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Bennulf, M. (2023). A Control Framework for Industrial Plug & Produce. (Doctoral dissertation). Trollhättan: University West
Öppna denna publikation i ny flik eller fönster >>A Control Framework for Industrial Plug & Produce
2023 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [sv]

Kundanpassade produkter och korta produktionsserier blir alltmer populärt. Detta har lett till problem för dedikerade tillverkningssystem som är designade för massproduktion. Det krävs ofta långa produktionsserier för att det ska bli en rimlig investering att ställa om produktionen. Därför används människor för tillverkningsuppgifter som ofta ställs om. Denna avhandling fokuserar på konceptet Plug & Produce, som gör det enklare att flytta, lägga till och ta bort resurser från ett tillverkningssystem. Tanken är att resurser placeras i processmoduler som alla har samma fysiska gränssnitt för att kopplas in i tillverkningssystemet. Styrningen av tillverkningssystemet görs av ett multiagentsystem där varje detalj som ska produceras för produkter får en egen agent som representerar detaljen och agerar som styrningsmjukvara. Varje detaljs agent tar hand on sina egna tillverkningsmål genom att kommunicera med resursagenter i systemet som används för styrning av resurserna. I detta arbete, presenteras ett ramverk för Plug & Produce som består av ett konfigurerbart multiagentsystem, samt ett konfigurationsverktyg som kan användas för att definiera agenterna. Arbetet inkluderar metoder för att identifiera inkopplade resurser, kommunikation mellan agenter, schemaläggning som kan undvika konflikter mellan agenter, samt metoder för att automatiskt hitta vägar för transport genom tillverkningssystemet.

Abstract [en]

Customized products and low-volume production are becoming more popular resulting in a problem for dedicated manufacturing systems that are designed for mass production. Adapting a system to new demands is expensive and requires many products to be produced before it becomes a reasonable investment. This has forced factories to use human workers for manufacturing tasks that often change. This thesis focuses on a concept called Plug & Produce, which makes it easier to move, add, and remove resources in manufacturing systems. This is done by containing resources in process modules that all have the same physical connectors. To handle the control of the manufacturing system a multi-agent system is considered where each part to be produced for products has a part agent software running that represents that part. Each part agent takes care of their own manufacturing goals by communicating with resource agents that control the resources in the system. In this thesis, a Plug & Produce framework is describedthat consists of a configurable multi-agent system, together with a configuration tool for defining agent behaviours. Methods for identifying the resource that has been connected to a Plug & Produce system are investigated. Communication between agents in Plug & Produce is investigated. Scheduling is described for the presented systems to avoid conflicts when running multiple agents. Also, a pathfinding method for Plug & Produce is presented, which automatically gathers the necessary information for finding paths to transport parts through the manufacturing system.

Ort, förlag, år, upplaga, sidor
Trollhättan: University West, 2023. s. 66
Serie
Production Tecnology ; 54
Nyckelord
Flexible Manufacturing, Ontology, Multi-agent system, Automation, Planning, Flexibel tillverkning, Ontologi, Multiagentsystem, Automation, Planering
Nationell ämneskategori
Bearbetnings-, yt- och fogningsteknik
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-19523 (URN)9789189325425 (ISBN)9789189325418 (ISBN)
Disputation
2023-02-01, F131, Gustava Melins gata, Trollhättan, 10:00 (Engelska)
Opponent
Handledare
Anmärkning

Paper E and F is to be submitted and not included in the electronic thesis.

