Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613405
Boris Brankovic, C. Binder, D. Draxler, C. Neureiter
Engineering of vehicular embedded systems is a difficult task, as the ongoing integration of Cyber-physical Systems (CPS) or automation potentials during vehicle development leads to increasing complexity. In particular, to develop current or future Electric Vehicles (EV) is challenging due to different domains to consider while engineering the sub-components of the vehicle itself. Thus, in order to enable a mutual development of vehicular embedded systems on multiple abstraction levels, the Software Platform Embedded Systems (SPES) has been introduced. To cope with the complexity, this framework introduces viewpoints and hierarchy layers in shape of a matrix. However, while additionally multiple domains have to be considered when developing an EV, the SPES methodology is also missing specifications, impeding its application in actual industrial scenarios. To deal with both of the mentioned issues, this paper introduces an approach for Model-based Systems Engineering of electric vehicle systems based on SPES. By doing so, this framework is further refined by an architecture definition based on the ISO 42010 and a corresponding development process. By utilizing the EV use case, the outcome is thereby validated towards its industrial feasibility, which will enhance the applicability of SPES on the one hand and contribute to the Automotive area by dealing with the increasing complexity while engineering vehicular embedded systems on the other hand.
{"title":"Towards a System-of-Systems Architecture Definition enabling Cross-Domain Embedded Vehicle Engineering","authors":"Boris Brankovic, C. Binder, D. Draxler, C. Neureiter","doi":"10.1109/ETFA45728.2021.9613405","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613405","url":null,"abstract":"Engineering of vehicular embedded systems is a difficult task, as the ongoing integration of Cyber-physical Systems (CPS) or automation potentials during vehicle development leads to increasing complexity. In particular, to develop current or future Electric Vehicles (EV) is challenging due to different domains to consider while engineering the sub-components of the vehicle itself. Thus, in order to enable a mutual development of vehicular embedded systems on multiple abstraction levels, the Software Platform Embedded Systems (SPES) has been introduced. To cope with the complexity, this framework introduces viewpoints and hierarchy layers in shape of a matrix. However, while additionally multiple domains have to be considered when developing an EV, the SPES methodology is also missing specifications, impeding its application in actual industrial scenarios. To deal with both of the mentioned issues, this paper introduces an approach for Model-based Systems Engineering of electric vehicle systems based on SPES. By doing so, this framework is further refined by an architecture definition based on the ISO 42010 and a corresponding development process. By utilizing the EV use case, the outcome is thereby validated towards its industrial feasibility, which will enhance the applicability of SPES on the one hand and contribute to the Automotive area by dealing with the increasing complexity while engineering vehicular embedded systems on the other hand.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117020836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613215
P. Blanke, Shubham Sharma, S. Storms, C. Brecher
With the advent of collaborative robots, the demand for manipulators is constantly increasing, especially in SMEs. Hence, the risk of collisions and resulting damage due to programs written by inexperienced users is also simultaneously increasing. Due to the lack of 3D maps of the environment, there are no comprehensive support systems available to check programmed sequences for collision-free execution or to optimize them subsequently. This leads to longer process times and complicates commissioning, especially for inexperienced users. In this paper, a method is presented in which a collaborative robot can autonomously create a 3D map of its environment. Subsequently, the created environment map can be used to optimize existing processes, guarantee collision-free motions and support the operator during commissioning.
{"title":"Flexible creation of a 3D-Map in an unknown environment by a robot","authors":"P. Blanke, Shubham Sharma, S. Storms, C. Brecher","doi":"10.1109/ETFA45728.2021.9613215","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613215","url":null,"abstract":"With the advent of collaborative robots, the demand for manipulators is constantly increasing, especially in SMEs. Hence, the risk of collisions and resulting damage due to programs written by inexperienced users is also simultaneously increasing. Due to the lack of 3D maps of the environment, there are no comprehensive support systems available to check programmed sequences for collision-free execution or to optimize them subsequently. This leads to longer process times and complicates commissioning, especially for inexperienced users. In this paper, a method is presented in which a collaborative robot can autonomously create a 3D map of its environment. Subsequently, the created environment map can be used to optimize existing processes, guarantee collision-free motions and support the operator during commissioning.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114703767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613188
G. Franzl, T. Leopold, S. Wilker, T. Sauter
In the course of the energy transition novel solutions are needed to solve challenges that arise. Many customer owned energy resources become connected and shall contribute to the demand-supply balancing process, eventually. Small size suggest to solve related volatility issues also locally. Flexibilities of customer appliances provide the means to mitigate/manage the impact of volatile energy production close to the source. This paper presents an approach to rate appliance specific flexibility offers. Provider and user needs are addressed independently via the metrics benefit and quality. Introducing the problem and the proposed 2D-rating, we sketch exemplarily how PV and electric room heating flexibility can be predicted, offered, and used.
