A simulation-based approach to develop a holonic robotic cell

Purpose This paper aims to present an approach for the simulation of a heterogeneous robotic cell. The simulation enables the cell’s developers to conveniently compare the performance of alternative cell configurations. The approach combines the use of multiple available simulation tools, with a custom holonic cell controller. This overcomes the limitation of currently available robot simulation packages by allowing integration of multiple simulation tools including multiple vendor simulation packages. Design/methodology/approach A feeding cell was developed as a case study representing a typical robotic application. The case study would compare two configurations of the cell, namely, eye-in-hand vision and fixed-camera vision. The authors developed the physical cell in parallel with the simulated cell to validate its performance. Then they used simulation to scale the models (by adding subsystems) and shortlist suitable cell configurations based on initial capital investment and throughput rate per unit cost. The feeding cell consisted of a six-degree of freedom industrial robot (KUKA KR16), two smart cameras (Cognex ism-1100 and DVT Legend 500), an industrial PC (Beckhoff) and custom reconfigurable singulation units. Findings The approach presented here allows the combination of dissimilar simulation models constructed for the above mentioned case study. Experiments showed the model developed in this approach could reasonably predict various eye-in-hand and fixed-camera systems’ performance. Combining the holonic controller with the simulation allows developers to easily compare the performance of a variety of configurations. The use of a common communication platform allowed the communication between multiple simulation packages, allowing multi-vendor simulation, thereby overcoming current limitation in simulation software. Research limitations/implications The case study developed here is considered a typical feeding and assembly application. This is however very different from other robotic applications which should be explored in separate case studies. Simulation packages with the same communication interface as the physical resource can be integrated. If the communication interface is not available, other means of simulation can be used. The case study findings are limited to the specific products being used and their simulation packages. However, these are indicative of typical industry technologies available. Only real-time simulations were considered. Practical implications This simulation-based approach allows designers to quickly quantify the performance of alternative system configurations (eye-in-hand or fixed camera in this case) and scale, thereby enabling them to better optimize robotic cell designs. In addition, the holonic control system’s modular control interface allows for the development of the higher-level controller without hardware and easy replacement of the lower level components with other hardware or simulation models. Originality/value The combination of a holonic control system with a simulation to replace hardware is shown to be a useful tool. The inherent modularity of holonic control systems allows that multiple simulation components be connected, thereby overcoming the limitation of vendor-specific simulation packages.

Modeling and Simulation of Grid Connected Hybrid Energy System and its Fault Analysis

This paper represents a hybrid energy system (HES) consisting of photovoltaic (PV), Solid Oxide Fuel Cell (SOFC), electrolyzer system and a storage tank. In this proposed system a fuel cell controller is used where a PID controller is utilized to control the flow of hydrogen (H₂) through the valve to the SOFC to fulfill the load requirement. In this model a supervisory controller is used to regulate the whole system according to load requirement. So, when PV power is more than load requirement, then PV power fulfill the required load demand as well as the extra power of PV is utilized to generate the hydrogen (H₂) by the help of electrolyzer, further this hydrogen is used as a fuel of SOFC. Also in this proposed model different types of faults are considered and verified their effect on the load as well as in distribution network. The computer simulations are done for the purpose technology and verified its effectiveness. Hence the appropriate results are obtained.

Development of semi-integrated solar street lamp for rural area

A solar street lamp is a lamp technology that utilizes solar cell to obtain electrical energy during the daylight hour by solar radiation and then use the electrical energy to provide light at night. Semiintegrated lamp tries to overcome complicated installation and expensive price of normally solar street lamp. Semi-integrated solar street lamp only integrated solar cell, controller, and battery, while lamp is separated using cable. This configuration makes semi-integrated lamp cheaper and easier for installation that is suitable for rural area. Therefore, in this paper we develop semi-integrated type of solar street lamp. The illumination of semi-integrated lamp was measured using lux meter. The power of the lamp was calculated to meet the energy needs for 12 hours. The results show that the semi-integrated solar street lamp with low power LED ~2W has been successfully developed. The solar lamp can be automatically turned on for around 12 hours, from 5:50 PM to 5:31 AM (UTC+7). The illumination average of the lamp is 17.42 lux with 6.97 lux deviation. The measurement result of illumination shows that the solar street lamp has maximum distance of more than 140 cm with 230 cm high of lamp.

Research on Job Scheduling Problems with DMS for Cell Controller Based Bogie

For tackling job scheduling problems encountered with discrete manufacturing system for 380km/h motor bogie, Object-oriented Petri Net based Job-Shop Cell Controller System (OPNCC) was brought forward identifying categories of all objects within cell control model, describing relationship between categories, analyzing and recognizing cell control logic through the dynamic behavior of physical objects and introducing control decision and strategy into the control logic of as designed OPN model, thereby constituting a complete object-oriented cell control model. With improved genetic algorithm, it can offer dynamic optimization to balanced production of multiple work pieces on several machine tools so that the machine tools can be utilized to a maximum extent.

The Automation of Spillway Gate Machine of Hydropower Power Station

To increase automation degree of spillway gate machine, the variable speed synchronization control with mechanical location locking device and the remote monitoring system based on hierarchical distributed model are designed in this paper. And the cell controller and the system integration of remote data communication network are also implemented. This design scheme can be well used in spillway gate machine automation proved in Manwan power station.