Mobile Roboter zur freien Verkettung von Montagestationen*/Mobile Robots for Dynamically Interconnecting Assembly Stations – How can mobile robots be developed and deployed to provide a flexible transport system?

2018 ◽  
Vol 108 (09) ◽  
pp. 580-585
Author(s):  
R. H. Schmitt ◽  
G. Hüttemann ◽  
S. Pöhler ◽  
D. Grunert ◽  
A. Göppert
Keyword(s):  
Mobile Robots ◽  
Production Systems ◽  
Autonomous Robots ◽  
Production Engineering ◽  
Organisational Form ◽  
System P ◽  
Fraunhofer Institute ◽  
High Flexibility ◽  
Fleet Manager ◽  
Mobile Roboter

Moderne Produktionssysteme müssen stetig steigenden Herausforderungen, zum Beispiel durch die Individualisierung von Produkten oder gestiegene Variantenvielfalt, genügen und daher hoch flexibel sein. Die klassische, verkettete Produktion stößt dabei zunehmend an ihre Grenzen. Das Werkzeugmaschinenlabor WZL der RWTH Aachen und das Fraunhofer-Institut für Produktionstechnologie IPT entwickeln daher im BMBF-geförderten Forschungsprojekt „freeMoVe“ gemeinsam mit Industrieunternehmen eine neue Montageorganisationsform, die „freie Verkettung“. Der Beitrag beschreibt den Einsatz mobiler Roboter für Transport und Handling in frei verketteten Montagesystemen. Beschrieben werden die Anforderungen an mobile Roboter, die technischen und organisatorischen Herausforderungen, die Sicherheit für den Menschen beim Einsatz mobiler autonomer Roboter, die Ansteuerung der Roboter mittels eines Flottenmanagers sowie die Einbindung der Roboter in das Gesamtkonzept der frei verketteten Montage.   Customer-specific products, a wide variety of variants and high flexibility: Modern production systems have to meet constantly increasing challenges such as individualization or high variation of products and high flexibility. Classic, rigidly linked production is increasingly reaching its limits. The Fraunhofer Institute for Production Technology IPT and the Laboratory for Machine Tools and Production Engineering WZL of RWTH Aachen University are therefore working with industrial partners in the BMBF-funded research project freeMoVe to develop a new organisational form of assembly, the so-called dynamically interconnected assembly. This article therefore describes the use of mobile robots for transport and handling in dynamically interconnected assembly systems. The requirements for mobile robots, the technical and organisational challenges, the safety for humans, when using mobile autonomous robots, the control of the robots by means of a fleet manager and the integration of the robots into this overall new concept of assembly organisation are described.

Entstörungsstrategie für autonome mobile Roboter/Intervention strategy for autonomous mobile robots

2020 ◽  
Vol 110 (09) ◽  
pp. 613-618
Author(s):  
Andreas Blank ◽  
Julia Berg ◽  
Georg Lukas Zikeli ◽  
Shuang Lu ◽  
Oliver Sommer ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Autonomous Robots ◽  
Intervention Strategy ◽  
Intervention Strategies ◽  
Guidance System ◽  
Autonomous Mobile Robots ◽  
Factory Worker ◽  
Remote Assistance ◽  
Mobile Roboter

Die Produktion ist geprägt durch einen Antagonismus aus Flexibilität und Produktivität. Autonome Roboter mit maschinell erlernten Fähigkeiten weisen Potenzial auf, das Spannungsfeld zu entlasten. Allerdings bedarf es aufgrund von Fehleranfälligkeit solcher Systeme Strategien zur Entstörung. Im Beitrag vorgestellt werden Methoden für die Vorortunterstützung mittels Werkerführung sowie zur Entstörung aus der Ferne mittels Teleoperation.   Production is characterized by an antagonism between flexibility and productivity. Autonomous robots with learned skills show potential for relieving existing challenges. However, present failure susceptibility requires efficient intervention strategies to allow a technology establishment. This paper presents methods for on-site support based on a factory worker guidance system as well as remote assistance through tele-operation.

