A laboratory plant for research in networked intelligent control systems

许多大型工程系统是网络化的子系统，其中控制回路通过通信网络封闭。虽然网络通信可能导致随机时间延迟和数据/信息丢失，但组件互连也可能导致在组成组件中可能不明显的严重意外行为。申请人已向NSERC发现计划提出研究建议，这将对网络工程系统的建模、分析、设计、开发和操作/控制做出重大的原创性贡献。计划中的研究将导致技术的发展，这些技术将在一个联网的实验室工厂中实施，并进行工业应用测试。将使用全自动实验室设备执行的工业任务类型将包括协调物体运输，处理（例如，切割，清洁，分级）和组装（例如，部分控制，包装）。为此，除了特定的工艺机械外，还需要几个机器人，包括固定的工业机器人和移动机器人，所有机器人都适当地联网。要求获得资金，以获得具有视觉能力和足够有效载荷能力的仪器化移动机器人，安装在移动机器人上的五轴机械臂和通用抓取器，所有这些都具有在潮湿环境中工作的能力，以及网络连接硬件。该机器人系统将与现有的工业鱼类加工机、固定基地工业机器人和实验室中的其他低载荷移动机器人联网，以产生自动化工厂。我们已经确定了一个合适的移动机器人，一个五轴机械臂，一个通用夹具，以及满足我们要求的附件。我们实验室里的移动机器人不能提供执行计划任务所必需的有效载荷能力。此外，在食品加工厂强制执行的冲洗要求下操作意味着防水是必不可少的。预期的任务包括在动态、灵活和潮湿的环境中，在障碍物存在的情况下，搬运、操纵和组装重达1公斤的物体。

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.