This paper introduces a resource integration mechanism in the Cloud Manufacturing environment. Function Block technology is discussed from the Cloud Manufacturing perspective in detail. Next, a novel integration mechanism is proposed, namely the Virtual Function Block. Based on physical Function Blocks and software agents, Virtual Function Blocks are able to manipulate and integrate manufacturing resources via event states and data flows. During implementation, Creo Parametric was integrated as a Cloud Service with the help of VFBs to evaluate the mechanism.

scholarly journals Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task

Electronics ◽  
2021 ◽  
Vol 10 (11) ◽  
pp. 1317
Author(s):  
Alejandro Chacón ◽  
Pere Ponsa ◽  
Cecilio Angulo
Keyword(s):  
Interaction Analysis ◽  
Mental Workload ◽  
Cognitive Task ◽  
Physical Work ◽  
Work Skills ◽  
Dexterous Manipulation ◽  
Assembly Task ◽  
Cognitive Interaction ◽  
Human Operators ◽  
Assembly Tasks

In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

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