Tillgänglig från: 2023-01-05 Skapad: 2023-01-05 Senast uppdaterad: 2024-01-03Bibliografiskt granskad
Khabbazi, M. R., Danielsson, F., Bennulf, M., Ramasamy, S. & Nilsson, A. (2023). Model-based Plug & Produce in Assembly Automation. In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA): 12-15 September 2023. Paper presented at 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA). IEEE, 2023-September
Öppna denna publikation i ny flik eller fönster >>Model-based Plug & Produce in Assembly Automation
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2023 (Engelska)Ingår i: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA): 12-15 September 2023, IEEE, 2023, Vol. 2023-SeptemberKonferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Manual assembly systems are featured with high flexibility but with the risk of lower quality, higher cycle time, inefficient resource employment, and affecting sustainability goals in comparison to fully automated ones. Conventional automated assembly is challenged by the desired level of flexibility when compared to what automation through Plug & Produce system represents. Plug and Produce, during the last few decades aimed at addressing highly flexible automation systems handling rapid changes and adaptations as one dominant solution. Multi-agent System (MAS) as a tool to handle different areas of manufacturing control systems can be used in Plug & Produce representing every physical control entity (e.g., parts, resources) as agents. This article aims to describe a model-based configurable multi-agent design in Plug and Produce system together with a prototype implementation of the actual automated assembly use case of a kitting operation highlighting flexibility and reconfigurability and the model functionality. A model-based approach with a few models using UML standards describes the structure and behavior of the system. Model instantiation is introduced and followed by real prototype use case implementation. The use case study of advanced automated kitting operation in the assembly automation domain has been selected. Agent-based operation control systems have been applied during the assembly process. The evaluation was accomplished by testing several scenarios on Plug & Produce for kitting operation. To conclude, several desirable functionality features of the framework during the demonstration such as rapid instantiation and adaptation, and in particular, the flexibility features have been examined and evaluated with several failure-handling testing scenarios. © 2023 IEEE.

Ort, förlag, år, upplaga, sidor
IEEE, 2023
Nyckelord
Assembly; Automation; Control systems; Assembly automation; Assembly systems; Automated assembly; High flexibility; Kitting; Kitting operation; Manual assembly; Model-based design; Model-based OPC; Plug & produce; Multi agent systems
Nationell ämneskategori
Robotteknik och automation
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-21197 (URN)10.1109/ETFA54631.2023.10275691 (DOI)2-s2.0-85175465641 (Scopus ID)979-8-3503-3991-8 (ISBN)979-8-3503-3990-1 (ISBN)979-8-3503-3992-5 (ISBN)
Konferens
2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA)
Tillgänglig från: 2024-01-19 Skapad: 2024-01-19 Senast uppdaterad: 2024-01-19Bibliografiskt granskad
Ramasamy, S., Bennulf, M., Zhang, X., Hammar, S. & Danielsson, F. (2023). Online Path Planning in a Multi-agent-Controlled Manufacturing System. Paper presented at 31st International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2022, Detroit, 19 June 2022, through 23 June 2022 Code 285199. Lecture Notes in Mechanical Engineering, 124-134
Öppna denna publikation i ny flik eller fönster >>Online Path Planning in a Multi-agent-Controlled Manufacturing System
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2023 (Engelska)Ingår i: Lecture Notes in Mechanical Engineering, ISSN 2195-4356, E-ISSN 2195-4364, s. 124-134Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

In recent years the manufacturing sectors are migrating from mass production to mass customization. To be able to achieve mass customization, manufacturing systems are expected to be more flexible to accommodate the different customizations. The industries which are using the traditional and dedicated manufacturing systems are expensive to realize this transition. One promising approach to achieve flexibility in their production is called Plug & Produce concept which can be realized using multi-agent-based controllers. In multi-agent systems, parts and resources are usually distributed logically, and they communicate with each other and act as autonomous agents to achieve the manufacturing goals. During the manufacturing process, an agent representing a robot can request a path for transportation from one location to another location. To address this transportation facility, this paper presents the result of a futuristic approach for an online path planning algorithm directly implemented as an agent in a multi-agent system. Here, the agent systems can generate collision-free paths automatically and autonomously. The parts and resources can be configured with a multi-agent system in the manufacturing process with minimal human intervention and production downtime, thereby achieving the customization and flexibility in the production process needed. 

