Lean Intelligent Assembly Automation (LIAA)

Size: px

Start display at page:

Download "Lean Intelligent Assembly Automation (LIAA)"

Randall Griffith
5 years ago
Views:

1 Lean Intelligent Assembly Automation (LIAA) 2 nd Review Framework Andreas Rune Fugl Danish Technological Institute Forskerparken Odense Denmark Tel.: / arf@teknologisk.dk

2 Task overview of WP08 2

3 Task overview Task Sharing Knowledge and Collaboration The ongoing maintenance of the SemanticWIKI Task Maintain Conceptual and Technical Integration Training activities/material Development infrastructure (Versioning, Hosting, ROS/SCRUM guidelines) Task Design of Lean Intelligent Assembly Framework Main activities Design of the framework architecture, which enables the automatic and dynamic reconfiguration of the framework Specification of the modules interfaces Specification of module tests based on the use cases requirements. Task Implementation of Lean Intelligent Assembly Framework Implementation and refinement of modules 3

Objectives & Timeline Objectives: (1) Sharing of knowledge from previous projects through inputting the relevant deliverables and information of those projects in a semantic wiki (2) To achieve

4 Objectives & Timeline Objectives: (1) Sharing of knowledge from previous projects through inputting the relevant deliverables and information of those projects in a semantic wiki (2) To achieve conceptual consistency, ensuring that all partners share a common view and awareness on the project and its components. (3) To specify, and produce, if necessary, the tools required to ensure reliable technical integration. Once the critical mass of LIAA developments and how to realize them has been validated in milestone 3: Modules: Proof of Concept (month 18), the LIAA consortium can begin merging its research results and develop the Lean Automation framework. In order to develop the Lean Automation framework, the following sub-objectives are identified: (4) Design of architecture and interfaces of the Lean Automation framework (5) Implementation of Lean Automation framework (6) Deployment of Lean Automation framework in industrial test-beds Timelime: Current 4

5 Review of Preliminary LIAA Framework 5

6 LIAA Workflow Workplace Design Workplace Construction Workplace Configuration Workplace Runtime Workplace Design: Define Bill of Materials Define Bill of Processes Define Bill of Resources Design Workplace Concept Design Workplace Simulate Workplace Export Workplace Design and Documentation Workplace Construction (not part of LIAA) Purchase/manufacture components Integrate components Mechanical Electrical Pneumatic Hydraulic Workplace Configuration: Finalize Skill Network Map Skills to Hardware Set Skill Parameter Finalize Worker Instructions Configure World Model and Visualization Start Runtime Workplace Runtime: Execute Skills Track Human Visualize Information Identify anomaly Recover and continue 6

7 7

8 Task Design of Lean Intelligent Assembly Framework 8

9 C4 Architecture C4 architecture [1] has proven to be a useful abstraction in defining concerns in Robotic software systems Coordination Coordinates the interaction amongst the system components Configuration Configures which system components should exist and how they are interconnected Computation All the useful components e.g. data processing, vision algorithms, robot drivers, etc Communication The exchange of data, methods for synchronization, etc. [1] Matthias Radestock and Susan Eisenbach - Coordination in Evolving Systems,

10 Conceptual Architecture Skill creation Run time status Skill Execution Capability registration Computational Units 10

11 LIAA Framework Design 11

12 LIAA Architectural Design Separate central modules/functionality into the four aspects of the C4 model Two additional architectural layers have been added Vertical Functionality that must be accessible from all layers, e.g. Knowledge nodes» Storage of Ressources/Tasks/Skills» World Model Exception/Error Reporting and Handling User Interaction layer 12

13 Task 8.4 Implementation of Lean Intelligent Assembly Framework 13

14 14

15 The Configuration Layer 15

16 Configuration Layer Concerns Configures which system components should exist and how they are interconnected Configuration Framework Based on the SOA pattern Separation of concerns Reuse and interchangeability of components Configurability 16

17 Module: T8.4 - Configuration Manager Description: LIAA/SMERobotics component Registration and deregistration of SOA services at runtime. Extendable YAML Service description language definition. Add and remove components at runtime Automatic deregistration Virtual components with Python API Composition of devices and services syntactically incompatible Status: Running on all DTI Robot CoWorker setups including industrial installations Distributed with alpha version of LIAA Framework 17

18 Toolchain 18

19 Module: T8.4 - Build system Description: Automates the process of building separate Catkin/CMake workspaces. Sets up structures for installation, build-,and runtime dependencies Promotes Separation of Concerns at the build/workspace level Driven by configuration file listing workspaces in dependency order Status: Running on all DTI Robot CoWorker setups, daily usage by 8+ developers from multiple teams 19

20 Outlook for M31-M42 Implementation Plans Documentation of interfaces and usage. Focus on capability/primitive registration Integration and evaluation by RTD partners Integration on multiple testbeds 20

Contact Information Project Coordinator Martin Naumann Tel: +49 711 970-1291 Fax:

de Project Office Tel: +49 711 970-1844 Fax: +49 711 970-1008 E-Mail:

21 Contact Information Project Coordinator Martin Naumann Tel: Fax: Project Office Tel: Fax: Thank you for your Attention! Questions? For more information visit us at 21

Skills for Vision-based in Robotics: Application to aeronautics assembly pilot station

Skills for Vision-based in Robotics: Application to aeronautics assembly pilot station Héctor Herrero Jose Luis Outón Urko Esnaola Damien Sallé Karmele López de Ipiña hector.herrero@tecnalia.com Index