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Journal ArticleDOI

Virtual tests of robotic vehicle units for virtual commissioning

TL;DR: A dynamic model of the braking system of a robotic chassis is presented and the results of braking modes' virtual tests are shown, and the developed virtual test system is used to create a KAMAZ truck as part of a robotics system for agricultural vehicles.
Abstract: The creation of robotic vehicles for agricultural purposes is a promising direction in the automotive industry. The complexity of the self-driving truck's design, work in difficult operating conditions, and a large number of measuring devices and processing subsystems determine the relevance of creating a virtual test system. These tests are part of the overall virtual commissioning process for a robotic vehicle. The article discusses a set of basic subsystems that provide virtual tests based on a model-based approach: mathematical modeling, measurement modeling, information subsystem with databases, visualization and documentation subsystem. Metrological models of measuring channels for virtual tests have been developed, allowing simulating random vehicle parameter changes. The testing process covers all the most essential components of a robotic vehicle. For example, the article presents a dynamic model of the braking system of a robotic chassis and shows the results of braking modes' virtual tests. The developed virtual test system is used to create a KAMAZ truck as part of a robotic system for agricultural vehicles.

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References
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Report SeriesDOI
21 Jun 2018
TL;DR: The state of the art in the application of RAS in Agri-Food production is reviewed and research and innovation needs are explored to ensure these technologies reach their full potential and deliver the necessary impacts in the Agre-Food sector.
Abstract: Agri-Food is the largest manufacturing sector in the UK. It supports a food chain that generates over £108bn p.a., with 3.9m employees in a truly international industry and exports £20bn of UK manufactured goods. However, the global food chain is under pressure from population growth, climate change, political pressures affecting migration, population drift from rural to urban regions and the demographics of an aging global population. These challenges are recognised in the UK Industrial Strategy white paper and backed by significant investment via a Wave 2 Industrial Challenge Fund Investment ("Transforming Food Production: from Farm to Fork"). Robotics and Autonomous Systems (RAS) and associated digital technologies are now seen as enablers of this critical food chain transformation. To meet these challenges, this white paper reviews the state of the art in the application of RAS in Agri-Food production and explores research and innovation needs to ensure these technologies reach their full potential and deliver the necessary impacts in the Agri-Food sector.

186 citations

Journal ArticleDOI
TL;DR: This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers.
Abstract: Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis.

120 citations

Proceedings ArticleDOI
04 May 2015
TL;DR: The principal components needed in a functional architecture for autonomous driving, along with reasoning for how they should be distributed across the architecture are presented.
Abstract: As the Technology Readiness Levels (TRLs) of self-driving vehicles increase, it is necessary to investigate the Electrical/Electronic(E/E) system architectures for autonomous driving, beyond proof-of-concept prototypes. Relevant patterns and anti-patterns need to be raised into debate and documented. This paper presents the principal components needed in a functional architecture for autonomous driving, along with reasoning for how they should be distributed across the architecture. A functional architecture integrating all the concepts and reasoning is also presented.

84 citations

Proceedings ArticleDOI
01 Sep 2016
TL;DR: The presented work is concerned with the test methodology for virtual commissioning based on appropriate behaviour simulation of automated production systems within the automotive industry, and the elaborated outstanding improvements of Virtual Commissioning are presented.
Abstract: Today's highly increasing product diversity and decreasing product life cycles, also in the automotive industry lead to fast changing production systems with a high ratio of mechatronic components and (control) software. That again leads to ever increasing use of Virtual Commissioning during the development process of automated manufacturing plants. Paired with the still increasing request towards better control program quality, this leads to the need of improved and more efficient virtual plants with more effortless set ups. The common techniques of simulating the plant within the Virtual Commissioning do no longer fulfil these needs, new approaches have to be developed. At the same time, requests towards higher efficiency and higher test coverage during Virtual Commissioning are rising, which leads to the need of developments of easier testing processes. The presented work is concerned with this further developments, especially the test methodology for virtual commissioning based on appropriate behaviour simulation of automated production systems within the automotive industry. Therefore the state of the art is analysed and existing spheres of activity are identified. Afterwards, new approach and solutions for this fields, namely the appropriate behaviour simulation as well as the automatization of testing, are elaborated. An extensive example implementation evaluates the presented results regarding feasibility and eligible performance. Thus, the elaborated outstanding improvements of Virtual Commissioning are not only presented but the corresponding proof of concept is also adduced.

25 citations

Proceedings ArticleDOI
01 Sep 2017
TL;DR: This paper contributes to a better synthesis and analysis of manufacturing lines by integrating the simulation of manufacturing systems with the tool Siemens Plant Simulation and their engineering with Schmid P'X5 Configurator for Montratec.
Abstract: Emerging manufacturing systems are becoming complex while their engineering and ramp-up phases have to be as short as possible in order to decrease the reaction time to new market demands as well as to minimize production line down-times causing financial losses. Since engineering knowledge is not shared satisfactorily, virtual commissioning of industrial plants is very complicated. This paper contributes to a better synthesis and analysis of manufacturing lines by integrating the simulation of manufacturing systems with the tool Siemens Plant Simulation and their engineering with Schmid P'X5 Configurator for Montratec. The proposed approach is based on the model-based techniques and it is demonstrated on a laboratory-scaled use-case showing its efficiency.

7 citations