Transcript VERS LES MACHINES DE PRODUCTION COMMUNICANTES

On the way to
communicating
machine-tools
Jean Vareille
Laboratoire d’Informatique de Brest EA2215
Equipe Langages et Interfaces pour Machines
Intelligentes (LIMI)
Conférence ISA France / SEE
Nice – Hôtel Negresco 18-19 Mars 2002
Club 18 Automatique et Automatisation Industrielle
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 Gorgeu
29200 BREST
Jean Vareille, Lionel Marcé, Philippe Le Parc,
Pascal Ogor
http://doelan-gw.univ-brest.fr:8080/
<[email protected]>
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ISA–The Instrumentation, Systems, and Automation Society
Plan of the presentation
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Introduction to the "Téléproductique" project
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Proposed Software Architecture
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Methodological aspects
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Samples of driven machines
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Future enhancements
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Conclusion
ISA–The Instrumentation, Systems, and Automation Society
The “Téléproductique” project
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Goals and motivation
Internet is everywhere => new way of working
Being able to control a system on Internet.
ISA–The Instrumentation, Systems, and Automation Society
The “Téléproductique” project
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We have to design a new software architecture
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to take into account the QoS
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we use a new method of development.
ISA–The Instrumentation, Systems, and Automation Society
Partners of the
“Téléproductique” project
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Groupe Systèmes de Communication Industriels &
“Action Spécifique 01” CNRS
http://www.rli.cran.u-nancy.fr/sci/sci.shtml
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“Groupe Téléproductique” Bretagne
http://doelan-gw.univ-brest.fr:8080/teleproductique/teleprod.html
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Océanopolis
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IRVI Progénéris
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FHOOW
http://www.oceanopolis.com/
http://www.irvi-soft.com/
http://www.et-inf.fho-emden.de/Angebot/Medientechnik.html
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Proposed Software Architecture
Local Server
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Internet
Client
HTTP Server
Web Navigator
Video Capture
Video Applet
Saturne
Server JAVA
Saturne
Control Applet
ISA–The Instrumentation, Systems, and Automation Society
The Software Architecture of the
Saturne server
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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.
ISA–The Instrumentation, Systems, and Automation Society
The architecture of the
Saturne server
Physical
devices
Local Control Unit
Remote Control Unit
Groom
Local Client
Manager
Tool
Interface
Tool
Interface
Tool
Interface
Device
manager
LC Sender
RC Receiver
LC Receiver
RC Sender
Pinger
Pinger
Ponger
Cmd TI
Remote Client
Manager
Connection
manager
Internet
User
management
algorithm
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Cmd TI Cmd TI
ISA–The Instrumentation, Systems, and Automation Society
SATURNE
Groom
Local Client
Manager
Tool
Interface
Tool
Interface
Tool
Interface
LC Receiver
Pinger
Device
manager
Local Control Unit
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LC Sender
Connection
manager
User
management
algorithm
Cmd TI
I
N
T
E
R
N
E
T
RC Receiver
RC Sender
Cmd TI
Cmd TI
Remote Client
Manager
Ponger
Far Control Unit
ISA–The Instrumentation, Systems, and Automation Society
Methodology :
Gemma Q = a new Gemma
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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
ISA–The Instrumentation, Systems, and Automation Society
From Gemma to Gemma Q
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The cells of the standard Gemma are shared in areas
correlated to the quality of the communication
Stop procedures
Working procedures
Test
Initial state
Start
Done
Test
State
Status
OK
Stop
Emergency state
Normal state
Emergency Stop
Emergency procedures
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The QoS in the
Gemma Q
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Q1 : good quality
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Q2 : rather good quality without lost of control
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Q3 : rather good quality with lost of the control
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Q4 : bad quality => stop procedure
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Q5 : extremely bad quality => emergency stop
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Qz : no user/controller
ISA–The Instrumentation, Systems, and Automation Society
The Gemma Q
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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
Stop or
emergency
states
Medium Quality
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The Gemma Q
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New links are added to take into account the
fluctuations of the QoS.
The states of the Gemma Q are instantiated during
the development.
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Applications on different types
of machines
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one light 3-axis milling machine for rapid prototyping
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one five-axis articulated-arm robot
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one small lift
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one miniature mobile robot Khepera
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motorised cameras in orientation and zoom
ISA–The Instrumentation, Systems, and Automation Society
Industrial machines
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The light 3-axis milling machine for rapid prototyping
The five-axis
articulated-arm robot
ISA–The Instrumentation, Systems, and Automation Society
Other types of machines
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Motorised cameras
orientation and zoom
One small lift
controlled by automaton
or a PC
One miniature mobile robot
Khepera
ISA–The Instrumentation, Systems, and Automation Society
Demonstrations
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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 LIMI
http://similimi.univ-brest.fr/camera.html
Océanopolis museum
http://193.251.94.32/oceanopolis/camera.html
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ISA–The Instrumentation, Systems, and Automation Society
Future developments :
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Metadescriptions of machines and systems,
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model checking, properties verification, validation,
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real experiments, practice works.
ISA–The Instrumentation, Systems, and Automation Society
Conclusion and prospective :
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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.
ISA–The Instrumentation, Systems, and Automation Society