SGER: Theoretical Study of Reconfigurable Intelligent Manufacturing Workcell

本项目将研究可重构智能制造工作单元设计中出现的基本理论问题。该项目的目标是建模、开发和实验测试一种新的集成传感、规划和控制方法，用于在可重构工作单元环境中协作机器模块的自动化。研究将集中在以下几个具体的子问题上：(1)创建基于感知的感知框架来协调工作单元中的任务；(2)制定基于事件的工作单元中机器模块协调的计划和控制；(3)研究工作单元的自标定算法；(4)通过实验对研究结果进行检验和评价。研究目标是：(1)减少工作单元中机器操作的停机时间；(2)创建一个感知框架，使协同机床模块工作单元任务的规划和执行自动适应几何和动态不确定性，减少对精密夹具的需求；(3)减少重新配置制造工作单元时的启动时间。

This project will study fundamental theoretical problems which arise in the design of a reconfigurable intelligent manufacturing workcell. The goal of this project is to model, develop, and experimentally test a new integrated sensing, planning and control methodology for the automation of cooperating machine modules acting in reconfigurable workcell environments. The research will focus on the following specific subproblems: (1) create sensing based perceptive frame for coordinating tasks in the workcell; (2) develop event-based planning and control for machine module coordination in the workcell; (3) study the self calibration algorithms for workcells; and (4) perform experiments to test and evaluate the research results. The research objectives are: (1) reduce down time of machine operations in workcells; (2) create a perceptive frame that adapts the planning and execution of cooperating machine module workcell tasks to the geometric and dynamic uncertainties automatically, and reduce the need for precision fixtures; and (3) reduce the ramp-up time when reconfiguring a manufacturing workcell.