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Planning of a Robot Integrated Manufacturing Process
Published in Ulrich Rembold, Robot Technology and Applications, 2020
High level programming languages provided with user-defined data types, control structures, subprogram techniques, and other features are advantageous for complex applications. SRL (Structured Robot Language) is a Pascal-like language for programming of robots developed at the University of Karlsruhe [19]. SRL-written programs are translated by the SRL compiler to the standardized IRDATA code [20]. SRL programs may be executed by a translation into IRDATA statements of the internal command language of the simulation system. Along with the interactive method, the user is provided with a second alternative for program verification. Thus two powerful programming methods (combination of interactive teaching of frames and action sequences in SRL) are at the disposal of the user.
Software for automation
Published in Benny Raphael, Construction and Building Automation, 2023
Building automation software controls systems such as lighting, air conditioning, safety, and security. The goal is to achieve optimal performance in terms of energy, occupant comfort, productivity, usability, etc. The control task involves reading environmental and other parameters and then deciding on the control actions based on application logic. The application logic is coded into programs that are executed on the controller. The program might be complex involving thousands of lines of code or in simple cases, a few statements such as the following: IF the value of Light Sensor 1 is greater than 500, THEN set Light 1 to OFFIF the value of Occupancy Sensor 2 is ON THEN set Light 2 to ON Most engineers are familiar with programming on a personal computer. A computer program is usually written in a high-level programming language which is then compiled to generate machine code that can be executed by the processor of the computer. The compiler generates instructions that the processor can understand. A program written to run on a controller should also be converted into machine instructions that the controller can execute. The exact procedure for compiling and uploading code into the controller depends on the development environment. Arduino integrated development environment includes a C++ compiler, which generates the machine code for the ATMEGA processor used in Arduino controllers. This code is uploaded into the flash memory of the controller using a USB cable. This code is loaded by the controller at the time of booting (powering up). Raspberry Pi Pico has a similar way of uploading the compiled code into its flash memory using USB cables. However, the common procedure is to upload a Python interpreter, which is automatically started when the controller boots. Then user programs can be written in Python and executed by the Python interpreter.
Hiding task-oriented programming complexity: an industrial case study
Published in International Journal of Computer Integrated Manufacturing, 2023
Enrico Villagrossi, Michele Delledonne, Marco Faroni, Manuel Beschi, Nicola Pedrocchi
The UR10e TP is a highly intuitive programming interface based on a touch screen device without physical buttons (apart from the on/off and the emergency buttons); Figure 3 shows the UR10e TP. The TP enables the robot movements in jogging mode, the access to robot configurations and parameters, and the robot programming through a robot-oriented high-level programming language. A new robot program requires a sequence of move instructions by teaching the starting and the ending robot configuration to be interpolated. The teaching of robot position can be done by lead-through programming by moving the robot with the so-called manual guidance mode. The programmer must add intermediate robot configurations (via-points) to guarantee collision-free trajectories. The TP interface (TPI) provides specific functions to manage the gripper activation.
A novel service level agreement model using blockchain and smart contract for cloud manufacturing in industry 4.0
Published in Enterprise Information Systems, 2022
Wenan Tan, Hai Zhu, Jinjing Tan, Yao Zhao, Li Da Xu, Kai Guo
A smart contract is a programme written in a high-level programming language that a computer can understand. A smart contract can automatically execute when certain conditions are met, and it generally manages its internal state through a state machine model. Smart contract based on Blockchain technology has the following characteristics: Intermediate and results generated by the smart contract cannot be tampered with. All operations on the data are recorded in Blockchain so that Blockchain system can realise the audit function. Smart contracts based on Blockchain Technology are more resistant to aggression than centralised methods, and the behaviours of malicious participants can be permanently recorded in Blockchain.Any participant does not control the execution of the smart contract, and no one can terminate or change the execution process of the contract. The entire storage and execution process of the smart contract is recorded in Blockchain to prevent tampering, reduce the execution cost, and improve the execution efficiency.
Wave breaking for periodic solutions of a nonlinear shallow water equation
Published in Applicable Analysis, 2022
Biswajit Basu, Susanna V. Haziot, Andrea Staino
The ODEs are numerically solved using the variable-order, variable/multi-step ‘CVODE’ algorithm from the Assimulo suite. Assimulo is a simulation package for solving ordinary differential equations. It is written in the high-level programming language Python and combines a variety of different solvers written in FORTRAN, C and even Python [8]. For the case under consideration, the numerical simulation is carried out with the following conditions: Initial profile N = 500, h = 0.002, simulation time s.Boundary conditions are periodic.