on the way to communicating machine-tools

ISA–The Instrumentation, Systems, and Automation Society

Conférence ISA France / SEE

Nice – Hôtel Negresco 18-19 Mars 2002

On the way to communicating

machine-tools

Jean Vareille

Laboratoire d’Informatique de Brest EA2215 Equipe Langages et Interfaces pour Machines

Intelligentes (LIMI)

Club 18 Automatique et Automatisation Industrielle

2 / 21 ISA–The Instrumentation, Systems, and Automation Society

Laboratoire d’Informatique de Brest EA2215

Equipe Langages et Interfaces pour Machines Intelligentes (LIMI)

Université de Bretagne Occidentale (UBO) UFR Sciences et Techniques

20 avenue Le Gorgeu29200 BREST

Jean Vareille, Lionel Marcé, Philippe Le Parc, Pascal Ogor

http://doelan-gw.univ-brest.fr:8080/

<[email protected]>


Plan of the presentation

Introduction to the "Téléproductique" project

Proposed Software Architecture

Methodological aspects

Samples of driven machines

Future enhancements

Conclusion


The “Téléproductique” project

Goals and motivation

Internet is everywhere => new way of working

Being able to control a system on Internet.


We have to design a new software architecture

to take into account the QoS

we use a new method of development.

The “Téléproductique” project


Partners of the “Téléproductique” project

Groupe Systèmes de Communication Industriels &“Action Spécifique 01” CNRS http://www.rli.cran.u-nancy.fr/sci/sci.shtml

“Groupe Téléproductique” Bretagne http://doelan-gw.univ-brest.fr:8080/teleproductique/teleprod.html

Océanopolishttp://www.oceanopolis.com/

IRVI Progénérishttp://www.irvi-soft.com/

FHOOWhttp://www.et-inf.fho-emden.de/Angebot/Medientechnik.html


Proposed Software Architecture Local Server

HTTP Server

Video Capture

SaturneServer JAVA

Client

Web Navigator

Video Applet

Saturne Control Applet

Internet


The Software Architecture of the Saturne server

Saturne :- communication system between machine-tools and far users, whose use Internet,- Java object technology and the TCP-IP protocol.

All the signals collected through exteroceptive sensors are associated to Internet-stream. Appropriate protocols and codecs are employed.

A Pinger-Ponger system measures the transmission delay. We can have a feed-back on the process, when the delay increase dramatically.


The architecture of the Saturne server

Pinger

User management

algorithm

RC Receiver

RC Sender

Remote ClientManager

Cmd TI Cmd TI

Pinger Ponger

LC Sender

LC Receiver

Local ClientManager

Local Control Unit Remote Control Unit

Internet

Physicaldevices

Groom

Device manager

Connection manager

ToolInterface

ToolInterface

ToolInterface

Cmd TI

10 / 21 ISA–The Instrumentation, Systems, and Automation Society 10 / 21 ISA–The Instrumentation, Systems, and Automation Society

INTERNET

User management

algorithm

Pinger Ponger

Groom

Device manager

Connection manager

ToolInterface

ToolInterface

Cmd TI

Remote ClientManager

RC Receiver

RC Sender

Cmd TI

SATURNE

ToolInterface

Cmd TI

Far Control UnitLocal Control Unit

LC Receiver

LC SenderLocal ClientManager


Methodology : Gemma Q = a new

Gemma

Stop and go procedures guide (Gemma = Guide d'Etudes et Modes de Marche et d'Arrêt)has to be modified to take into account the quality of service of the net.

We have designed a new form, the Gemma Q


From Gemma to Gemma Q

The cells of the standard Gemma are shared in areas correlated to the quality of the communication

Emergency procedures

Working proceduresStop procedures

Emergency Stop

Start

Stop

Test

Done

Status OK

Initial state

Normal state

Emergency state

TestState


The QoS in the Gemma Q

Q1 : good quality

Q2 : rather good quality without lost of control

Q3 : rather good quality with lost of the control

Q4 : bad quality => stop procedure

Q5 : extremely bad quality => emergency

stop

Qz : no user/controller


The Gemma Q

Each cell is shared in areas in corresponding to

the quality

defined by the user or by the ability of the machine

Good Quality Rather good quality

Medium Quality

Stop oremergency

states


The Gemma Q

New links are added to take into account the fluctuations of the QoS.

The states of the Gemma Q are instantiated during the development.


Applications on different types of machines

one light 3-axis milling machine for rapid prototyping

one five-axis articulated-arm robot

one small lift

one miniature mobile robot Khepera

motorised cameras in orientation and zoom


Industrial machines

The light 3-axis milling machine for rapid prototyping

The five-axis articulated-arm robot


Other types of machines Motorised cameras

orientation and zoom

One small liftcontrolled by automaton or a PC

One miniature mobile robot Khepera


Demonstrations

The light 3-axis milling machine for rapid prototyping http://pclimi2.univ-brest.fr/v2001/Welcome.html

the five-axis articulated-arm robot http://pclimi4.univ-brest.fr/v2001/Welcome.html

motorised cameras in orientation and zoom in the lab LIMIhttp://similimi.univ-brest.fr/camera.html

Océanopolis museum http://193.251.94.32/oceanopolis/camera.html


Future developments :

Metadescriptions of machines and systems,

model checking, properties verification, validation,

real experiments, practice works.


Conclusion and prospective :

The future numerical controls of machine-tools will be connected with IP-networks and certainly will integrate servers like WEB servers.

They will be adapted to remote control, but they will have to take into account the quality of communication in the control algorithm.

on the way to communicating machine-tools

Documents