Collaborative Robotics and e-work. S.Y. Nof. PRISM Center Production, Robotics, and Integration Software for Mfg. & Management

Transcription

1 Collaborative Robotics and e-work S.Y. Nof PRISM Center Production, Robotics, and Integration Software for Mfg. & Management Purdue University, W. Lafayette, IN Cutting Edge research in Robotics Rosemont IL, June e-work and collaboration ( Smart Teams ) 2. Error recovery, conflict resolution 3. Fault tolerance in sensor arrays -- FTTP 4. Assembly-and-Test networks 5. Emerging challenges ISR

2 e-work definition [PRISM, 1999] Collaborative, computer-supported, and communication-enabled operations in highly distributed organizations of humans / robots / autonomous systems Our goal: Augment human abilities to work v-design e-business e-commerce I- Robotics e-mfg. v-factory e- Logistics i-tran v- Enterprise... e - W o r k Challenges: Complexity Dependence Integrity 2 Communication Coordination Noise Mismatch

3 Examples: M.E.N optimization, scalability; MEMS sensor arrays/networks; GriTeam; FDL-CDR Design Supply Logistics Production Enterprise i Level 1. Comm. 2.Exchange 3.Integrate Coordination Design Supply Logistics Production Enterprise j Enterprise k Enterprise k Tokyo-- Osaka Italy S.A. PU+Chile+ Japan PU, UIC, ANL, IBM 3 Archive sharing Collaborative eng. Supply grid planner GRAM OPT I Resource broker Grid components Scientific research. GriTeam Functions Cost VR-based optimizer tutor Collaboration matcher GriTeam Services and Toolkit The NMI middleware platform Resource Broker GRAM OPT I Grid components GRAM : Globus Resource Allocation Manager OPTI: OptIPuter e-learning/ e-tutoring Performance monitor OPT I GRAM Grid components ATC, IN21stC, AAE+CS+IE+ME GM, Tecnomatix, Adept

4 Task Administration Protocols (Regular; Active) Definition (different from std. Comm. protocols): Control rules that enable effective collaboration among agents and tasks Active TAP: Can trigger and initiate interactions to optimize performance Ex. in e-work: Time-out; negotiation; assignment TIE (Teamwork Integration Evaluator) Parallel simulators 4

5 Overview of TIE development 5 Sponsors: NSF, IBM, Caterpillar, SGI, TAP, Tecnomatix, ATC, State of Indiana

6 6 e-work: Foundations, Tools, and Emerging Discoveries

7 Cost of Error Recovery / Conflict Resolution Cost Number of Iterations s=0.1 s=0.2 s=0.3 s=0.4 s=0.5 s=0.6 s=0.7 s=0.8 s=0.9 Increases exponentially when human communications and operations are applied (assuming q=0.2) 7 Cost Number of Iterations s=0.1 s=0.2 s=0.3 s=0.4 s=0.5 s=0.6 s=0.7 s=0.8 s=0.9 Reaches an upper bound when IT is Applied (assuming q=0.0) q = % of human involvement S = rate of conflicts

8 EDPR: Error Diagnostics, Prevention, Recovery Example: Robotic assembly cell Detectable task errors: 1) Bad position of gripper, of part, of assembly base 2) Bad part orientation 3) Part arrives in incorrect order to the pick-up area 4) Part or assembly base is missing What s new? Machine learning to improve diagnostics and recovery strategies, success probability 8

9 NEFUSER: Neuro-Fuzzy System for Error Recovery Human-robot-computer Recovery Interactions Sensor Data File Recovery Strategy Controller Recovery Order Sensor Information Sensing Help Request with Advisory Action Assistance R o b o t Operations and Recovery Actions 9 Production Process

10 Computer-Supported Conflict Resolution Example: FDL s Field-of-View Evaluation function 10

11 Operation Logic of FDL/CR Run FDL/CR Graph Model of Conflict Resolution Detection of conflict situation Activation of FDL-CR Identification of type of conflict situation Run GMCR software for CM and CA of C(j) j = {d, f, r, v} Id. conflict type CAE tools CM and CA = X? N Y Product flow analysis CM and CA = Y? N Y Run inference system for CC Dependency analysis Develop product flow analysis for CR Y j = f? N Develop dependency analysis for CR Inference system Update of FDL facility model 11 Back to the FDL environment

12 Robotic Assembly: Framework for cooperation requirement planning with conflict resolution Conflict Types: Design Supply Cost Organization Other. Error Types: Logistics Design Operation Other Interactive Error Recovery Cooperation Requirement Planning Yes Begin Conflict? Task assignment & global execution plan No Cell and robot Control Systems Error? No Yes Conflict Resolution 12 End

13 Alternative MEMS and Nano Sensor Arrays / Networks Optimized along an Artery for Measurement and Control 13

14 Distributed Sensor Network / Arrays: Fault-Tolerant & Time-Out Integration Protocols* Sensor Nodes S 1 B 1 Base Station B 1 empty && t >=T Y Sensor Node ID Backup Node Transmission Delay Time S 2 S 3 B 2 B 3 B 1 empty && t >=T B 1 empty && t >=T Y Y Knowledge Base 1 2 2,3,4 1,4,5 T 1 T 2 S n B n B 1 empty && t >=T Y n 1,2,n-1 T n Rerouting task announcement message Logic combination of F-T and T-O Knowledge Base Fault-tolerant time-out protocol (FTTP) 14 (Liu & Nof, 2002) Patent Pending

15 15 Assembly & Test The Supply Network/Grid Customers Suppliers

16 Assembly & Test: Adaptable TestLAN design recommendations (Williams et al., 2003) Conditions 1. Job classes having similar inter-arrival patterns 2. Inter-arrival patterns such that it 1 << it 2...<< it n and few demand fluctuations or design changes Actions Based on this Research Use Non-TestLAN Use Non-adaptable TestLAN Inter-arrival patterns with it 1 << it 2...<< it n and periodic demand fluctuations or design changes Use Adaptable TestLAN, with preferred adaptation characteristics of , ε β, β = 30

17 Smart Robotics Teams: Challenges 1. Optimized coordination of e-work interactions is key to competitiveness 2. Manage errors, conflicts, and interactions complexity among team robots 3. Next generation collaborative robotics will depend on fault-tolerant, time-out integration, e.g., FTTP 4. Smart robotic teams will be able to interact even better than human teams 17 Other ideas?

18 The PRISM Center: Production, Robotics, and Integration Software / Systems for manufacturing & Management Established in 1991, main lab: Grissom 126; sponsored by government and industry, over $7.5 mil. total Graduated 28 MS/PhD students; 12 BSIE honors students; 8 international visitors. Current: 12 faculty and students researchers Center Objective: Apply computer intelligence to most effectively improve the performance of industrial systems, particularly by computersupported integration and collaboration. This area has been defined by PRISM as e-work. Collaborative robotics is a key to e-work. Main Project Areas: Assembly & Inspection Integration Engineering & Design Collaboration Distributed Models of Networked Enterprises International projects 18 Contact: nof@purdue.edu