Survey, comparison and research challenges of IoT application protocols for smart farming

In industrial environments, over several decades, Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) have served to improve efficiencies of intralogistics and material handling tasks. However, for system integrators, the choice and effective deployment of improved, suitable and reliable communication and control technologies for these unmanned vehicles remains a very challenging task. Specifics of communication for AGVs and AMRs imposes stringent performance requirements on latency and reliability of communication links which many existing wireless technologies struggle to satisfy. In this paper, a review of latest AGVs and AMRs research results in the past decade is presented. The review encompasses results from different past and present research domains of AGVs. In addition, performance requirements of communication networks in terms of their latencies and reliabilities when they are deployed for AGVs and AMRs coordination, control and fleet management in smart manufacturing environments are discussed. Integration challenges and limitations of present state-of-the-art AGV and AMR technologies when those technologies are used for facilitating AGV-based smart manufacturing and factory of the future applications are also thoroughly discussed. The paper also present a thorough discussion of areas in need of further research regarding the application of 5G networks for AGVs and AMRs fleet management in smart manufacturing environments. In addition, novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.

/pdf/a-review-of-recent-advances-in-automated-guided-vehicle-qlzg8e9vod.pdf

A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

Nowadays, global engineers need to be equipped with professional skills and knowledge to solve 21st century problems. The educational program, created in digital learning rooms of the Higher Engineering Education Alliance Program (HEEAP) program supported by Arizona State University, became a pioneer in teaching learners to work within the community. First, the combination of a novel instructional strategy and an integrated education in which project-based approach is employed to apply the technical knowledge. During this, students in mechatronics, computer science, and mechanics must collaborate with peers from industrial systems engineering. Second, in this paper, the design of an open structure connecting multi-disciplinary major is illustrated with a new teaching approach. It is proved to be better by combining specialized understandings of various types in a wide range of applications. From this basis support, participants could implement additional components quickly while keeping the cost low, making the products feasible and user-friendly. Last but not least, students are facilitated with a free library that helps to control simply despite lacking experience in robotics or automation. Several examples show that students are capable of developing things by themselves on open design. In brief, this platform might be an excellent tool to teach and visualize the practical scenario in a multi-disciplinary field.

Design of an Open Platform for Multi-Disciplinary Approach in Project-Based Learning of an EPICS Class

In previous works, the perceived safety and comfort are currently not the principal objectives of all industries, especially robotics system. It might lead not to take psychological safety into con...

https://journals.sagepub.com/doi/pdf/10.1177/1687814020979430

Develop the socially human-aware navigation system using dynamic window approach and optimize cost function for autonomous medical robot:

In the actual industrial production process, the method of adaptively tuning proportional–integral–derivative (PID) parameters online by neural network can adapt to different characteristics of different controlled objects better than the controller with PID. However, the commonly used microcontroller unit (MCU) cannot meet the application scenarios of real time and high reliability. Therefore, in this paper, a closed-loop motion control system based on BP neural network (BPNN) PID controller by using a Xilinx field programmable gate array (FPGA) solution is proposed. In the design of the controller, it is divided into several sub-modules according to the modular design idea. The forward propagation module is used to complete the forward propagation operation from the input layer to the output layer. The PID module implements the mapping of PID arithmetic to register transfer level (RTL) and is responsible for completing the output of control amount. The main state machine module generates enable signals that control the sequential execution of each sub-module. The error backpropagation and weight update module completes the update of the weights of each layer of the network. The peripheral modules of the control system are divided into two main parts. The speed measurement module completes the acquisition of the output pulse signal of the encoder and the measurement of the motor speed. The pulse width modulation (PWM) signal generation module generates PWM waves with different duty cycles to control the rotation speed of the motor. A co-simulation of Modelsim and Simulink is used to simulate and verify the system, and a test analysis is also performed on the development platform. The results show that the proposed system can realize the self-tuning of PID control parameters, and also has the characteristics of reliable performance, high real-time performance, and strong anti-interference. Compared with MCU, the convergence speed is far more than three orders of magnitude, which proves its superiority.

