| 1. |
- Albo, Anton, 1991, et al.
(författare)
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A standardization approach to Virtual Commissioning strategies in complex production environments
- 2020
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Ingår i: Procedia Manufacturing. - : Elsevier BV. - 2351-9789. ; 51:2020, s. 1251-1258
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Konferensbidrag (refereegranskat)abstract
- The ongoing industrial revolution puts high demands on the component manufacturers and suppliers to meet the tough requirements set by the development industries to follow the technological advancement of highly digitalized factories with more future-oriented applications as Virtual Commissioning for cyber-physical systems. This paper provides a production system lifecycle assessment regarding the technical specification strategies using Virtual Commissioning for implementation and integration of new systems or plants and its predicted future challenges. With the use of standards and a common language practice between a purchaser/contractor procurement situation and across the different technical disciplines internally and externally, the implementation strategies is reiterated to achieve a new sustainable business model. The paper investigates different types of production systems and how a defined classification framework of different levels of Virtual Commissioning can connect the implementation requirements to a desired solution. This strategy includes aspects of standardization, communication, process lifecycle, and predicted cost parameters.
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| 2. |
- Albo, Anton, 1991, et al.
(författare)
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Modular Virtual Preparation method of production systems using a Digital Twin architecture
- 2021
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0740 .- 1946-0759. ; 2021-September
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Konferensbidrag (refereegranskat)abstract
- Even though virtual engineering and preparational work within the automotive industry has become more widely used over the last years with its possibilities to improve software quality and reduce physical commissioning time, it is still a costly investment for most companies when implementing or upgrading production systems. The different approaches and key factors to reduce the costs are to investigate how to reduce the development time of modeling and which practice or standard is most suitable for a certain application. A developer needs to expand the utilization of the virtual work and the re-usability of its digital models, in addition, to find a balance of the required level of modeling details according to the required functionality. This paper presents a framework with a modular software setup that simulates a 3-DOF robot in three different cases with different levels of detail. The outcome of the cases is evaluated in the context of functionality, usefulness, and affordability. The paper further discusses and explores potential use in regards to the concept of Virtual Commissioning and Digital Twin.
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| 3. |
- Dahl, Martin, 1984, et al.
(författare)
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Application of the sequence planner control framework to an intelligent automation system with a focus on error handling
- 2021
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Ingår i: Machines. - : MDPI AG. - 2075-1702. ; 9:3
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Tidskriftsartikel (refereegranskat)abstract
- 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.
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| 4. |
- Dahl, Martin, 1984, et al.
(författare)
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Guard extraction for modeling and control of a collaborative assembly station
- 2020
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Ingår i: IFAC-PapersOnLine. - : Elsevier BV. - 2405-8963. ; 53:4, s. 223-228
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Konferensbidrag (refereegranskat)abstract
- A transition system represented by guards and actions can be amended by new guards computed in order to satisfy some specification. If the transition system is the result of composing smaller state machines, guard extraction can be used to put the new guards onto the guards the original state machines. Planning and verification can then be performed directly on the system with additional guards. In this paper we discuss the benefits of applying guard extraction as part of the modeling work in a modular control architecture, where reusable resources are composed using specifications. We show with an example from the development of an industrial demonstrator that even if the specification language is limited to invariant propositions, in practice many common safety specifications can be expressed when combined with a notion of which transitions are allowed to be restricted.
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| 5. |
- Dahl, Martin, 1984, et al.
(författare)
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Interactive formal specification for efficient preparation of intelligent automation systems
- 2022
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Ingår i: CIRP Journal of Manufacturing Science and Technology. - : Elsevier BV. - 1755-5817 .- 1878-0016. ; 38, s. 129-138
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Tidskriftsartikel (refereegranskat)abstract
- The automation system of the future will consist of an increasing amount of complex resources, such as collaborative robots and/or autonomously roaming robots for material handling. To control these devices in an environment shared with human operators require state of the art computer perception and motion planning algorithms to be used as part of the automation system. This new type of intelligent automation system, where intelligent machines and learning algorithms are replacing more traditional automation solutions, requires new methods and workflows to keep up with the increase in complexity. This paper presents an interactive and iterative framework for solving some of these new challenges. The framework supports model-based control system preparation performed simultaneously to preparation of 3D geometries, positioning of robots, and tool design. The workflow enables an interactive preparation process, where new resources and constraints can be added to a live (real or simulated) automation system and control system failures can be analyzed in familiar tools for virtual preparation. Additionally, the paper describes how the integrated preparation process was applied to reconfiguring an industrial use case that includes a collaborative robot working side by side with a human operator, smart tools, and a vision system for localizing both work objects and tools.
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| 6. |
- Dahl, Martin, 1984, et al.
