Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial...Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.展开更多
The authors consider the problem of reaching consensus over a communication network via asynchronous interaction between pairs of agents.A well-known method is the linear gossip algorithm due to Tsitsiklis(1984).Exten...The authors consider the problem of reaching consensus over a communication network via asynchronous interaction between pairs of agents.A well-known method is the linear gossip algorithm due to Tsitsiklis(1984).Extension of this,allowing the selection of a strictly stationary sequence of communicating pairs,was given in Picci and Taylor(2013).Extension of the linear gossip algorithm to directed communication networks,retaining the linear dynamics,was proposed by Cai and Ishii(2012),later extended by Silvestre,et al.(2018).A definite novelty of these algorithms is that L2-convergence with exponential rate can be established.The authors attend the above issues,extending the result of Picci and Taylor(2013)motivated by features of algorithms for directed networks.The authors present and discuss the algorithm of Silvestre,et al.(2018),together with systematic simulation results based on 5M randomly chosen parameter settings.The core of the proposed mathematical technology is a set of simple observations,presented with a tutorial aspect,by which the authors can conveniently establish various results on the almost sure convergence of products of strictly stationary sequences of matrices to a rank-1 matrix.展开更多
基金supported by the European Union within the framework of the“National Laboratory for Autonomous Systems”(No.RRF-2.3.1-212022-00002)the Hungarian“Research on prime exploitation of the potential provided by the industrial digitalisation(No.ED-18-2-2018-0006)”the“Research on cooperative production and logistics systems to support a competitive and sustainable economy(No.TKP2021-NKTA-01)”。
文摘Research of autonomous manufacturing systems is motivated both by the new technical possibilities of cyber-physical systems and by the practical needs of the industry.Autonomous operation in semi-structured industrial environments can now be supported by advanced sensor technologies,digital twins,artificial intelligence and novel communication techniques.These enable real-time monitoring of production processes,situation recognition and prediction,automated and adaptive(re)planning,teamwork and performance improvement by learning.This paper summarizes the main requirements towards autonomous industrial robotics and suggests a generic workflow for realizing such systems.Application case studies will be presented from recent practice at HUN-REN SZTAKI in a broad range of domains such as assembly,welding,grinding,picking and placing,and machining.The various solutions have in common that they use a generic digital twin concept as their core.After making general recommendations for realizing autonomous robotic solutions in the industry,open issues for future research will be discussed.
基金supported by the Ministry of Innovation and Technology,NRDI(National Research,Development and Innovation Office)under Grant No.KKP 137490its Autonomous Systems National Laboratory Program(ARNL)。
文摘The authors consider the problem of reaching consensus over a communication network via asynchronous interaction between pairs of agents.A well-known method is the linear gossip algorithm due to Tsitsiklis(1984).Extension of this,allowing the selection of a strictly stationary sequence of communicating pairs,was given in Picci and Taylor(2013).Extension of the linear gossip algorithm to directed communication networks,retaining the linear dynamics,was proposed by Cai and Ishii(2012),later extended by Silvestre,et al.(2018).A definite novelty of these algorithms is that L2-convergence with exponential rate can be established.The authors attend the above issues,extending the result of Picci and Taylor(2013)motivated by features of algorithms for directed networks.The authors present and discuss the algorithm of Silvestre,et al.(2018),together with systematic simulation results based on 5M randomly chosen parameter settings.The core of the proposed mathematical technology is a set of simple observations,presented with a tutorial aspect,by which the authors can conveniently establish various results on the almost sure convergence of products of strictly stationary sequences of matrices to a rank-1 matrix.