/pdf/a-design-of-fpga-based-neural-network-pid-controller-for-39s1m3hw.pdf

A Design of FPGA-Based Neural Network PID Controller for Motion Control System

In the developing countries, aging of construction sites, such as tunnel or bridge, becomes one of dangerous problems in society. Though this is a critical topic for researchers and inventors, very few studies address the problem and meet conditions, for example low-cost, feasible, effective and not require expert to operate. In response, this paper introduces a new technique to navigate the local coordinate of an unmanned aerial vehicles (UAVs) which is strained by the light tether from a known address on the ground. By constructing and analyzing the mechanical structure, main frame of system is able to work in the outdoor environment. Later, there are several sensor levels that feed-back information to CPU. Hence, mainboard robustly adjusts the speed of motor depend on working condition. Especially, the overall system is done in practical experiments to verify the proposed design.

Research on Aerial Vehicle for Robust Navigation System Under Natural Disaster

Human contact is a key issue in social interactions for autonomous systems since robots are increasingly appearing everywhere, which has led to a higher risk of conflict. Particularly in the real world, collisions between humans and machines may result in catastrophic accidents or damaged goods. In this paper, a novel stop strategy related to autonomous systems is proposed. This control method can eliminate the vibrations produced by a system’s movement by analysing the poles and zeros in the model of autonomous vehicles and goods. Using the pole placement technique, the motion of a system is guaranteed to be more stable, more flexible and smoother. Moreover, several control profiles are employed in the switching mechanism to choose the proper vibration-free effect. The main contributions of this paper are (i) the recommendation of an active stopping planner using different smooth generators from a modelling study, (ii) the validation of their physical characteristics and (iii) the launching of a switching algorithm based on the socially aware navigation framework of a robot. This theoretical work is based on the virtual environment of MATLAB, and the experiment is implemented in the practical platform of an automated guided vehicle. From these results, it can be seen that the proposed approach is robust, effective and feasible for applications in storehouse management, public transportation or factory manufacturing.

/pdf/planning-the-emergency-collision-avoidance-strategy-based-on-2wc5ba7g.pdf

Planning the Emergency Collision Avoidance Strategy Based on Personal Zones for Safe Human-Machine Interaction in Smart Cyber-Physical System

Together with the significant leap in technologies, the interference among them make our lives more plentiful. Only a lone major could not last in current era. Instead of that, multidisciplinary approach becomes a novel trend in industrial evolution. In this paper, the collaboration in various fields in one platform is introduced as successful multidisciplinary model. All fields of study profit from this shared hardware, such as cost saving, obsessive partnership, municipal culture or communication. In addition, students are enhanced in their behaviors, for example community awareness, discipline knowledge or entrepreneunal mindset.

An Innovative Hardware Bridging Between Education and Industry

Model and simulation of tracking motion for accurate welding using a universal Cobot

In multi-automated guided vehicle (AGV) control, optimization and collision avoidance are two of the key issues. To deal with these problems of the AGV fleet, motion planning is a good solution. This method usually comprises two steps as follows: routing and scheduling that are always separately executed in conventional routine. This scheme still exists some drawbacks, such as limitation of candidate paths or lack of flexibility in handling collisions. Besides, with a specific layout, the algorithm needs to be modified to be proper with that application. The warehouse with grid-based layout employed popularly in logistics and supply chain is our concern. To overcome this theme, a time-frame-based routing and scheduling (TFRS) algorithm for motion planning of vehicles is proposed for this warehouse application. In detail, TFRS can also be called an enhanced Dijkstra’s algorithm (EDA) with adaptive weights for every segment and node. It was designed to gain several benefits of time due to the shortest path, free collision, and proper for chessboard layout. The main idea is that while conducting path routing, certain circumstances of potential accidents are detected and dealt by scheduling in every loop. Due to simultaneous policies of routing and scheduling, the optimization and secure operation could be achieved in the AGV system. Numerous situations in danger of collision are experimented to verify the effectiveness, flexibility, and correctness of the proposed algorithm.

Ha Quang Thinh Ngo

Papers

Research on Aerial Vehicle for Robust Navigation System Under Natural Disaster

Planning the Emergency Collision Avoidance Strategy Based on Personal Zones for Safe Human-Machine Interaction in Smart Cyber-Physical System

An Innovative Hardware Bridging Between Education and Industry

Model and simulation of tracking motion for accurate welding using a universal Cobot

Integrating Both Routing and Scheduling Into Motion Planner for Multivehicle System