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- 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. ; , 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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| 2. |
- Hanna, Atieh, 1973-
(författare)
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Towards intelligent and collaborative automation of automotive final assembly
- 2021
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Automation and robotics have transformed the automotive industry by increasing efficiency and improving product quality. However, in manual final assembly and material handling in the truck industry, where the environment is crowded and the process is complex, it is hard to automate using traditional industrial robots. Due to the new trends of self-driving, electrification, and connectivity, the truck variants will drastically increase, which will require a new type of flexible, intelligent and reconfigurable production system where humans and robots collaborate to handle the upcoming complexity.Collaborative robot systems are designed to enable collaboration between humans and robots. They can be flexible and easier to use and install compared to traditional robots while relieving the human from the unergonomic and more monotonous tasks and freeing up his/her time for more value-adding operations. However, despite the great amount of research and industrial effort in promoting collaborative robots, they are underused and are mostly installed to handle simpler tasks, like traditional robots but without fences.The main aim of this work is to increase the understanding of how to introduce intelligent and collaborative robot systems into complex applications such as final assembly. Two demonstrators were developed by the research group where a manual final assembly station and a kitting station were transformed into collaborative assembly and kitting stations. Based on these industrial use cases, a set of challenges and critical requirements have been identified that need to be addressed. These requirements are related to safe, efficient and intuitive interactions, tools, deliberative control, robust communication and variant handling. The most critical requirement is the safety of machines and humans. In this work, by evaluating the current safety standards, it is identified that the available collaborative modes do not support the implementation of intelligent and adaptive collaborative systems in complex applications. A new collaborative mode is therefore suggested for deliberative and adaptive systems where robot system and operator plan, deliberate, adapt and act together.Even if it would be possible to develop a safe and fully working collaborative and intelligent automation system, the engineering processes must also be transformed to be able to design, plan, prepare, and to manage product and process changes for these new systems. Based on the studied use cases, possible solutions for the future planning and preparation process are also proposed in this thesis.
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