{"title":"Flexibility Offering and Rating for Multi-objective Energy Balancing","authors":"G. Franzl, T. Leopold, S. Wilker, T. Sauter","doi":"10.1109/ETFA45728.2021.9613188","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613188","url":null,"abstract":"In the course of the energy transition novel solutions are needed to solve challenges that arise. Many customer owned energy resources become connected and shall contribute to the demand-supply balancing process, eventually. Small size suggest to solve related volatility issues also locally. Flexibilities of customer appliances provide the means to mitigate/manage the impact of volatile energy production close to the source. This paper presents an approach to rate appliance specific flexibility offers. Provider and user needs are addressed independently via the metrics benefit and quality. Introducing the problem and the proposed 2D-rating, we sketch exemplarily how PV and electric room heating flexibility can be predicted, offered, and used.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123217229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613457
S. Ramasamy, K. Eriksson, Saptha Peralippatt, Balasubramanian Perumal, F. Danielsson
Plug and produce demonstrators handles multiple processes in the industry, appropriate path planning is essential and at the same time there is an increasing emphasis on more sustainable processes. To ensure the sustainability and automate these processes optimized path planning is required. We present an implementation of a path planning algorithm, which creates a smooth collision free path and considers energy use. In the paper, we demonstrated the implementation of PRM (Probabilistic Road Map) path planning and Dijkstra based optimization algorithm in a simulation environment and thereafter test in a real plug and produce demonstrator. To validate the simulated results the real energy was measured through the signal analyzer online. The measured results outlined in this paper includes; computational time, move along path time, and energy use with different loads. From the experiments and results we conclude that the combination of the two algorithms, PRM with Dijkstra, can be used to generate a collision free optimized path. Here we have considered the distance as the cost function for Dijkstra optimization algorithm and measured the energy of the collision free optimized path. The practical implication of this research is as an enabler for any kind of application where there are large variations of orders e.g., kitting techniques in assembly operations for manufacturing industry.
Plug - and - production演示处理行业中的多个过程，适当的路径规划是必不可少的，同时越来越强调更可持续的过程。为了确保这些过程的可持续性和自动化，需要优化路径规划。我们提出了一种路径规划算法的实现，该算法创建了一个平滑的无碰撞路径并考虑了能量使用。在本文中，我们在模拟环境中演示了PRM(概率路线图)路径规划和基于Dijkstra的优化算法的实现，然后在实际的plug and production演示器中进行了测试。为了验证仿真结果，通过信号分析仪在线测量了实际能量。本文概述的测量结果包括:计算时间，沿路径移动时间，以及不同负载下的能量使用。实验和结果表明，PRM和Dijkstra两种算法的结合可以产生无碰撞的优化路径。这里我们将距离作为Dijkstra优化算法的代价函数，并测量了无碰撞优化路径的能量。这项研究的实际意义是作为任何一种应用的推动者，其中有很大的变化的订单，例如，装配技术在制造业的操作。
{"title":"Optimized Online Path Planning Algorithms Considering Energy","authors":"S. Ramasamy, K. Eriksson, Saptha Peralippatt, Balasubramanian Perumal, F. Danielsson","doi":"10.1109/ETFA45728.2021.9613457","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613457","url":null,"abstract":"Plug and produce demonstrators handles multiple processes in the industry, appropriate path planning is essential and at the same time there is an increasing emphasis on more sustainable processes. To ensure the sustainability and automate these processes optimized path planning is required. We present an implementation of a path planning algorithm, which creates a smooth collision free path and considers energy use. In the paper, we demonstrated the implementation of PRM (Probabilistic Road Map) path planning and Dijkstra based optimization algorithm in a simulation environment and thereafter test in a real plug and produce demonstrator. To validate the simulated results the real energy was measured through the signal analyzer online. The measured results outlined in this paper includes; computational time, move along path time, and energy use with different loads. From the experiments and results we conclude that the combination of the two algorithms, PRM with Dijkstra, can be used to generate a collision free optimized path. Here we have considered the distance as the cost function for Dijkstra optimization algorithm and measured the energy of the collision free optimized path. The practical implication of this research is as an enabler for any kind of application where there are large variations of orders e.g., kitting techniques in assembly operations for manufacturing industry.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124273215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613383
Mattias Hovgard, B. Lennartson, Kristofer Bengtsson