scholarly journals Constant-Time Complete Visibility for Robots with Lights: The Asynchronous Case

Algorithms ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 56
Author(s):  
Gokarna Sharma ◽  
Ramachandran Vaidyanathan ◽  
Jerry L. Trahan
Keyword(s):  
Mobile Robots ◽  
Line Segment ◽  
Autonomous Robots ◽  
Straight Line Segment ◽  
Autonomous Mobile Robots ◽  
Asymptotically Optimal ◽  
Time Translation ◽  
Straight Line ◽  
A New Technique ◽  
Colored Lights

We consider the distributed setting of N autonomous mobile robots that operate in Look-Compute-Move (LCM) cycles and use colored lights (the robots with lights model). We assume obstructed visibility where a robot cannot see another robot if a third robot is positioned between them on the straight line segment connecting them. In this paper, we consider the problem of positioning N autonomous robots on a plane so that every robot is visible to all others (this is called the Complete Visibility problem). This problem is fundamental, as it provides a basis to solve many other problems under obstructed visibility. In this paper, we provide the first, asymptotically optimal, O(1) time, O(1) color algorithm for Complete Visibility in the asynchronous setting. This significantly improves on an O(N)-time translation of the existing O(1) time, O(1) color semi-synchronous algorithm to the asynchronous setting. The proposed algorithm is collision-free, i.e., robots do not share positions, and their paths do not cross. We also introduce a new technique for moving robots in an asynchronous setting that may be of independent interest, called Beacon-Directed Curve Positioning.

Augmented Reality in der Produktion*/Augmented Reality in production systems – seeing things nobody else can see

2019 ◽  
Vol 109 (03) ◽  
pp. 153-157
Author(s):  
J. Gutjahr ◽  
G. Riexinger ◽  
F. Strieg
Keyword(s):  
Augmented Reality ◽  
Production Planning ◽  
Production Systems ◽  
Industrie 4.0 ◽  
Production Operation ◽  
Production Environment ◽  
Research Activities ◽  
Fraunhofer Institute ◽  
Manufacturing Engineering ◽  
Planning Production

Das Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA in Stuttgart entwickelt Augmented-Reality-Lösungen für das Produktionsumfeld. Die in diesem Beitrag vorgestellten Arbeiten und Anwendungen sind im „Applikationszentrum Industrie 4.0“ Teil der Showcases Mensch und IT. Abteilungsübergreifend wurden verschiedene Anwendungsbereiche für Augmented Reality in der Produktion erforscht und anwendungsnahe Lösungen entwickelt. Ausgewählte Arbeiten werden im Beitrag getrennt nach den Themenbereichen Produktionsplanung, Produktionsbetrieb, Instandhaltung sowie Montage vorgestellt.   The Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart develops augmented reality solutions for the production environment. This article presents research activities and applications that are part of human and IT showcases within the “Application Center Industrie 4.0”. Different areas of application for Augmented Reality in production have been evaluated and application-driven solutions developed. The article presents selected findings in the fields of production planning, production operation, maintenance and assembly.

scholarly journals Autonomous and Safe Navigation of Mobile Robots in Vineyard with Smooth Collision Avoidance

Agriculture ◽  
2021 ◽  
Vol 11 (10) ◽  
pp. 954
Author(s):  
Abhijeet Ravankar ◽  
Ankit A. Ravankar ◽  
Arpit Rawankar ◽  
Yohei Hoshino
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Robot Navigation ◽  
Indoor Environments ◽  
Safe Distance ◽  
Field Robots ◽  
Safe Navigation

