Multi-User Collaborative Assembly Planning over the Internet

1 Introduction Assembly planning is an important issue of product design for assembly, and many achievements have been obtained. Techniques such as geometric reasoning [1,2], genetic algorithms (GA) [3], virtual assembly [4,5] and so on are employed to assembly planning of relatively simple products successfully. But for the more complex cases, there is a combinational complexity problem when the geometric reasoning method is used. The fitness function in GA cannot take into account various…     

Assembly features in modeling and planning

In recent years, features have been introduced in modeling and planning for manufacturing of parts. Such features combine geometric and functional information. Here it is shown that the feature concept is also useful in assembly modeling and planning. For modeling and planning of both single parts and assemblies, an integrated object-oriented product model is introduced. For specific assembly-related information, assembly features are used. Handling features contain information for handling components, connection features information on connections between components. A prototype modeling environment has been developed. The product model has been successfully verified within several analyses and planning modules, in particular stability analyses, grip planning, motion planning and assembly sequence planning. Altogether, feature-based product models for assembly can considerably help in both assembly modeling and planning, on the one hand by integrating single-part and assembly modeling, and on the other hand by integrating modeling and planning.     

Hybrid client-server architecture and control techniques for collaborative product development using haptic interfaces

In this paper, a collaborative product development and prototyping framework is proposed by using distributed haptic interfaces along with deformable objects modeling. Collaborative Virtual Environment (CVE) is a promising technique for industrial product development and virtual prototyping. Network control problems such as network traffic and network delay in communication have greatly limited collaborative virtual environment applications. The problems become more difficult when high-update-rate haptic interfaces and computation intensive deformable objects modeling are integrated into CVEs for intuitive manipulation and enhanced realism. A hybrid network architecture is proposed to balance the computational burden of haptic rendering and deformable object simulation. Adaptive artificial time compensation is used to reduce the time discrepancy between the server and the client. Interpolation and extrapolation approaches are used to synchronize graphic and haptic data transmitted over the network. The proposed techniques can be used for collaborative product development, virtual assembly, remote product simulation and other collaborative virtual environments where both haptic interfaces and deformable object models are involved.     

Knowledge intensive Petri net framework for concurrent intelligent design of automatic assembly systems

The integration of design and planning of flexible assembly system has been recognized as a tool for achieving efficient assembly in a production environment that demands assembly with a high degree of flexibility. This paper proposes a concurrent intelligent approach and framework for the design of robotic flexible assembly systems. The principle of the proposed approach is based on the knowledge Petri net formalisms, incorporating Petri nets with more general problem-solving strategies in AI using knowledge-based system techniques. The complex assembly systems are modeled and analyzed by adopting a formal representation of the system dynamic behaviors through knowledge Petri net modeling from the specifications and the analysis of those models. A template is first defined for a knowledge Petri net model, and then the models for assembly system individuals are established in the form of instances of the template. The design of assembly systems is implemented through a knowledge Petri net-based function–behavior–structure model. The research results show that the proposed knowledge Petri net approach is applicable for design, simulation, analysis and evaluation, and even layout optimization of the flexible assembly system in an integrated intelligent environment. The integration of assembly design and planning process can help reduce the development time of assembly systems.     

A knowledge intensive multi-agent framework for cooperative/collaborative design modeling and decision support of assemblies

Multi-agent modeling has emerged as a promising discipline for dealing with decision making process in distributed information system applications. One of such applications is the modeling of distributed design or manufacturing processes which can link up various designs or manufacturing processes to form a virtual consortium on a global basis. This paper proposes a novel knowledge intensive multi-agent cooperative/collaborative framework for concurrent intelligent design and assembly planning, which integrates product design, design for assembly, assembly planning, assembly system design, and assembly simulation subjected to econo-technical evaluations. An AI protocol based method is proposed to facilitate the integration of intelligent agents for assembly design, planning, evaluation and simulation process. A unified class of knowledge intensive Petri nets is defined using the O-O knowledge-based Petri net approach and used as an AI protocol for handling both the integration and the negotiation problems among multi-agents. The detailed cooperative/collaborative mechanism and algorithms are given based on the knowledge objects cooperation formalisms. As such, the assembly-oriented design system can easily be implemented under the multi-agent-based knowledge-intensive Petri net framework with concurrent integration of multiple cooperative knowledge sources and software. Thus, product design and assembly planning can be carried out simultaneously and intelligently in an entirely computer-aided concurrent design and assembly planning system.     

