Intelligent Material Handling Systems: Integrated Modelling and Control for Intelligent Material Handling

该奖项是在智能材料处理系统的联合ENG/CISE研究推力。目标是开发和演示一种新颖的智能材料处理系统方法，该方法可以非常快速地自动化任何新的材料处理要求，并且可以处理环境中的不确定性。该方法结合了智能材料处理的四个基本组件，并应用于自动化装配和夹具。自主适应性代理的组件程序强调柔性制造单元的规格，包括操纵器和夹具，以适应动态环境并与其他系统合作。基于cad的材料表示组件程序利用基于3d特征的模型，其中包括材料处理和视觉识别的特征。通过逆向工程的过程，利用视觉和距离传感器与交互式图形。材料处理控制组件程序解决了材料处理实时控制策略的设计和选择，包括鲁棒，自适应和集成传感器反馈的学习方案。基于特征信息，采用高级路径和轨迹规划系统指导控制系统。第四个组件计划负责系统集成方法，以支持协作、分布式代理的设计和开发，并允许从人力密集型活动过渡到更自主的活动。

This award is in the joint ENG/CISE Research Thrust in Intelligent Material Handling Systems. The objective is to develop and demonstrate a novel intelligent material handling system approach that allows very rapid automation of any new material handling requirements and that can deal with uncertainties in the environment. The approach incorporates four basic components for intelligent materials handling with applications to automated kitting and fixturing. The Component Program for Autonomous, Adaptable agents emphasizes the specification of flexible manufacturing cells, including manipulators and fixtures, to adapt to dynamic environments and to cooperate with other systems. The Component Program for CAD-Based Material Representation utilizes 3-D feature-based models which include features for both material handling and vision recognition. through a process of reverse engineering using vision and range sensors with interactive graphics. The Component Program for Material Handling Control addresses the design and selection of real-time control strategies for material handling, including robust, adaptive, and learning schemes with integrated sensor feedback. A high level path and trajectory planning system are used to guide the control system based on the feature-based CAD information. The fourth Component Program is responsible for the Systems Integration Methodology to support the design and development of cooperating, distributed agents, and allows transition from human- intensive activities to more autonomous activities.