This paper investigates the problem of reducing the energy use of the movements of robots in industrial robot stations that have variations in execution times. An online method is presented that repeatedly solves an optimization problem during the execution of the station, that tries to minimize the energy use by finding the optimal execution times of the robot movements while at the same ensuring that the deadline of the station is met with a high enough probability. The method involves reformulating the original optimization problem, which is stochastic and nonlinear, into a convex version that can be solved efficiently. The method is tested on a simulated robot station and the result shows that the method is fast enough to be useable online and reduces the energy use of the station.
{"title":"Online Energy-Optimal Timing of Stochastic Robot Stations","authors":"Mattias Hovgard, B. Lennartson, Kristofer Bengtsson","doi":"10.1109/ETFA45728.2021.9613383","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613383","url":null,"abstract":"This paper investigates the problem of reducing the energy use of the movements of robots in industrial robot stations that have variations in execution times. An online method is presented that repeatedly solves an optimization problem during the execution of the station, that tries to minimize the energy use by finding the optimal execution times of the robot movements while at the same ensuring that the deadline of the station is met with a high enough probability. The method involves reformulating the original optimization problem, which is stochastic and nonlinear, into a convex version that can be solved efficiently. The method is tested on a simulated robot station and the result shows that the method is fast enough to be useable online and reduces the energy use of the station.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121254629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613413
Zhifeng Li, Zhe Guan, Toru Yamamoto, S. Omatsu
As a nonlinear control algorithm, database-driven PID control (DD-PID) approach has been proposed to learn PID parameters based on a database. This method is based on a strategy in which PID parameters are determined based on neighboring data extracted based on the similarity between the query (current input/output data) and the information vector contained in the database. Since sorting operation is required in extracting the neighbor data, it is impossible to finish the calculation within a certain sampling interval for systems with fast response time, which is one of the hindrances in industrial applications. In addition, the DD-PID requires a large amount of storage memory in the database in order to obtain the desired control performance. On the other hand, one of the neural networks is the cerebellar model articulation controller (CMAC). It is a table-referenced adaptive learning controller. The major advantage of this method lies in the reduction of memory and computational load. This paper discusses a realization of the DD-PID by effectively utilizing the advantage of the CMAC.
{"title":"Realization of a Database-Driven Control System Using a CMAC","authors":"Zhifeng Li, Zhe Guan, Toru Yamamoto, S. Omatsu","doi":"10.1109/ETFA45728.2021.9613413","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613413","url":null,"abstract":"As a nonlinear control algorithm, database-driven PID control (DD-PID) approach has been proposed to learn PID parameters based on a database. This method is based on a strategy in which PID parameters are determined based on neighboring data extracted based on the similarity between the query (current input/output data) and the information vector contained in the database. Since sorting operation is required in extracting the neighbor data, it is impossible to finish the calculation within a certain sampling interval for systems with fast response time, which is one of the hindrances in industrial applications. In addition, the DD-PID requires a large amount of storage memory in the database in order to obtain the desired control performance. On the other hand, one of the neural networks is the cerebellar model articulation controller (CMAC). It is a table-referenced adaptive learning controller. The major advantage of this method lies in the reduction of memory and computational load. This paper discusses a realization of the DD-PID by effectively utilizing the advantage of the CMAC.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124380526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613724
S. Malakuti, Prerna Juhlin, Jens Doppelhamer, Johannes O. Schmitt, Thomas Goldschmidt, Aleksander Ciepal
The lifecycle data of industrial devices is typically maintained in separate data sources operating in silos. The lack of interoperability between the data sources due to the usage of different APIs, data formats and data models results in time-consuming and error-prone manual data exchange efforts. The notion of digital twins is known to be a solution to the data silo problem and the associated interoperability issues. Despite many studies on digital twins, there is still a need for common architectures that offer means for defining digital twins, ingesting backend data in the digital twins, and enabling interoperable data exchange across the lifecycle of the devices via their digital twins. This paper aims to close this gap by proposing a cloud-based architecture, a common information meta-model for defining the digital twins, and variety of APIs to query the lifecycle data of interest via the digital twins.