(författare)
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Sequence Planner: A Framework for Control of Intelligent Automation Systems
- 2022
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Ingår i: Applied Sciences (Switzerland). - : MDPI AG. - 2076-3417. ; 12:11
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Tidskriftsartikel (refereegranskat)abstract
- This paper presents a framework that tackles the challenges met in the development of automation systems featuring collaborative robotics and other machines that have some degree of autonomy. These machines rely on online algorithms for both sensing and acting in order to achieve a very high level of flexibility. To take advantage of these new machines and algorithms, control systems must also be increasingly flexible. In this paper, we present a framework for control of this new class of intelligent automation systems called Sequence Planner (SP), which helps with control of both traditional automation equipment and machines with autonomy. To aid the complex task of developing automation control solutions, SP relies on supporting algorithms for control logic synthesis and online planning. SP has been implemented with plug-in support for the Robot Operating System (ROS) and applied to an industrial demonstrator. We present our findings on how SP performed as a control system for this demonstrator, where we show that it is an adequate approach to implement automation for a highly flexible single station system. As a standardized way of automating such systems is missing, we hope that our contribution will provide a foundation for how to develop intelligent automation systems.
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| 7. |
- Erös, Endre, 1990, et al.
(författare)
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Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2
- 2021
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Ingår i: Studies in Computational Intelligence. - Cham : Springer International Publishing. - 1860-9503 .- 1860-949X. ; 895, s. 3-29
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- In many modern automation solutions, manual off-line programming is being replaced by online algorithms that dynamically perform tasks based on the state of the environment. Complexities of such systems are pushed even further with collaboration among robots and humans, where intelligent machines and learning algorithms are replacing more traditional automation solutions. This chapter describes the development of an industrial demonstrator using a control infrastructure called Sequence Planner (SP), and presents some lessons learned during development. SP is based on ROS2 and it is designed to aid in handling the increased complexity of these new systems using formal models and online planning algorithms to coordinate the actions of robots and other devices. During development, SP can auto generate ROS nodes and message types as well as support continuous validation and testing. SP is also designed with the aim to handle traditional challenges of automation software development such as safety, reliability and efficiency. In this chapter, it is argued that ROS2 together with SP could be an enabler of intelligent automation for the next industrial revolution.
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| 8. |
- Erös, Endre, 1990, et al.
(författare)
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Evaluation of high level methods for efficient planning as satisfiability
- 2021
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0740 .- 1946-0759. - 9781728129891 ; 26
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Konferensbidrag (refereegranskat)abstract
- Fast planning algorithms play a key role in intelligent automation systems where control sequences are constantly calculated. In order to determine which algorithms increase planning performance, we evaluate and compare several high level planning methods on a set of standard benchmarks. We focus on planning as satisfiability as the leading approach for solving difficult planning problems.
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| 9. |
- Erös, Endre, 1990, et al.
(författare)
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Towards compositional automated planning
- 2020
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; September, s. 416-423
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Konferensbidrag (refereegranskat)abstract
- The development of efficient propositional satisfiability problem solving algorithms (SAT solvers) in the past two decades has made automated planning using SAT-solvers an established AI planning approach. Modern SAT solvers can accommodate a wide variety of planning problems with a large number of variables. However, fast computing of reasonably long plans proves challenging for planning as satisfiability. In order to address this challenge, we present a compositional approach based on abstraction refinement that iteratively generates, solves and composes partial solutions from a parameterized planning problem. We show that this approach decomposes the monolithic planning problem into smaller problems and thus significantly speeds up plan calculation, at least for a class of tested planning problems.
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| 10. |
- Farooqui, Ashfaq Hussain, 1990, et al.
(författare)
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Towards data-driven approaches in manufacturing: an architecture to collect sequences of operations
- 2020
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Ingår i: International Journal of Production Research. - : Informa UK Limited. - 0020-7543 .- 1366-588X. ; 58:16, s. 4947-4963
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Tidskriftsartikel (refereegranskat)abstract
- Published by Informa UK Limited, trading as Taylor & Francis Group. The technological advancements of recent years have increased the complexity of manufacturing systems, and the ongoing transformation to Industry 4.0 will further aggravate the situation. This is leading to a point where existing systems on the factory floor get outdated, increasing the gap between existing technologies and state-of-the-art systems, making them incompatible. This paper presents an event-based data pipeline architecture, that can be applied to legacy systems as well as new state-of-the-art systems, to collect data from the factory floor. In the presented architecture, actions executed by the resources are converted to event streams, which are then transformed into an abstraction called operations. These operations correspond to the tasks performed in the manufacturing station. A sequence of these operations recount the task performed by the station. We demonstrate the usability of the collected data by using conformance analysis to detect when the manufacturing system has deviated from its defined model. The described architecture is developed in Sequence Planner–a tool for modelling and analysing production systems–and is currently implemented at an automotive company as a pilot project.
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