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.

scholarly journals Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution

2021 ◽  
Vol 101 (3) ◽  
Author(s):  
Korbinian Nottensteiner ◽  
Arne Sachtler ◽  
Alin Albu-Schäffer
Keyword(s):  
Autonomous Robots ◽  
Vision System ◽  
Dynamic Environments ◽  
Bayesian Framework ◽  
Experimental Results ◽  
Robotic Assembly ◽  
Tactile Sensing ◽  
Task Execution ◽  
Industrial Assembly ◽  
Assembly Tasks

AbstractRobotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.

Task-Allocation and Control of a Ground Robots Collective for Warehouse Automation

2015 ◽  
Author(s):  
Mehmet Ali Guney ◽  
Ioannis Raptis
Keyword(s):  
System Architecture ◽  
Task Allocation ◽  
Arbitrary Number ◽  
Small Scale ◽  
Automation System ◽  
Test Bed ◽  
Allocation Algorithm ◽  
Automation Systems ◽  
Algorithmic Design ◽  
And Control

In the last years, there have been several attempts to deploy Autonomous Guided Vehicles (AGVs) to automate the operation of warehouse environments. The implementation of AGVs has numerous advantages over conventional warehouse automation systems in terms of cost and scalability. In this work, we present the development of a test-bed platform for the utilization of an AGV collective to a warehouse automation system. The system architecture has plug-and-play algorithmic design which makes it extremely modular. In this system, small-scale robotic forklifts are used to transport an arbitrary number of circular pallets to predefined locations. The forklift robots are able to move in the arena without colliding each other due to the implementation of a centralized deconfliction algorithm. A task allocation algorithm prevents the forklift drives from being trapped by a fence of pallets. The performance of the proposed system is validated by both simulation and experimental results.

scholarly journals Finger Vein Biometric based Secure Access Control in Smart Home Automation

2019 ◽  
Vol 8 (6) ◽  
pp. 851-855
Keyword(s):  
Smart Home ◽  
Interconnection Network ◽  
Svm Classifier ◽  
Automation System ◽  
Home Automation ◽  
Finger Vein ◽  
Authentication Mechanism ◽  
Automation Systems ◽  
Home Automation System ◽  
And Control

Smart home automation has become popular with the advent of IoT technology. Smart home automation systems suffer from a number of security issues due to the vulnerabilities that exist in the different devices and the interconnection network. Providing user authentication for smart homes is an important security requirement for preventing intruders from attacking a smart home automation system. Biometric based authentication systems have been used in many applications since they provide high security than the smart cards and password based authentication systems. Finger vein recognition is a biometric authentication technique that applies pattern recognition on the images of human finger vein present beneath the skin's surface. The advantage of using finger vein authentication is that, it is difficult to forge and also provides high accuracy as the external deformities like rashes, cracks and rough epidermis do not have an impact on the matching and recognition process. This paper deals with the implementation of a secure smart home automation system that uses finger vein biometric for the authentication mechanism. The algorithm used for authentication uses K Means Segmentation and canny edge detection for feature extraction. SVM classifier is used for the matching process. The authentication system is then incorporated into the smart home automation system that can be used to monitor and control the devices connected to it. The proposed approach shows better performance than the existing methods used in literature for authentication, monitoring and control of smart home automation systems

Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms

2020 ◽  
Author(s):  
Daniel Saraphis ◽  
Vahid Izadi ◽  
Amirhossein Ghasemi
Keyword(s):  
Numerical Simulations ◽  
Shared Control ◽  
Automated System ◽  
Generic Model ◽  
Automation System ◽  
Steering Control ◽  
Control Paradigm ◽  
Control Framework ◽  
Automation Systems ◽  
Control Authority

Abstract In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.

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.

The System Capability Dataset for Laboratory Automation System Integration

1998 ◽  
Vol 3 (5) ◽  
pp. 51-55
Author(s):  
Christian Piotrowski ◽  
Thorsten Richter ◽  
Reinhold Schäfer ◽  
Gary W. Kramer
Keyword(s):  
System Integration ◽  
Automation System ◽  
Centralized Control ◽  
Laboratory Automation ◽  
Error Handling ◽  
Automation Systems ◽  
Different Types ◽  
And Behaviors ◽  
Standard Integration ◽  
System Capability

A System Capability Dataset (SCD) is a tool for stylizing the way the unique characteristics and attributes of an automation environment are represented in a systematic, computer-usable fashion. Device Capability Datasets (DCDs) that describe the characteristics and behaviors of the constituent devices in a system are central components of an SCD. However, an SCD is more than just the sum of its DCDs, since the SCD must contain information about the logical and physical dependencies and relationships of the all devices and other components in the system. By stylizing the idiosyncratic characteristics of devices, the capability dataset approach permits the construction of standard integration interfaces and can eliminate custom programming for devices, facilitate integrating different types of devices, and enable centralized control and error handling for laboratory automation systems.