Role-based viewing envelopes for information protection in collaborative modeling

Information security and assurance are new frontiers for collaborative design. In this context, information assurance (IA) refers to methodologies to protect engineering information by ensuring its availability, confidentiality, integrity, non-repudiation, authentication, access control, etc. In collaborative design, IA techniques are needed to protect intellectual property, establish security privileges and create ‘need to know’ protections on critical features. Aside from 3D watermarking, research on how to provide IA to distributed collaborative engineering teams is largely non-existent.This paper provides a framework for IA within collaborative design. It is based on a technique we call role-based viewing, which is achieved through integration of multi-resolution geometry and security models. In this way, 3D models are geometrically partitioned, and the partitioning is used to create multi-resolution mesh hierarchies that obscure, obfuscate, or remove sensitive material from the view of users without appropriate permissions. This approach is the basis for our prototype system FACADE (the Framework for Accesscontrol in Computer-Aided Design Environments), a synchronous multi-user collaborative modeling environment. In FACADE, groups of users work in a shared 3D modeling environment in which each user's viewing and modeling privileges are managed by a central access control mechanism. In this manner, individual users see only the data they are allowed to see, at the level of detail they are permitted to see it.     

Tool selection-embedded optimal assembly planning in a dynamic manufacturing environment

This paper presents an approach for tool selection-embedded optimal assembly planning in dynamic manufacturing environments. It aims to embed assembly tools into the planning process of assembly sequences in a dynamic shop-floor. The experimental results demonstrate that the developed approach is efficient and practical for a high fidelity assembly sequence with alternatives of assembly-tool sets. The dynamic assembly planning can efficiently support product assembly by generating feasible assembly sequences. It provides an effective design-aiding tool to virtually deal with various what-if scenarios regarding product assembly. In particular, the Web-based application developed in this research can be incorporated into a high-performance design and manufacturing environment on the Web, forming a distributed, collaborative and globally networked tool for product assembly planning.     

CPM: A collaborative process modeling for cooperative manufacturers

In a manufacturing system, we need to capture collaborative processes among its components in order to clearly define supporting functions of a system. However, pervasive process modeling techniques, including IDEF3, Petri Nets, and UML, are not sufficient for modeling collaborative processes. Therefore, we have developed a novel modeling method referred to as collaborative process modeling (CPM) to describe collaborative processes. CPM models can be transformed into marked graph models so that we can use the analysis power of Petri Nets. In this paper, we first briefly discuss these process modeling techniques. Then, we illustrate the CPM method and transformation rules with illustrative examples. CPM allows us to develop collaborative process models, understand and facilitate the realization of collaboration, and verify models before moving onto development.     

Physics-based virtual reality for task learning and intelligent disassembly planning

Physics-based simulation is increasingly important in virtual manufacturing for product assembly and disassembly operations. This work explores potential benefits of physics-based modeling for automatic learning of assembly tasks and for intelligent disassembly planning in desktop virtual reality. The paper shows how realistic physical animation of manipulation tasks can be exploited for learning sequential constraints from user demonstrations. In particular, a method is proposed where information about physical interaction is used to discover task precedences and to reason about task similarities. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. A novel approach is described to find all physically admissible subassemblies in which a set of rigid objects can be disassembled. Moreover, efficient strategies are presented aimed at reducing the computational time required for automatic disassembly planning. The proposed strategies take into account precedence relations arising from user assembly demonstrations as well as geometrical clustering. A motion planning technique has also been developed to generate non-destructive disassembly paths in a query-based approach. Experiments have been performed in an interactive virtual environment including a dataglove and motion tracker that allows realistic object manipulation and grasping.     