Ort, förlag, år, upplaga, sidor
Springer, 2023
Nyckelord
Autonomous agents; Computer aided manufacturing; Motion planning; Online systems; Customisation; Manufacturing process; Manufacturing sector; Mass customization; Mass production; Multi agent; On-line path planning; Path planner service; Path planners; Plug & produce; Multi agent systems
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-19432 (URN)10.1007/978-3-031-18326-3_13 (DOI)2-s2.0-85141873498 (Scopus ID)
Konferens
31st International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2022, Detroit, 19 June 2022, through 23 June 2022 Code 285199
Forskningsfinansiär
KK-stiftelsen, 20200036
Anmärkning

CC-BY 4.0

The work was funded by PoPCoRN project by KK-stiftelsen, Sweden.

31st International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2022; Conference date: 19 June 2022 through 23 June 2022; Conference code: 285199

Tillgänglig från: 2023-09-12 Skapad: 2023-09-12 Senast uppdaterad: 2024-01-18Bibliografiskt granskad
Bennulf, M., Danielsson, F. & Svensson, B. (2022). A Method for Configuring Agents in Plug & Produce Systems. In: Amos H.C. Ng, Anna Syberfeldt, Dan Högberg, Magnus Holm (Ed.), SPS2022: Proceedings of the 10th Swedish Production Symposium. Paper presented at 10th Swedish Production Symposium, SPS 2022; Conference date: 26 April 2022 through 29 April 2022; Conference code: 179964 (pp. 135-146). IOS Press, 21
Öppna denna publikation i ny flik eller fönster >>A Method for Configuring Agents in Plug & Produce Systems
2022 (Engelska)Ingår i: SPS2022: Proceedings of the 10th Swedish Production Symposium / [ed] Amos H.C. Ng, Anna Syberfeldt, Dan Högberg, Magnus Holm, IOS Press, 2022, Vol. 21, s. 135-146Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Multi-agent technology, used for implementing Plug & Produce systems have many proposed benefits for fast adaption of manufacturing systems. However, still today multi-agent technology is not ready for the industry, due to the lack of mature supporting tools and guidelines. The result is that today, multi-agent systems are more complicated and time-consuming to use than traditional approaches. This hides their true benefits. In this paper, a new method for configuring agents is presented that includes automated deployment to manufacturing systems and by its flexible design opens the possibility to connect many other supporting tools when needed. A configuration tool is also designed that works with the proposed method by connecting to an agent configuration database. The overall aim of the method is to simplify the steps taken for adapting a manufacturing system for new parts and resources.  

Ort, förlag, år, upplaga, sidor
IOS Press, 2022
Serie
Advances in Transdisciplinary Engineering, ISSN 2352-751X, E-ISSN 2352-7528
Nyckelord
Industry 4.0; Configuration; Configuration database; Deployment; Flexible designs; Multi-agent technologies; Plug & produce; Supporting tool; Traditional approaches; Multi agent systems
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-19198 (URN)10.3233/ATDE220133 (DOI)2-s2.0-85132824747 (Scopus ID)978-1-64368-268-6 (ISBN)978-1-64368-269-3 (ISBN)
Konferens
10th Swedish Production Symposium, SPS 2022; Conference date: 26 April 2022 through 29 April 2022; Conference code: 179964
Forskningsfinansiär
KK-stiftelsen, 20201192
Anmärkning

This paper was written as part of the PoPCoRN project, funded by the K-K foundation and the Miljö för Flexibel och Innovativ Automation, Project reference: 20201192, Funded under: Europeiska regionala utvecklingsfonden/VGR.

