Florin Daniel Anton

Resource scheduling based on energy consumption for sustainable manufacturing

The paper proposes an agent-based approach for measuring in real time energy consumption of resources in job-shop manufacturing processes. Data from industrial robots is collected, analysed and assigned to operation types, and then integrated in an optimization engine in order to estimate how alternating between makespan and energy consumption as objective functions affects the performances of the whole system. This study focuses on the optimization of energy consumption in manufacturing processes through operation scheduling on available resources. The decision making algorithm relies on a decentralized system collecting data about resources implementing thus an intelligent manufacturing control system; the optimization problem is implemented using IBM ILOG OPL.

Open architecture for robot controllers

The paper discusses a generic, open architecture for industrial or non-industrial robot controllers allowing system designers and robot manufacturers to develop rapid deployment automation solutions for particular mechanics of robot manipulators. The paper describes a multiple-axis open controller design for a mobile AGV platform carrying a robotic arm, with inclination control to provide horizontal alignment in any terrain configuration. The navigation and locating of the mobile robot platform, the motion control of the robotic arm, as well as monitoring, learning, program editing, debugging and execution are embedded in a multiprocessor system developed around a Motion Control solution for which a structured programming language was developed. A strongly coupled multi-processor architecture embedding model learning, control and man-machine GUI functionalities is described both as hardware implementing and basic software system design (RTOS, multitasking and operating modes). Experimental results are reported for the motion control of the 5-d.o.f. robot arm.

REMOTE MONITORING AND CONTROL OF A ROBOTIZED FAULT TOLERANT WORKCELL

Abstract The paper describes a scientific project aiming to build up a remote controlled, fault tolerant robotized manufacturing cell. The platform is a software product designed to support multiple remote connections with a number of Adept Technology V+ robot-vision controllers (masters over manufacturing workstations), either located in a local network or via Internet.

Educational services in cloud with IBM technology: A new model for open, on demand learning in higher education

The paper describes a cloud implementation for a consortium of four universities used for on demand education. The cloud infrastructure allow a better resource allocation for laboratories, customizations of the working environment, on demand class setup and more other features which allow improvements in the learning processes. The infrastructure is composed by two IBM CloudBurst 2.1 infrastructures, located in two different geographical locations, connected by a high speed fiber optic connection, allowing fault tolerance, high availability and virtual machine relocation. The system is used by four universities: University Politehnica of Bucharest, University “Transilvania” of Brasov, Academy of Economic Studies of Bucharest and University of Medicine and Pharmacy “Carol Davila” of Bucharest. The paper is composed by six sections: an introduction presenting the actual context in for education services and the necessity for cloud computing in education, a section which describes the hardware and software architecture of the system, then the virtual machine management and monitoring system is presented, followed by section which discusses about the e-learning system implemented, the SSKE (Service Science Knowledge Environment) system is presented in another section, and the paper finishes by a conclusions section presenting further developments and first results.

Management of changes in a holonic manufacturing system with dual-horizon dynamic rescheduling of production orders

Abstract The paper describes a solution and implementing framework for the management of changes which may occur in a holonic manufacturing system. This solution is part of the semi-heterarchical control architecture developed for agile job shop assembly with intelligent robots-vision workstations. Two categories of changes in the manufacturing system are considered: (i) changes occurring in resource status at process level: resource breakdown, failure of (vision-based) in-line inspection operation, and depletion of local robot storages; (ii) changes in production orders at business (ERP) level: rush orders. All these situations trigger production plan update and rescheduling (redefine the list of Order Holons) by pipelining CNP-type resource bidding at shop-floor horizon with global product scheduling at aggregate batch horizon. Failure- and recovery management are developed as generic scenarios embedding the CNP mechanism into production self-rescheduling. Implementing solutions and experimental results are reported for a 6-station robot-vision assembly cell with twin-track closed-loop pallet transportation system and product tracking RD/WR devices. Future developments will consider manufacturing integration at enterprise level.

Human-Robot Natural Interaction with Collision Avoidance in Manufacturing Operations

The paper discusses a new method of tracking and controlling robots that interact with humans (natural interaction) to provide assistance services in manufacturing tasks. Using depth sensors the robots are able to assist the human operator and to avoid collisions. Natural interaction is implemented using a depth sensor which monitors the activity outside and inside the robot system workspace. The sensor extracts depth data from the environment and then uses the processing power of a workstation in order to detect both humans and robot arms. This is done by detecting skeletons which represent the position and posture of the humans and manipulators. Using skeleton tracking, a software agent is able to monitor the movements of the human operators and robotic arms and to detect possible collisions in order to stop the robot motion at the right time. Also the agent can interpret the posture (or full body gesture) of the human operator in order to send basic commands to the robot.

HOLONIC FAULT-TOLERANT CONTROL OF NETWORKED ROBOT-VISION ASSEMBLY STATIONS

Abstract The paper describes a networked fault-tolerant assembly system of job shop type containing multiple robotized stations operating under visual control. During the assembly process, the products are identified, located, qualified, and controlled by analyzing images from virtual cameras associated to stationary- and arm-mounted cameras. The holonic control architecture is formed by the following types of entities: a Global Assembly Scheduler generating Order Holons, a dual layer of Material Handling (Robot) Holons and Sensory Holons, and a System Monitoring & Database entity. These elements are embedded in a 3-layer computing & control structure, and interconnected by a 4-fold fault-tolerant communication network keeping track of assembly job execution. Implementing issues and experimental results are reported.

Optimizing Trajectory Points for High Speed Robot Assembly Operations

The work presented in this paper reports a research done in order to optimize the relation speed—trajectory length for a complex robotic assembly task. The assembly task consists in fixing an engine part with 8 screws, the screws being already inserted and pre-fixed but not tightened; in some cases the screws must be screwed for a length of 1 cm, and then tightened at 25 Nm. The operation duration (cycle time) should be of maximum 45 s measured from the time the pallet enters in the working area until the pallet exits the working area. Due to the conveyor operation which takes 12 s to place the pallet in the working position and to remove the pallet from the working area, only 33 s remain for the robot operation including the operation time of the screwdriver placed on the robot. The solution is based on developing an algorithm that uses the dynamics equations of the robot to compute the time needed to accomplish the task, based on the load of the robot and the stop points on the trajectory.

Establishing Optimal Energy Working Parameters for a Robotized Manufacturing Cell

The paper proposes a method for measuring energy consumption of single phase equipment. Although it can be used on different domains the solution targets the shop floor level of robotized manufacturing systems. The paper focuses thus on the energy consumption of industrial robots for different operation types. This solution is extended in the second part of the paper for a set of workstations cooperating in order to minimize energy consumption at global level for a batch production.

Monitoring rehabilitation exercises using MS Kinect

In many situations after a stroke or an accident the patient needs to execute for a period of time rehabilitation exercises. In most of the cases the patient needs to be helped by specialized personnel in kinetoterapy and rehabilitation techniques. The process is long and the costs are high, if the impact of the stroke or of the accident was not so strong, or after a period of time after the patient has been under treatment, he will be able to execute the exercises alone without assistance, but he will be supervised by a specialist. The paper propose a system for monitoring rehabilitation exercises in order to track the progress of the patient, without the need of the specialist, this could allow the patient to make the exercises at home and also to cut drastically the costs. The system can be trained to detect the exercise and to compare the motion with the correct form, offering feedback to the patient and tracking the progress.