基于协同虚拟环境的装配设计系统

针对分布式环境中复杂产品协同开发的装配设计需求,研究基于协同虚拟环境的装配设计系统的体系结构和关键技术,提出分布式条件下支持多用户实时交互操作的协同虚拟装配方法,包括复杂场景高分辨率实时渲染和多通道沉浸输出方案。以此为基础开发分布式协同虚拟装配环境,并通过面向汽车整车的多用户协同虚拟装配实例验证了系统的有效性。结果证明,用户可在该系统中完成复杂产品的协同虚拟装配设计工作。     

基于上下文的分布式协同过滤推荐技术

针对传统协同过滤推荐技术应用于大规模动态数据集时难以兼顾准确度和效率的问题,提出一种基于上下文的分布式协同过滤推荐技术,引入推荐上下文的概念,并在此基础上充分考虑用户的即时兴趣以提高推荐的准确度,采用评分矩阵的分布式存储和计算以提高推荐的效率。实验结果表明,该分布式协同过滤技术能同时保证推荐的准确度和效率,使其在大规模动态数据集上的应用更具优势。     

Collaborative Virtual Simulation Environment for Radiotherapy Treatment Planning

The simulation of Radiotherapy Treatment Planning (RTP) is a normal procedure in oncology clinics carried out on a Simulator machine. The Virtual Simulation of RTP replaces the real Simulator machine with a virtual one by using the CT data sets of a patient instead of the real patient. In this paper, we present a collaborative virtual simulation environment of RTP, named EU-VIRTUOSO, which is based on volume rendering and telecommunication techniques. The RTP procedure is visualised on a virtual patient, which is created by using the CT data of the patient. Different volume rendering and volume interaction techniques, such as DRR, MIP, gradient surface, and iso-surface, supply physicians with high quality rendering images to simulate the real working environment of the Simulator machine. In the collaborative environment, physicians distributed at different locations can work together via network to plan the treatment or to validate the treatment plan on-line by a collaborative application sharing approach. Both concepts virtualised planning and collaborative planning improve the efficiency and accuracy of a radiotherapy treatment while reducing the effort for an individual patient.     

A complexity model for sequence planning in mixed-model assembly lines

Sequence planning is an important problem in assembly line design. It is to determine the order of assembly tasks to be performed sequentially. Significant research has been done to find good sequences based on various criteria, such as process time, investment cost, and product quality. This paper discusses the selection of optimal sequences based on complexity induced by product variety in mixed-model assembly line. The complexity was defined as operator choice complexity, which indirectly measures the human performance in making choices, such as selecting parts, tools, fixtures, and assembly procedures in a multi-product, multi-stage, manual assembly environment. The complexity measure and its model for assembly lines have been developed in an earlier paper by the authors. According to the complexity models developed, assembly sequence determines the directions in which complexity flows. Thus proper assembly sequence planning can reduce complexity. However, due to the difficulty of handling the directions of complexity flows in optimization, a transformed network flow model is formulated and solved based on dynamic programming. Methodologies developed in this paper extend the previous work on modeling complexity, and provide solution strategies for assembly sequence planning to minimize complexity.     

A collaborative approach to assembly sequence planning

Distributed product development requires collaborative work among team members. For the sake of supporting assembly planning activities involving geographically dispersed designers, this paper presents an approach of collaborative assembly sequence planning to validate the assemblability of parts and subassemblies rapidly. In order to increase the planning efficiency and support the collaborative planning, role-based model is exploited to compress or simplify the product. In role-based model, the B-rep models are simplified according to the permissions associated with the role, so the surfaces invisible from outside of the model are removed. In collaborative planning, the planning tasks are assigned to different designers that carry out the collaborative planning, respectively. In this paper, a knowledge-based approach is proposed to the assembly sequence planning problem. This research shows that the typical or standard CSBAT (Connection Semantics Based Assembly Tree) can be applied to a given assembly problem. This paper presents the structure of the Co-ASP (Collaborative Assembly Sequence Planning System) and provides an example to illustrate the collaborative planning approach.     