Distributed under the termsof the Creative Commons Attribution Non-Commercial License 4.0 (CC BY-NC 4.0

Tillgänglig från: 2022-12-05 Skapad: 2022-12-05 Senast uppdaterad: 2023-01-05
Nilsson, A., Danielsson, F., Bennulf, M. & Svensson, B. (2021). A Classification of Different Levels of Flexibility in an Automated Manufacturing System and Needed Competence. In: Ann-Louise Andersen, Rasmus Andersen, Thomas Ditlev Brunoe, Maria Stoettrup Schioenning Larsen, Kjeld Nielsen, Alessia Napoleone, Stefan Kjeldgaard (Ed.), Ann-Louise Andersen, Rasmus Andersen, Thomas Ditlev Brunoe, Maria Stoettrup Schioenning Larsen, Kjeld Nielsen, Alessia Napoleone, Stefan Kjeldgaard (Ed.), Towards Sustainable Customization: Bridging Smart Products and Manufacturing Systems: Proceedings of the 8th Changeable, Agile, Reconfigurable and Virtual Production Conference (CARV2021) and the 10th World Mass Customization & Personalization Conference (MCPC2021), Aalborg, Denmark, October/November 2021. Paper presented at 8th Changeable, Agile, Reconfigurable and Virtual Production Conference (CARV2021) and the 10th World Mass Customization & Personalization Conference (MCPC2021), Aalborg, Denmark, October/November 2021 (pp. 27-34). Springer Science and Business Media Deutschland GmbH
Öppna denna publikation i ny flik eller fönster >>A Classification of Different Levels of Flexibility in an Automated Manufacturing System and Needed Competence
2021 (Engelska)Ingår i: Towards Sustainable Customization: Bridging Smart Products and Manufacturing Systems: Proceedings of the 8th Changeable, Agile, Reconfigurable and Virtual Production Conference (CARV2021) and the 10th World Mass Customization & Personalization Conference (MCPC2021), Aalborg, Denmark, October/November 2021 / [ed] Ann-Louise Andersen, Rasmus Andersen, Thomas Ditlev Brunoe, Maria Stoettrup Schioenning Larsen, Kjeld Nielsen, Alessia Napoleone, Stefan Kjeldgaard, Springer Science and Business Media Deutschland GmbH , 2021, s. 27-34Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

Mass customization has become more attractive but requires a transformation towards more flexible solutions in contrast to dedicated manufacturing systems. Flexibility includes complex tasks such as the introduction of new products or new manufacturing processes as well as to efficiently handle daily balancing. The main challenge when it comes to flexibility in manufacturing is to be able to handle the technical aspects and still be competitive. In this article we consider the cost for flexibility to include two main things; (1) setup time, e.g., time for planning, design, programming and configuration, installation, ramp-up, scrapping of old equipment, preparation of facility, hardware installation, and (2) need of competence, inhouse knowledge, external competence, or external expert competence. This article presents an overview of available solutions and the level of flexibility and the level of competence that is needed for a reconfiguration one can expect out of a specific solution. Further, most of the existing solutions found do not consider or address the full problem of flexibility. However, we describe a possible future of industrial concept: Plug & Produce, which can address flexibility within manufacturing more completely and sustainably over time. Methods for configuration instead of programming are developed by University West. 

Ort, förlag, år, upplaga, sidor
Springer Science and Business Media Deutschland GmbH, 2021
Nyckelord
Plug & Produce, Flexibility, Re-configurability, Automation Competence
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi Reglerteknik
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-17889 (URN)10.1007/978-3-030-90700-6_2 (DOI)2-s2.0-85119450410 (Scopus ID)978-3-030-90700-6 (ISBN)
Konferens
8th Changeable, Agile, Reconfigurable and Virtual Production Conference (CARV2021) and the 10th World Mass Customization & Personalization Conference (MCPC2021), Aalborg, Denmark, October/November 2021
Tillgänglig från: 2021-12-22 Skapad: 2021-12-22 Senast uppdaterad: 2023-10-30Bibliografiskt granskad
Bennulf, M., Danielsson, F., Svensson, B. & Lennartson, B. (2021). Goal-Oriented Process Plans in a Multiagent System for Plug & Produce. IEEE Transactions on Industrial Informatics, 17(4), 2411-2421
Öppna denna publikation i ny flik eller fönster >>Goal-Oriented Process Plans in a Multiagent System for Plug & Produce
2021 (Engelska)Ingår i: IEEE Transactions on Industrial Informatics, ISSN 1551-3203, E-ISSN 1941-0050, Vol. 17, nr 4, s. 2411-2421Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