Study of Building Automation Systems Engineering

2014 ◽  
Vol 716-717 ◽  
pp. 1500-1503
Author(s):  
Rong Sheng Lv ◽  
Rui Yang
Keyword(s):  
Systems Engineering ◽  
System Integration ◽  
Automatic Device ◽  
Automation System ◽  
Air Conditioner ◽  
Building Automation ◽  
Intelligent Building ◽  
Device Management ◽  
Automation Systems ◽  
And Control

BA System (Building Automation System) is an important intelligentized subsystem of Intelligent Building, also known as the groundwork of intelligent integration. It is the integration of multi-subsystems, which aims at automatic device management, efficiently saves energy and reduces use-cost. What is outstanding out of all effort for saving energy in modere Intelligent Building are both supervision and control of air-conditioner system. Now BA System comprises the basic components, here they are: central station, sub-station, spot meters, Control Network.According to survey, there are few stable BA System for long, without regard to amount of those existence. It results directly in massive equipments and related investment suspended. The thing is gone for little. The thesis illuminates functions and components of BA System thoroughly, gives further details of key technique---Control Network and System Integration, and predicts trend of this system. Based on the analysis mentioned along whith my experence, the procedure, principles and key point of BA System design and device choice are given; further more, embodies methods through illustrating real project for better utilization of BA System. In the end a conclusion and forecast of BA System are put forward.

scholarly journals Simplification of Home Automation System Using Various Sensors, Actuators and Control System

2018 ◽  
Vol 7 (3.1) ◽  
pp. 174
Author(s):  
Shannay Rawal ◽  
M Ramachandran ◽  
Vishal Fegade ◽  
U Ragavendran
Keyword(s):  
Communication Networks ◽  
Control Unit ◽  
Physical World ◽  
Sensor Technology ◽  
Automation System ◽  
Home Automation ◽  
Human Interface ◽  
Automation Systems ◽  
Home Automation System ◽  
And Control

Usually, home automation talks about the domestic atmosphere that increases the class of the occupant’s life by eliminating as much human interface as in theory possible in numerous domestic practices and exchange them with automated mechatronics systems. Home automation comprises selected form of intelligence, home network and or centralized or logic distributed network or specific control unit. The modest system works on an approach in which the functionality is hardwired and incorporated into the system and cannot be altered automatically without the interference of technical or a knowledgeable person. Advanced sensor technology with Wireless advancement expands our sensing competencies by linking communication networks and physical world which enables wide-ranging applications in respect of home automation. In this article, we are discussing various sensors, actuators and control systems utilized for the home automation systems.  

scholarly journals IoT based security system and intelligent home automation multi monitoring and control systems

2019 ◽  
Vol 8 (3) ◽  
pp. 205
Author(s):  
Mohammed H. Ali ◽  
Nisreen K. Ali
Keyword(s):  
Water Level ◽  
Low Voltage ◽  
Remote Access ◽  
Automation System ◽  
Home Automation ◽  
Monitoring And Control ◽  
Control Framework ◽  
Monitoring And Control Systems ◽  
Home Automation System ◽  
And Control

<p>This paper presents the execution of savvy Smart Home with frameworks and propelled advances. A Home Automation System uses the technology of IoT for the screening and controlling of the electrical and electronic appliances at home from any remote area by essentially utilizing <br /> a Smartphone. The key control framework utilizes a remote Bluetooth system and a remote IoT strategy that gives remote access to the advanced cells. The framework configuration does not expel the current electrical switches yet it gives a more secure control over it with the low voltage utilization method. This framework is intended to control electrical gadgets all through the house easily by introducing it, usability, savvy plan and actualize. There has been rising interest for a secure framework that must be tried, true and fast in reaction to the ventures and organization. Arduino makes the circuit and programming technology to design and operate wireless water monitoring system. The Water level in the tank is displayed on the Smartphone by the Water level app.</p>

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