基于语义特征造型的虚拟装配

协同虚拟装配技术是虚拟样机技术与虚拟现实技术相结合所产生的一个新的研究热点。基于细胞元表示的语义特征造型技术,提出一种统一的协同虚拟装配框架,在该框架下能够有效支持异构CAD系统间零件及装配体的协同装配。网络传输以特征依赖图存储的操作信息,可降低网络负荷,提高响应速度。该思想初步应用在自主开发的HUST-CAIDS与UG间的异构协同设计中,证明了以上理论的可行性。     

BIM-based task-level planning for robotic brick assembly through image-based 3D modeling

The application of robotics in the assembly of building bricks has become a popular topic, while the planning of construction robots is still lagged far behind the manufacturing industry. New robotic assembly task with manual teaching–planning method is always time consuming. A task-level planning method was proposed, and the implementation details were described to improve the planning efficiency of robotic brick assembly without affecting accuracy. In this work, a BIM (Building Information Model)-based robotic assembly model that contains all the required information for planning was proposed. Image-based 3D modeling was utilized to help the calibration of the robotic assembly scene and building task models. The placement point coordinates of each assembly brick were generated in the robot base coordinate system. Finally, three different building information model tasks of modular structures (e.g., wall, stair, and pyramid) were designed. The feasibility and effectiveness of the proposed method were verified by comparing the efficiency and accuracy of three models through manual teaching and task-level planning.     

Internet-enabled real-time collaborative assembly modeling via an e-Assembly system: status and promise

Collaborative CAD systems enabling collaboration in computer-aided design processes among distributed designers are gaining more and more attention. Yet, such systems, especially in support of collaborative assembly modeling, are hardly achievable. Targeting this gap, this paper addresses an Internet-enabled real-time collaborative assembly modeling system, named e-Assembly. This emerging system allows a group of geographically dispersed designers to jointly build an assembly model in real time over the Internet. In particular, this paper proposes a new assembly representation, called Collaborative Assembly Representation, for Internet-based collaborative assembly modeling. Also, collaborative assembly constraint satisfaction is addressed based on three coordination rules embedded in e-Assembly. Furthermore, the system architecture and realization of e-Assembly are provided. Finally, a prototypic implementation of e-Assembly is presented for demonstration and discussion.     

Human-robot collaboration while sharing production activities in dynamic environment: SPADER system

Interactive robot doing collaborative work in hybrid work cell need adaptive trajectory planning strategy. Indeed, systems must be able to generate their own trajectories without colliding with dynamic obstacles like humans and assembly components moving inside the robot workspace. The aim of this paper is to improve collision-free motion planning in dynamic environment in order to insure human safety during collaborative tasks such as sharing production activities between human and robot. Our system proposes a trajectory generating method for an industrial manipulator in a shared workspace. A neural network using a supervised learning is applied to create the waypoints required for dynamic obstacles avoidance. These points are linked with a quintic polynomial function for smooth motion which is optimized using least-square to compute an optimal trajectory. Moreover, the evaluation of human motion forms has been taken into consideration in the proposed strategy. According to the results, the proposed approach is an effective solution for trajectories generation in a dynamic environment like a hybrid workspace.     

From pixels to multi-robot decision-making: A study in uncertainty

Mobile robots must cope with uncertainty from many sources along the path from interpreting raw sensor inputs to behavior selection to execution of the resulting primitive actions. This article identifies several such sources and introduces methods for (i) reducing uncertainty and (ii) making decisions in the face of uncertainty. We present a complete vision-based robotic system that includes several algorithms for learning models that are useful and necessary for planning, and then place particular emphasis on the planning and decision-making capabilities of the robot. Specifically, we present models for autonomous color calibration, autonomous sensor and actuator modeling, and an adaptation of particle filtering for improved localization on legged robots. These contributions enable effective planning under uncertainty for robots engaged in goal-oriented behavior within a dynamic, collaborative and adversarial environment. Each of our algorithms is fully implemented and tested on a commercial off-the-shelf vision-based quadruped robot.     

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