In recent years, autonomous robots have extensively been used to automate several vineyard tasks. Autonomous navigation is an indispensable component of such field robots. Autonomous and safe navigation has been well studied in indoor environments and many algorithms have been proposed. However, unlike structured indoor environments, vineyards pose special challenges for robot navigation. Particularly, safe robot navigation is crucial to avoid damaging the grapes. In this regard, we propose an algorithm that enables autonomous and safe robot navigation in vineyards. The proposed algorithm relies on data from a Lidar sensor and does not require a GPS. In addition, the proposed algorithm can avoid dynamic obstacles in the vineyard while smoothing the robot’s trajectories. The curvature of the trajectories can be controlled, keeping a safe distance from both the crop and the dynamic obstacles. We have tested the algorithm in both a simulation and with robots in an actual vineyard. The results show that the robot can safely navigate the lanes of the vineyard and smoothly avoid dynamic obstacles such as moving people without abruptly stopping or executing sharp turns. The algorithm performs in real-time and can easily be integrated into robots deployed in vineyards.

Robustness and Controllability Analysis for Autonomous Navigation of Two-Wheeled Mobile Robots

2007 ◽  
Author(s):  
Alessio Salerno ◽  
Jorge Angeles
Keyword(s):  
Mobile Robots ◽  
Autonomous Navigation ◽  
Autonomous Robots ◽  
Upper Bounds ◽  
Small Time ◽  
Dynamics Model ◽  
Wheeled Mobile Robots ◽  
Rank Condition ◽  
Dynamics Response ◽  
Kalman Rank Condition

This work deals with the robustness and controllability analysis for autonomous navigation of two-wheeled mobile robots. The analysis of controllability of the systems at hand is conducted using both the Kalman rank condition for controllability and the Lie Algebra rank condition. We show that the robots targeted in this work can be controlled using a model for autonomous navigation by means of their dynamics model: kinematics will not be sufficient to completely control these underactuated systems. After having proven that these autonomous robots are small-time locally controllable from every equilibrium point and locally accessible from the remaining points, the uncertainty is modeled resorting to a multiplicative approach. The dynamics response of these robots is analyzed in the frequency domain. Upper bounds for the complex uncertainty are established.

scholarly journals Assessment methods of production processes reliability – state of the art

2017 ◽  
Vol 41 (1) ◽  
pp. 247-276 ◽  
Author(s):  
Maciej Chlebus ◽  
Sylwia Werbińska-Wojciechowska
Keyword(s):  
Production Systems ◽  
State Of The Art ◽  
Reliability Assessment ◽  
Reliability Theory ◽  
Multidimensional Approach ◽  
Production Engineering ◽  
Production Processes ◽  
Process Reliability ◽  
Reliable Performance

Abstract In the paper, authors focus on a problem of reliable performance of production processes. Reliability analyses of production systems regard considering many different factors and requirements. As a result, the paper discusses the basic definitions from the area of production engineering and reliability theory. Based on the literature research, there is proposed a basic classification of methods for production processes reliability assessment. Later, authors focus on the development of a multidimensional approach to production process reliability assessment. The work ends up with summary and directions for further research.

scholarly journals An Automatic Heuristic Design Approach for Seru Scheduling Problem with Resource Conflicts

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Rongxin Zhan ◽  
Jinhui Zhang ◽  
Zihua Cui ◽  
Jin Peng ◽  
Dongni Li
Keyword(s):  
Genetic Programming ◽  
High Efficiency ◽  
Production Systems ◽  
Design Approach ◽  
Programming Algorithm ◽  
Scheduling Problem ◽  
Quick Response ◽  
Resource Conflicts ◽  
Structure Similarity ◽  
High Flexibility

In current environments, production systems need the ability of quick response to face the volatile markets. Seru production systems, as a new mode of the production system, have the advantages of quick response, high flexibility, and high efficiency. Seru scheduling, which refers to constructing serus with an exact sequence in limited workspace, is an important decision problem in the operational management of seru production systems and can reflect the reconfiguration nature of seru production systems. This study investigates a seru scheduling problem with resource conflicts, whose objective is to minimize the makespan. An automatic heuristic design approach that combines a genetic programming algorithm and structure similarity-based operators is proposed. Comparative experiments are conducted with human-made rules, basic genetic programming, genetic programming-based algorithm, and with some state-of-the-art scheduling algorithms. The results show the effectiveness and efficiency of the proposed algorithm.

