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检索条件"机构=Process Automation and Robotics"

共 145 条记录，以下是11-20 订阅

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Integrating PLCs and Robots into the ROS 2 Ecosystem 29

Integrating PLCs and Robots into the ROS 2 Ecosystem

引用

29th IEEE International Conference on Emerging Technologies and Factory automation, ETFA 2024

作者： Chemnitz, Moritz Schorn, Hendrik Töreki, Kolos Fritz, Artur Process Automation and Robotics Fraunhofer Ipk Berlin Germany NxtControl GmbH Schneider Electric Vienna Austria

ISBN: (纸本)9798350361230

To stimulate the connection between robotics and industrial control systems, this work presents a solution for integrating Programmable Logic Controllers (PLCs) into the Robot Operating System 2 (ROS 2), based on the IEC 61499 standard. For this purpose, we have developed a framework that automatically generates all code for the PLC and ROS 2. Limitations regarding usable data types are discussed, and we demonstrate the functionality by interconnecting a robot and a PLC. © 2024 IEEE.

关键词： Robot Operating System

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Design and development of decision-making and control system for vision-based soccer robots

Design and development of decision-making and control system...

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作者： Xu, Xinhe Xue, Fangzhen Feng, Ting Key Laboratory of Process Industry Automation Institute of AI and Robotics Northeastern University Shenyang 110004 China

ISBN: (纸本)008045108X

Centralized robot soccer becomes more and more popular project of science and technology. Because of its global vision, the decision-making and motion control becomes the keystone and the multilevel hierarchical structure is suitable. The robot controller is the'Brain-less' executor, the motion controller includes all kinds of action functions and the organizing level can adopt different decision schemes. Various decision and control methods make the soccer robot a micro high-tech platform. This paper is a summary to the decision-making and control system of soccer robot according our years' research and experiments. Copyright © 2005 IFAC.

关键词： Decision making

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Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle Using Optical Flow 33

Hovering Control of a Nano Quadrotor Unmanned Aerial Vehicle...

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第三十三届中国控制会议

作者： XIAN Bin LIU Yang ZHANG Xu CAO Meihui Wang Fu The Institute of Robotics and Autonomous System the Tianjin Key Laboratory of Process Measurement and ControlSchool of Electrical Engineering and AutomationTianjin University

ISBN: (纸本)9781479947249

In this paper, a PD controller which uses optical flow to obtain position and velocity feedback is proposed for the autonomous hovering flight control of a nano quadrotor unmanned aerial vehicle(UAV). The nano quadrotor UAV has a mass less than 100 g and is comparatively much smaller than the micro vehicles utilized in previous research. Due to the limited size and payload ability, a wireless camera is employed as the onboard visual device to obtain the position and translational velocity of the UAV. Experiment results are included to demonstrate the good control performance of the proposed design.

关键词： Nano Quadrotor UAV,Optical Flow,Autonomous Control

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Reliability Measure Assessment of Automated Monitoring System of Turbogenerator's Parameters

Reliability Measure Assessment of Automated Monitoring Syste...

引用

2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Kruglov, Sergey A. Komarova, Galina V. Saint Petersburg Electrotechnical University LETI Department of Robotics and Production Process Automation St. Petersburg Russia

ISBN: (纸本)9781728157610

This article addresses reliability of an automated monitoring system (AMS). The system in question monitors and registers parameters of a turbogenerator (TG). A reliability block diagram of the multi-functional AMS is provided. The assessment of reliability measure (RI) of the AMS is done with two methods. When calculating average time to failure pf the system, spare equipment is also taken into account. © 2020 IEEE.

关键词： Redundancy

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Reliability and Risk Assessment of Automated Control System's Typical Circuit Solutions

Reliability and Risk Assessment of Automated Control System'...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Kazak, Maksim N. Kruglov, Sergey A. Komarova, Galina V. Saint Petersburg Electrotechnical University 'LETI' Department of Robotics and Production Process Automation St. Petersburg Russia

ISBN: (数字)9781728157610

ISBN: (纸本)9781728157610

This article addresses the assessment of software-hardware system reliability of an automated process control system (APCS) of a combined heat and power (CHP) plant. The assessment of reliability measures was done for separate design solutions of a given software-hardware system. Reliability block diagrams were developed to reliability measures assessment. Operation risks were assessed for the equipment in question. © 2020 IEEE.

关键词： Risk assessment

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Universal identification and control of industrial manufacturing equipment as a service 13

Universal identification and control of industrial manufactu...