This article presents a framework for Plug & Produce that makes it possible to use configurations rather than programming to adapt a manufacturing system for new resources and parts. This is solved by defining skills on resources, and goals for parts. To reach these goals, process plans are defined with a sequence of skills to be utilized without specifying specific resources. This makes it possible to separate the physical world from the process plans. When a process plan requires a skill, e.g., grip with a gripper resource, then that skill may require further skills, e.g., move with a robot resource. This creates a tree of connected resources that are not defined in the process plan. Physical and logical compatibility between resources in this tree is checked by comparing several parameters defined on the resources and the part. This article presents an algorithm together with a multiagent system framework that handles the search and matching required for selecting the correct resources.

Ort, förlag, år, upplaga, sidor
Institute of Electrical and Electronics Engineers (IEEE), 2021
Nyckelord
Multiagent; Plug & Produce; process plan; robotics
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-17093 (URN)10.1109/TII.2020.2994032 (DOI)000607814600012 ()2-s2.0-85099522948 (Scopus ID)
Forskningsfinansiär
Europeiska regionala utvecklingsfonden (ERUF), 20201192
Anmärkning

This work was supported by Miljö för Flexibel och Innovativ Automation under Project no. 20201192 funded by the Europeiska regionala utvecklingsfonden/VGR. Paper no. TII-20-0219.

Creative Commons Attribution 4.0 License

Tillgänglig från: 2021-12-22 Skapad: 2021-12-22 Senast uppdaterad: 2023-01-05
Bennulf, M., Danielsson, F. & Svensson, B. (2020). A conceptual model for multi-agent communication applied on a plug & produce system. Paper presented at Conference of 53rd CIRP Conference on Manufacturing Systems, CMS 2020 ; Conference Date: 1 July 2020 Through 3 July 2020. Procedia CIRP, 93, 347-352
Öppna denna publikation i ny flik eller fönster >>A conceptual model for multi-agent communication applied on a plug & produce system
2020 (Engelska)Ingår i: Procedia CIRP, ISSN 2212-8271, E-ISSN 2212-8271, Vol. 93, s. 347-352Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Today, multi-agent systems are still uncommon in the industry because they require more time to be implemented than traditional manufacturing systems. In this paper, a conceptual model and guidelines are defined for communication and negotiation between agents for Plug & Produce systems. Standards for agent communication exists today, such as the FIPA collection of specifications. However, FIPA is a broad and general standard for any kind of system and leaves a lot of room for interpretation. This paper presents a new conceptual model and guidelines on how to simplify the implementation phase by limiting the choices an engineer must make when implementing a multi-agent system for a manufacturing system. © 2020 The Authors.

Nyckelord
Manufacture, Agent communications; Conceptual model; Multi-agent communications; Traditional manufacturing, Multi agent systems
Nationell ämneskategori
Bearbetnings-, yt- och fogningsteknik
Forskningsämne
Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-16019 (URN)10.1016/j.procir.2020.04.004 (DOI)2-s2.0-85092431373 (Scopus ID)
Konferens
Conference of 53rd CIRP Conference on Manufacturing Systems, CMS 2020 ; Conference Date: 1 July 2020 Through 3 July 2020
Forskningsfinansiär
Europeiska regionala utvecklingsfonden (ERUF), 20201192
Tillgänglig från: 2020-11-17 Skapad: 2020-11-17 Senast uppdaterad: 2023-01-05Bibliografiskt granskad
Bennulf, M. (2020). A User-Friendly Approach for Applying Multi-Agent Technology in Plug & Produce Systems. (Licentiate dissertation). Trollhättan: University West
Öppna denna publikation i ny flik eller fönster >>A User-Friendly Approach for Applying Multi-Agent Technology in Plug & Produce Systems
2020 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Alternativ titel[sv]
En användarvänlig strategi för att tillämpa multiagentteknologi för Plug & Produce
Abstract [en]