{"title":"An Architecture and Information Meta-model for Back-end Data Access via Digital Twins","authors":"S. Malakuti, Prerna Juhlin, Jens Doppelhamer, Johannes O. Schmitt, Thomas Goldschmidt, Aleksander Ciepal","doi":"10.1109/ETFA45728.2021.9613724","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613724","url":null,"abstract":"The lifecycle data of industrial devices is typically maintained in separate data sources operating in silos. The lack of interoperability between the data sources due to the usage of different APIs, data formats and data models results in time-consuming and error-prone manual data exchange efforts. The notion of digital twins is known to be a solution to the data silo problem and the associated interoperability issues. Despite many studies on digital twins, there is still a need for common architectures that offer means for defining digital twins, ingesting backend data in the digital twins, and enabling interoperable data exchange across the lifecycle of the devices via their digital twins. This paper aims to close this gap by proposing a cloud-based architecture, a common information meta-model for defining the digital twins, and variety of APIs to query the lifecycle data of interest via the digital twins.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131051604","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613168
E. Villagrossi, N. Pedrocchi, M. Beschi
The paper introduces a robotic manipulation framework suitable for the execution of manipulation tasks. Based on the ROS platform, the framework provides advanced motion planning and control functionalities for robotic systems to guarantee a high level of autonomy during the execution of an action. The integrated motion planning module can handle multiple motion planners to generate collision-free trajectories for a given planning scene that can be dynamically uploaded. In the same way, the robot controllers can be changed online on the base of the robot behavior required by the action under execution. The motion control of the robotic system is fully demanded to the manipulation framework relieving the upper control layers from the management of low-level functionalities and the task geometrical information. The framework can be used downstream to a task planner or as a standalone library to simplify the robot programming in complex manipulation tasks.
{"title":"Simplify the robot programming through an action-and-skill manipulation framework","authors":"E. Villagrossi, N. Pedrocchi, M. Beschi","doi":"10.1109/ETFA45728.2021.9613168","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613168","url":null,"abstract":"The paper introduces a robotic manipulation framework suitable for the execution of manipulation tasks. Based on the ROS platform, the framework provides advanced motion planning and control functionalities for robotic systems to guarantee a high level of autonomy during the execution of an action. The integrated motion planning module can handle multiple motion planners to generate collision-free trajectories for a given planning scene that can be dynamically uploaded. In the same way, the robot controllers can be changed online on the base of the robot behavior required by the action under execution. The motion control of the robotic system is fully demanded to the manipulation framework relieving the upper control layers from the management of low-level functionalities and the task geometrical information. The framework can be used downstream to a task planner or as a standalone library to simplify the robot programming in complex manipulation tasks.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131183591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613699
S. Ramasamy, K. Eriksson, Balasubramanian Perumal, Saptha Peralippatt, F. Danielsson
Optimized path planning of robots are necessary for the industries to thrive towards greater flexibility and sustainability. This paper proposes an implementation of a collision-free path with the shortest distance. The novelty of the work presented is the new ARRT*(Adaptive Rapidly exploring Random Tree Star) algorithm, which is modified from the RRT*(Rapidly exploring Random Tree Star). In a constraint environment, RRT* algorithms tend to fail when searching for suitable collision-free paths. The proposed ARRT* algorithm gives an optimized feasible collision-free paths in a constraint environment. The feasibility to implement RRT* and ARRT* in a Multi Agent System as a path agent for online control of robots is demonstrated. We have created a digital twin simulated environment to find a collision-free path based on these two algorithms. The simulated path is tested in real robots for feasibility and validation purpose. During the real time implementation, we measured the following parameters: the algorithm computation time for generating a collision-free path, move along time of the path in real time, and energy consumed by each path. These parameters were measured for both the RRT* and the ARRT* algorithms and the test results were compared. The test results were showing that ARRT* performs better in a constrained environment. Both algorithms were tested in a Plug and Produce setup and we find that the generated paths for both algorithms are suitable for online path planning applications.