引用

13th International DAAAM Baltic Conference and 29th International Baltic Conference, BALTMATTRIB 2021

作者： Tessaro, V. Vick, A. Krüger, J. Technical University Berlin Berlin Germany Process Automation and Robotics Fraunhofer IPK Berlin Germany Industrial Automation Technology Technical University Berlin Berlin Germany

Rapid prototyping as well as retrofitting and digitization of legacy manufacturing equipment often needs design and application of closed loop controllers. The analysis and modeling for such systems like energy-conversion or material transport devices is labor-intensive and needs process understanding. This paper presents a universal approach of identification and closed loop control of arbitrary linear systems delivered through web services using OPC UA as a standardized industrial communication interface. The identification service was used to model the dynamics of a 6-DOF industrial robot and a laboratory-scale water plant containing two separately controllable pumps. The control service successfully controlled the robot’s linearizable axes and the water plant’s pumps by using their respective identified state-space models. To evaluate the performance of the controllers in terms of stability, accuracy, and time response, target trajectories and disturbances like signal noise and latency in communication were introduced. Simulation and laboratory experiments show promising results for control of diverse systems with varying time-constants and imply broad applicability. So, this paper brings a guideline to efficiently implement model predictive control in manufacturing. © 2021 DAAAM International. All rights reserved.

关键词： State space methods

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Resource Efficient Path Planning for Mobile Manipulators in Recurring Machine Tending Tasks 3

Resource Efficient Path Planning for Mobile Manipulators in ...

引用

3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Niemann, Sonke Heimann, Oliver Schorn, Carolina Kruger, Jorg Fraunhofer IPK Process Automation and Robotics Berlin Germany Fraunhofer IPK Machine Vision Berlin Germany Technische Universitat Berlin Industrial Automation Berlin Germany

ISBN: (纸本)9798331540319

Mobile Manipulators are on the path to becoming a general purpose automation solution with applications in fields of manufacturing, healthcare among others. However, the potential of mobile manipulators for high mix - low volume production is not exhausted, with operation to be expected more time-efficient, resilient and most of all more flexible. This paper presents an approach to mobile manipulator path planning for servicing tasks in a factory environment. The proposed algorithm enables time-efficient manipulator motion planning for recurring pick-and-place tasks through online path planning that is guided by offline-generated support data. This leverages the existing redundancy of information between recurring service tasks and reduces the overall computation needed. The results show that this approach is faster than sampling-based planning in static environments and produces comparably short trajectories in static environments with collisions created through human error. © 2024 IEEE.

关键词： Motion planning

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Energy management strategies for hybrid ships and Unmanned Underwater Vehicles 5

Energy management strategies for hybrid ships and Unmanned U...

引用

2022 5th International Conference on Power Electronics and Control Engineering, ICPECE 2022

作者： Zhang, Mengyao Gu, Haitao Guo, Jianhua School of Chemical Process Automation Shenyang University of Technology China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences China

Both ships and unmanned underwater vehicles (UUVs) have played a great role in the human exploration of the ocean and the investigation of marine resources. Their endurance of them is limited by the onboard energy storage, and the benefits of hybrid ships and UUVs in terms of energy conservation and emission reduction technologies are increasingly clear. The secret to attaining energy conservation while maintaining power performance is energy management. The management of energy for hybrid ships and UUVs are summarized in this work. First, this article includes the state of the art in energy management techniques for autonomous maritime vehicles and hybrid ships. and summarizes the hybrid energy management objectives for different purposes. Second, it analyses the latest progress of hybrid energy management strategies at the present stage and compares the benefits and drawbacks of existing energy management strategies in a comprehensive and in-depth manner. Finally, the paper summarizes their shortcomings and provides an outlook on the future development of hybrid energy management strategies. © Published under licence by IOP Publishing Ltd.

关键词： Energy management

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Texture mapping based visualisation methods for the manipulation of ct data: Interaction and ergonomics

Texture mapping based visualisation methods for the manipula...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

The manipulation of large CT datasets needs fast visualisation methods for a comfortable user interaction. Modern visualisation techniques make use texture hardware in graphics workstations extensively. In the following we will present an interactive tool for the positioning of anatomical landmarks in CT datasets of non-pathological children. The tool includes a fast visualisation of CT cross sections based on a texture mapping technique and an interactive three-dimensional view of the segmented CT dataset.

关键词： Ergonomics

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Clinical evaluation of a highly accurate algorithm for CT bone contour segmentation

Clinical evaluation of a highly accurate algorithm for CT bo...

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8th Annual Meeting of Medicine Meets Virtual Reality, MMVR 2000

作者： Pernozzoli, A. Burghart, C. Brief, J. Haßfeld, S. Raczkowsky, J. Mühling, J. Wörn, H. University of Heidelberg Clinic of Cranio-Maxillo-Facial Surgery Germany University of Karlsruhe Institute of Process Control Automation and Robotics Germany

ISBN: (纸本)1586030140

Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are still based on time consuming interactive methods like the seed-point segmentation. Faster methods with no need for interactivity lacks in precision. In the following we will present an automatic and highly accurate algorithm for the segmentation of bone contours in CT data. It is based on an algorithm for the automatic calculation of a grey-value tissue relation model for CT and MRI data.

关键词： Bone

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