Fermentative Biohydrogen Production by Mixed and Pure Bacterial Culture: Designing of Processes and Engineering Control

Solar Energy ◽  
2005 ◽  
Author(s):  
Yong-Feng Li ◽  
Nan-Qi Ren ◽  
Li-Jie Hu ◽  
Guo-Xiang Zheng ◽  
Maryam Zadsar
Keyword(s):  
Hydrogen Production ◽  
Continuous Culture ◽  
Bacterial Culture ◽  
Production Systems ◽  
Production Engineering ◽  
Schematic Processing ◽  
Engineering Control ◽  
Pure Bacterial Culture ◽  
Technical Issues ◽  
Fermentation Parameters

In this paper the research about applied bio-hydrogen production engineering is introduced. The advantages, disadvantages and characteristics of bio-hydrogen production systems and some technical issues on anaerobic fermentative bio-hydrogen producing systems will be discussed and focused on the schematic processing, designing strategies and engineering control of fermentation parameters and also the technical means to increase the evolved hydrogen and hydrogen evolution rate. The technology of bio-hydrogen production based on ethanol-type fermentative theory has been established. The mixed continuous culture and pure batch culture processes were proposed for hydrogen production.

Toyota: Ohno’s Toyota Production System

2018 ◽  
Author(s):  
Paul Brooker ◽  
Margaret Hayward
Keyword(s):  
Production System ◽  
Continuous Flow ◽  
Final Section ◽  
Production Systems ◽  
Leadership Teams ◽  
Just In Time ◽  
New Production ◽  
Quantitative Calculation ◽  
Car Market ◽  
System P

Taiichi Ohno was never CEO of Toyota—rather he was part of dual-leadership teams—but his pioneering version of ‘lean’ production made significant contributions to Toyota’s success and to global manufacturing. The chapter’s first section also describes the pioneering contribution of Toyota founder, Kiichiro Toyoda, who invented the notion of just-in-time production in the 1930s. In the 1950s–60s Ohno’s emphasis on innovative adaptation—his key rational method—to Japan’s distinctive car market and factory environments would lead to a new production system. It included the internationally famous ‘just-in-time’, ‘continuous flow’, and Kanban information-system aspects of his production system. Ohno also used both strategic and quantitative calculation, particularly in his grand strategy of reducing cost/waste in production. The final section on ‘Toyotaism versus Fordism’ echoes Chapter 2’s and describes a rivalry between the American and Japanese production systems.

Vision Based Localization for Multiple Mobile Robots Using Low-cost Vision Sensor

2016 ◽  
Vol 7 (1) ◽  
pp. 12-25
Author(s):  
Seokju Lee ◽  
Girma Tewolde ◽  
Jongil Lim ◽  
Jaerock Kwon
Keyword(s):  
Mobile Robots ◽  
Vision System ◽  
Low Cost ◽  
Vision Sensor ◽  
Rf Transceiver ◽  
Multiple Mobile Robots ◽  
Multiple Devices ◽  
Localization Performance ◽  
Vision Based Localization ◽  
High Flexibility

This paper presents an efficient approach for a vision based localization of multiple mobile robots in an indoor environment by using a low cost vision sensor. The proposed vision sensor system that uses a single camera mounted over the mobile robots field takes advantages of small size, low energy consumption, and high flexibility to play an important role in the field of robotics. The nRF24L01 RF transceiver is connected to the vision system to enable wireless communication with multiple devices through 6 different data pipes. The downward-facing camera provides excellent performance that has the ability to identify a number of objects based on color codes, which form colored landmarks that provide mobile robots with useful image information for localization in the image view, which is then transformed to real world coordinates. Experimental results are given to show that the proposed method can obtain good localization performance in multi-mobile robots setting.

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