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

该奖项是ENG/CEISE在智能材料处理系统方面的联合研究推力。其目标是开发和演示一种新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，并能够处理环境中的不确定因素。该方法结合了智能材料处理的四个基本组件，并应用于自动化套件和夹具。自主、可适应代理的组件计划强调柔性制造单元的规范，包括机械手和夹具，以适应动态环境并与其他系统协作。基于CAD的材料表示的组件程序使用基于三维特征的模型，该模型包括材料处理和视觉识别的特征。通过使用具有交互图形的视觉和距离传感器的逆向工程过程。材料搬运控制组件程序解决了材料搬运实时控制策略的设计和选择，包括具有集成传感器反馈的健壮、自适应和学习方案。基于特征的CAD信息，采用高级路径和轨迹规划系统来指导控制系统。第四个组件计划负责系统集成方法论，以支持协作、分布式代理的设计和开发，并允许从人工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.