机器人的路径优化规划是工业向更大的灵活性和可持续性发展的必要条件。本文提出了一种最短距离无碰撞路径的实现方法。该研究的新颖之处在于在RRT*(快速探索随机树星)的基础上改进了新的ARRT*(自适应快速探索随机树星)算法。在约束环境下，RRT*算法在寻找合适的无冲突路径时容易失败。提出的ARRT*算法给出了约束环境下可行无碰撞路径的优化。论证了在多智能体系统中实现RRT*和ARRT*作为路径智能体用于机器人在线控制的可行性。基于这两种算法，我们创建了一个数字孪生模拟环境来寻找无碰撞路径。仿真路径在真实机器人上进行了可行性和验证。在实时实现过程中，我们测量了以下参数:生成无碰撞路径的算法计算时间，实时沿路径移动的时间，以及每条路径消耗的能量。测量RRT*和ARRT*算法的这些参数，并比较测试结果。测试结果显示，ARRT*在受限的环境中表现更好。两种算法都在Plug and Produce设置中进行了测试，我们发现两种算法生成的路径都适合在线路径规划应用。
{"title":"Optimized Path Planning by Adaptive RRT* Algorithm for Constrained Environments Considering Energy","authors":"S. Ramasamy, K. Eriksson, Balasubramanian Perumal, Saptha Peralippatt, F. Danielsson","doi":"10.1109/ETFA45728.2021.9613699","DOIUrl":"https://doi.org/10.1109/ETFA45728.2021.9613699","url":null,"abstract":"Optimized path planning of robots are necessary for the industries to thrive towards greater flexibility and sustainability. This paper proposes an implementation of a collision-free path with the shortest distance. The novelty of the work presented is the new ARRT*(Adaptive Rapidly exploring Random Tree Star) algorithm, which is modified from the RRT*(Rapidly exploring Random Tree Star). In a constraint environment, RRT* algorithms tend to fail when searching for suitable collision-free paths. The proposed ARRT* algorithm gives an optimized feasible collision-free paths in a constraint environment. The feasibility to implement RRT* and ARRT* in a Multi Agent System as a path agent for online control of robots is demonstrated. We have created a digital twin simulated environment to find a collision-free path based on these two algorithms. The simulated path is tested in real robots for feasibility and validation purpose. During the real time implementation, we measured the following parameters: the algorithm computation time for generating a collision-free path, move along time of the path in real time, and energy consumed by each path. These parameters were measured for both the RRT* and the ARRT* algorithms and the test results were compared. The test results were showing that ARRT* performs better in a constrained environment. Both algorithms were tested in a Plug and Produce setup and we find that the generated paths for both algorithms are suitable for online path planning applications.","PeriodicalId":312498,"journal":{"name":"2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126081259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2021-09-07DOI: 10.1109/ETFA45728.2021.9613406
S. Kropatschek, Thorsten Steuer, Elmar Kiesling, Kristof Meixner, Thom W. Frühwirth, Patrik Sommer, Daniel Schachinger, S. Biffl
In Cyber-physical Production System (CPPS) engineering, data analysts and domain experts collaborate to identify likely causes for quality issues. Industry 4.0 production assets can provide a wealth of data for analysis, making it difficult to identify the most relevant data. Because data analysts typically do not posses detailed knowledge of the production process, a key challenge is to discover potential causes that impact product quality with various experts, as knowledge about production processes is typically distributed across various domains. To address this, we highlight the need for cross-domain modelling and outline an approach for effective and efficient quality analysis. Specifically, we introduce the Quality Dependency Graph (QDG) to represent cross-domain knowledge dependencies for efficiently prioritizing data sources. We evaluate the QDG in a feasibility study based on a real-world use case in the automotive industry.
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