This paper presents an application and a critical overview of the Enhanced Machine Controller (EMC2), a Linux based CNC open architecture control system (OAC) implemented in an industrial milling testbed platform. The...
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This paper presents an application and a critical overview of the Enhanced Machine Controller (EMC2), a Linux based CNC open architecture control system (OAC) implemented in an industrial milling testbed platform. The development of such a machine tool was motivated by educational and research requirements, especially in the field of design and analysis of machining process monitoring and control algorithms. The EMC2 was analysed in view of compatible hardware components and software interfaces, configuration abilities and industrial applicability. Also, characteristics of the developed testbed together with the basic implementation details are depicted.
In this paper a creative action planning algorithm (CAPA) is presented for solving multiagent planning problems and task allocation. The distributed multiagent system taken in consideration is a system of m autonomous...
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This paper describes a Bayesian approach to robot group control applied in industrial applications. The proposed model is based on well-known concepts of Ubiquitous Computing and can enable some degree of contextual p...
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This paper describes a Bayesian approach to robot group control applied in industrial applications. The proposed model is based on well-known concepts of Ubiquitous Computing and can enable some degree of contextual perception of the environment. Compared with classical industrial robots, usually preprogrammed for a limited number of operations/actions, the system based on this model can react in uncertain situations and scenarios. The model combines ontology to describe the specific domain of interest and decision-making mechanisms based on Bayesian Networks to enable the work of a single robot without human intervention by learning Behavioral Patterns of other robots in the group. The described model is designed to be expressive enough to provide adequate level of abstractions needed for making timely appropriate actions and respecting the current application.
Conventional robotic assembly system organization is mostly oriented toward single products or a small number of product *** behavior in most of today’s industrial environments is controlled from the classical aspect...
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Conventional robotic assembly system organization is mostly oriented toward single products or a small number of product *** behavior in most of today’s industrial environments is controlled from the classical aspect of automatic control.A central system controller governs the assembly process and autonomy within groups of robots or at the level of an individual robot is strictly *** this paper a formal model is presented where each robot is an autonomous entity （agent） capable of sensing, acting and decision *** support in terms of various 2D and 3D vision systems, F/T and other simple sensors allows the robots to interact with the environment and among each other.A formal coordination and communication model is presented for information sharing and negotiation purposes in the multiagent system.
Complex assembly tasks of specific products in industry are mostly realized in a traditional *** one hand specialized and dedicated machines are used to solve major parts of assembly *** the other hand where machines ...
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Complex assembly tasks of specific products in industry are mostly realized in a traditional *** one hand specialized and dedicated machines are used to solve major parts of assembly *** the other hand where machines cannot be implemented human labor is utilized at the factory *** setup of such assembly systems is often oriented toward one product and a predefined work *** tedious human work is one of the essential benefits of the presented work *** high level flexibility and adaptivity to an assembly process can be proven as a major investment in *** products from electronic industry can be assembled on the developed framework which boosts *** presented approach has been tested and evaluated on an industrial setup supported by a multiagent control architecture consisting of three 6 DOF robots.
This work considers the application of radial basis function neural network (RBFNN) for tool wear determination in the milling process. Tool wear, i.e., flank wear zone widths, have been estimated in two phases using ...
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This work considers the application of radial basis function neural network (RBFNN) for tool wear determination in the milling process. Tool wear, i.e., flank wear zone widths, have been estimated in two phases using two types of RBFNN algorithms. In the first phase, RBFNN pattern recognition algorithm is used in order to classify tool wear features in three wear level classes (initial, normal and rapid tool wear). On behalf of these results, in the second phase, RBFNN regression algorithm is utilized to estimate the average amount of flank wear zone widths. Tool wear features were extracted in time and frequency domain from three different types of signals: force, acoustic emission and nominal currents of feed drives.
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