Development of an Industry 4.0 Demonstrator Using Sequence Planner and ROS2

Erős, Endre; Dahl, Martin; Hanna, Atieh; Götvall, Per-Lage; Falkman, Petter; Bengtsson, Kristofer

doi:10.1007/978-3-030-45956-7_1

Cited by 4 publications

(6 citation statements)

References 29 publications

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“…The proposed framework handles the increase in complexity brought by intelligent automation by off-loading difficult modeling tasks to control logic synthesis algorithms and the specifics of execution to an online planning system. This paper builds on the previous publications [10,20,22] and introduces new abstractions: operations and intentions, which enable hierarchical modeling and planning to make it easier to handle larger systems than in previous work.…”

Section: Contributionmentioning

confidence: 99%

“…Listing 1 shows the generated message definitions for the door, which define the interface to the door node. It is also possible to generate a template for an ROS node that can be used to connect either directly to the sensors (e.g., reading I/O:s) or listen to some already existing node, in which case a translation may need to be performed (perhaps the door is already publishing sensor data on the network) [10].…”

Section: Automatic Transitions T Amentioning

confidence: 99%

“…In order to handle large distributed networks, ROS leverages the Data Distribution Service (DDS) [8] communication architecture. While it cannot handle true real-time communication [9], being built on top of DDS makes it possible to use in real-world industrial applications [10].…”

Section: Introductionmentioning

confidence: 99%

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Sequence Planner: A Framework for Control of Intelligent Automation Systems

et al. 2022

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This paper presents a framework that tackles the challenges met in the development of automation systems featuring collaborative robotics and other machines that have some degree of autonomy. These machines rely on online algorithms for both sensing and acting in order to achieve a very high level of flexibility. To take advantage of these new machines and algorithms, control systems must also be increasingly flexible. In this paper, we present a framework for control of this new class of intelligent automation systems called Sequence Planner (SP), which helps with control of both traditional automation equipment and machines with autonomy. To aid the complex task of developing automation control solutions, SP relies on supporting algorithms for control logic synthesis and online planning. SP has been implemented with plug-in support for the Robot Operating System (ROS) and applied to an industrial demonstrator. We present our findings on how SP performed as a control system for this demonstrator, where we show that it is an adequate approach to implement automation for a highly flexible single station system. As a standardized way of automating such systems is missing, we hope that our contribution will provide a foundation for how to develop intelligent automation systems.

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Section: Contributionmentioning

confidence: 99%

Section: Automatic Transitions T Amentioning

confidence: 99%

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Sequence Planner: A Framework for Control of Intelligent Automation Systems

et al. 2022

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“…Using modelbased control system development allows for applying formal verification techniques and enables flexible control strategies to be used that can change without manual programming. Sequence Planner (SP) [17] is a model-based framework for control of intelligent automation systems. To ease modeling and control, SP uses formal models together with on-line planning to reach the current goal of the automation system.…”

Section: Introductionmentioning

confidence: 99%

“…SP has support for Robot Operating System (ROS) [18] to enable quick prototyping and composition of ROS resources. SP has previously been used to model and control an intelligent automation system for collaborative final assembly [17,[19][20][21]. SP implements a strategy to recover from unexpected errors based on automated planning and learning which resources and operations are currently unavailable, combined with allowing special "human intervention" actions to be defined.…”

Section: Introductionmentioning

confidence: 99%

Application of the Sequence Planner Control Framework to an Intelligent Automation System with a Focus on Error Handling

2021

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Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation.

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