A laboratory plant for research in networked intelligent control systems

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Many large-scale engineering systems are networked subsystems, where control loops are closed through a communication network. While network communication can give rise to random time delays and losses of data/information, component interconnection as well can result in serious unexpected behaviour that may not be apparent in the constituent components. Research has been proposed by the applicant to the NSERC Discovery Program, which will make significant original contributions to modelling, analysis, design, development, and operation/control of networked engineering systems. The planned research will lead to the development of technologies, which will be implemented in a networked laboratory plant and tested for industrial use. Types of industrial tasks which will be carried out using the fully automated laboratory plant will include coordinated object transportation, processing (e.g., cutting, cleaning, grading), and assembly (e.g., portion control, packaging). For this purpose, in addition to the specific process machinery, one will require several robots including fixed industrial robots and mobile robots, all properly networked. Funding is requested to acquire an instrumented mobile robot having vision capability and sufficient payload capacity, a five-axis robotic arm to be mounted on the mobile robot, and a universal gripper, all having the capability to operate in wet environments, and network connection hardware. This robotic system will be networked with an existing industrial fish processing machine, a fixed-base industrial robot, and other low-payload mobile robots in the laboratory, to generate the automated plant. We have identified a suitable mobile robot, a five-axis robotic arm, a universal gripper, and accessories which meet our requirements. The mobile robots which we have in our laboratory do not provide the payload capacity that is necessary to carry out the planned tasks. Furthermore, operation under wash-down requirements that are enforced in food processing plants means water-proofing is essential. Expected tasks include handling, manipulating, and assembling of objects that can way up to 1 kg, in dynamic, flexible, and wet environments in the presence of obstacles.