This thesis presents methods for simplifying the use of multi-agent systems in Plug & Produce. The demand for customized products and low volume production is constantly increasing. The industry has for many years used dedicated manufacturing systems where it is difficult and expensive to adapt to new product designs. Instead, factories are forced to use human workers for certain tasks that demand high flexibility and rapid adaption for new product designs. Several solutions have been proposed over the years to create highly flexible automation systems that automatically handles rapid adaption for new products. A concept called Plug & Produce aims at creating a system where resources and parts can be added in minutes rather than days in dedicated systems. One promising solution for implementing Plug & Produce is the distributed approach called multi-agent systems, where each resource and part get its own controller that communicates with each other to reach manufacturing goals. The idea is that the system automatically handles the adaption for new products. However, still today the use of such systems is extremely limited in the industry. One reason is the lack of mature multi-agent systems that are easy to use and that hides the complexity of the underlying agent system from the users. This is a huge problem since these systems tend to be more complex than traditional approaches. Thus, this thesis focuses on simplifying the use of multi-agent systems by proposing various methods for bringing the multi-agent technology for Plug & Produce closer to the industry.

Abstract [sv]

Denna avhandling presenterar metoder för att förenkla användningen av multiagent-system för Plug & Produce. Efterfrågan på kundanpassade produkter och lågvolymproduktion ökar ständigt. Industrin har under många år använt sig avdedikerade tillverkningssystem som gör det både svårt och dyrt att anpassa sig till nya produktdesigner. Istället tvingas fabriker att antälla onödigt många operatörer för vissa arbetsuppgifter där det krävs hög flexibilitet och snabb anpassning till nya produktdesigner. Flera lösningar har föreslagits under åren för att skapa flexibla automatiseringssystem som automatiskt hanterar snabb omställning till nya produkter. Ett koncept som heter Plug & Produce handlar om att skapa system där nya typer av resurser och produkter kan kopplas in i systemet på ett fåtal minuter snarare än dagar i traditionella system. För att implementera Plug & Produce kan multi-agent-system användas, där varje resurs och produkt får sin egen styrning. Agenterna kan sedan kommunicera med varandra för att nå de mål som satts upp för tillverkningen av produkterna. Tanken är att systemet automatiskt hanterar anpassningen till nya produkter. Idag är dock användningen av sådana system extremt begränsad i industrin. En av anledningarna är avsaknaden av mogna multi-agent-system som är lätta att använda och där komplexiteten hos det underliggande agensystemet kan döljas från användaren.

Detta är ett stort problem eftersom multi-agent-system tenderar att vara mer komplexa än traditionella system. Därför fokuserar denna avhandling på att förenkla användningen av multi-agent-system genom att föreslå olika metoder som kan underlätta användandet av multi-agent-tekniken för Plug & Produce i industrin.

Ort, förlag, år, upplaga, sidor
Trollhättan: University West, 2020. s. 49
Serie
Licentiate Thesis: University West ; 29
Nyckelord
Multi-agent system, Plug & Produce, Process plans, Planning, Multiagentsystem, Plug & Produce, Processplaner, Planering
Nationell ämneskategori
Produktionsteknik, arbetsvetenskap och ergonomi
Forskningsämne
Produktionsteknik; TEKNIK, Kvalitetsutveckling
Identifikatorer
urn:nbn:se:hv:diva-15181 (URN)978-91-88847-61-4 (ISBN)978-91-88847-60-7 (ISBN)
Presentation
2020-06-02, 10:00 (Engelska)
Handledare
Tillgänglig från: 2020-06-02 Skapad: 2020-06-01 Senast uppdaterad: 2020-10-14
Ramasamy, S., Zhang, X., Bennulf, M. & Danielsson, F. (2019). Automated Path Planning for Plug Produce in a Cutting-tool Changing Application. In: 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA): . Paper presented at 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) (pp. 356-362). , Article ID 8869398.
Öppna denna publikation i ny flik eller fönster >>Automated Path Planning for Plug Produce in a Cutting-tool Changing Application
2019 (Engelska)Ingår i: 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2019, s. 356-362, artikel-id 8869398Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper, a path planning algorithm is designed and tested with a real robot for a Plug & Produce demonstrator. The demonstrator is divided into modules that can be connected and removed. Modules are used for various processes like tool change and storage. This paper focuses on the process of cutting-tool change for the production industry. The Plug & Produce demonstrator uses a multi-agent system where parts and resources are agents. A part agent, e.g., a cutting-tool, can request a robot to perform skills like transportation. This requires the robot to be autonomous. The aim of this paper is to automate the path planning for industrial robotics in a Plug & Produce system. This is done by implementing a sampling based RRT algorithm combined with a collision detection function in RobotStudio. With various real time scenarios, the path planning execution time is observed and presented in the paper.

