2. Médiation humaine pour l’accompagnement

IEEE Robotics & Automation Magazine, 2005

IEEE Journal on Selected Areas in Communications, 2020

Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Innovative Robotics for Real-World Applications. IROS '97, 1997

This paper presents a general methodology for the specification and the integration of functional modules in a distributed reactive robot architecture. The approach is based on a hybrid architecture basically composed of two levels: a lower distributed functional level controlled by a centralized decisional level. Due to this methodology, synchronous or asynchronous operating capabilities (servo-control, data processing, event monitoring) can

Journal of Intelligent Manufacturing

The flexibility claimed by the next generation production systems induces a deep modification of the behaviour and the core itself of the control systems. Over-connectivity and data management abilities targeted by Industry 4.0 paradigm enable the emergence of more flexible and reactive control systems, based on the cooperation of autonomous and connected entities in the decision-making process. From most relevant articles extracted from existing literature, a list of 10 key enablers for Industry 4.0 is first presented. During the last 20 years, the holonic paradigm has become a major paradigm of Intelligent Manufacturing Systems. After the presentation of the holonic paradigm and holon properties, this article highlights how historical and current holonic control architectures can partly fulfil I4.0 key enablers. The remaining unfulfilled key enablers are then the subject of an extensive discussion on the remaining research perspectives on holonic architectures needed to achieve a complete support of Industry4.0.

IOP Conference Series: Materials Science and Engineering

This paper describes the role and place of collaborative robotics of industrial automation in the context of rapid industrial development. Collaboration of humans and robots in close proximity in a single work space is a stimulating feature of Industry 4.0. Urgent research issues in the field of industrial robotics include problems of developing safer robots in human-machine interaction systems. Due to the close collaboration between humans and robots, many of the problems of industrial robotics are associated not only with technical issues, but also with social aspects. Optimization and automation of production through the introduction of robotic solutions is widely used. In future it will become the basis of all business processes.

IEEE Transactions on Industrial Informatics

… Robots and Systems, …, 2004

This paper presents the distributed robot control software architecture developed for the autonomous service robot Albert2. The development of this architecture is focused on two major issues: Modularity and the integration of learning aspects. Each module within the architecture is presented, as well as the underlying event-based communication framework. An approach for integration of learning capabilities is proposed.

2020 International Conference on Development and Application Systems (DAS), 2020

This paper introduces the concepts of an architecture for a distributed control system of an industrial production line. The system is based on a multi-agent system that controls the hardware components using a network of low-level controllers. The low-level controllers are programmed using the new standard IEC61499. This architecture will be tested on a preexisting demo production line.

2011

Robot software systems are (again) reaching levels of size and complexity that makes them difficult to construct, evolve, and maintain. One current issue is that systems are increasingly built to perform many different tasks in parallel, each of which must be coordinated and monitored to achieve a goal. If all components were to require different interfaces, system complexity would rapidly grow. General interfaces partially exist on the conceptual level, but their implementations are typically strongly linked to particular architectural proposals, thus reducing re-use and comparability. This paper presents an architecture-agnostic design pattern for the coordination-related component interaction. It results in a simple and clean component interface to invoke specific functionality, monitor task progress, and update the goals of running tasks. It provides an abstract coordination interface with high observability for the development of coordination and architecture. It thus provides ...