Nyckelord
Collision avoidance, Industry4.0, Multi-agent systems, Path planning, Plug & Produce, Plugs, rapidly-exploring random tree, Robot kinematics, Service robots, Tools
Nationell ämneskategori
Robotteknik och automation Reglerteknik Produktionsteknik, arbetsvetenskap och ergonomi
Forskningsämne
TEKNIK, Produktions- och materialteknik; Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-14681 (URN)10.1109/ETFA.2019.8869398 (DOI)2-s2.0-85074208961 (Scopus ID)
Konferens
24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)
Tillgänglig från: 2019-11-04 Skapad: 2019-11-04 Senast uppdaterad: 2020-01-14Bibliografiskt granskad
Bennulf, M., Danielsson, F. & Svensson, B. (2019). Identification of resources and parts in a Plug and Produce system using OPC UA. Paper presented at 29th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2019; Limerick; Ireland; 24 June 2019 through 28 June 2019. Procedia Manufacturing, 38, 858-865
Öppna denna publikation i ny flik eller fönster >>Identification of resources and parts in a Plug and Produce system using OPC UA
2019 (Engelska)Ingår i: Procedia Manufacturing, E-ISSN 2351-9789, Vol. 38, s. 858-865Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

This paper describes a method together with an implementation for automating the detection, identification and configuration of newly added resources and parts in a Plug and Produce system using OPC UA. In a Plug and Produce system, resources and parts are usually controlled by agents, forming a multi-agent system of collaborating resources. Hence, when a resource or part is connected to the system, a corresponding agent must be instantiated and associated with that specific device. In order to automate this, the system needs information about newly connected devices. This information could, for example, be positional data describing where the device is connected. Some devices like tools and parts to be processed have no own network connection, but still, they should get an agent with correct configuration instantiated. In this work, OPC UA is used for communication between devices and the corresponding agents. All agents and their communication are handled by an Agent Handling System, consisting of an OPC UA HUB together with functions for device detection and agent instantiation. The HUB is used for transferring data between devices and their agents in the network by OPC UA protocols. When a device is connected to the network, it is detected, and a connection is automatically created to the HUB that becomes configured for transmitting data between the device and its corresponding agent. © 2019 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)

Nyckelord
OPC UA, Multi-agent, Industry 4.0, Smart Factory, Plug, Produce
Nationell ämneskategori
Datavetenskap (datalogi) Annan elektroteknik och elektronik Reglerteknik
Forskningsämne
TEKNIK, Datateknik; Produktionsteknik
Identifikatorer
urn:nbn:se:hv:diva-15158 (URN)10.1016/j.promfg.2020.01.167 (DOI)2-s2.0-85083532613 (Scopus ID)
Konferens
29th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2019; Limerick; Ireland; 24 June 2019 through 28 June 2019
Tillgänglig från: 2020-05-04 Skapad: 2020-05-04 Senast uppdaterad: 2023-01-05Bibliografiskt granskad
Organisationer
Identifikatorer
ORCID-id: ORCID iD iconorcid.org/0000-0002-7683-7662

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