1. Toward optimal robot machining considering the workpiece surface geometry in a task-oriented approachAleš Hace, 2024, original scientific article Abstract: Robot workpiece machining is interesting in industry as it offers some advantages, such as higher flexibility in comparison with the conventional approach based on CNC technology. However, in recent years, we have been facing a strong progressive shift to custom-based manufacturing and low-volume/high-mix production, which require a novel approach to automation via the employment of collaborative robotics. However, collaborative robots feature only limited motion capability to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the workpiece surface constraint in the robot kinematic analysis, which enables an evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot’s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.periments.
Keywords: robotics, automation, robot machining, workpiece surface polishing, collaborative robot, manipulability, complex surface geometry, motion planning
Published in DKUM: 25.11.2024; Views: 0; Downloads: 0 |
2. ROBOTIC PROCESS AUTOMATION (RPA) IN AUDITINGFilip Tashkovski, 2024, undergraduate thesis Abstract: Auditing, as a form of control (for example over financial management or compliance), has traditionally relied on manual processes that are time-consuming, labor-intensive and prone to human error. With the advent of robotic process automation (RPA), there has been a paradigm shift from manual to automated processes in audit processes as well. Automation dates back to the 1990s, which led to the creation of robotic process automation (RPA) tools. Today we are approaching or we are in the fourth industrial revolution, the era of universal automation. RPA refers to the use of software robots (or "bots") to automate repetitive rule-based activities previously performed by humans. As companies try to keep up with rapid technological improvements, incorporating RPA into audit processes provides a number of benefits that can radically change auditing. RPA has emerged as a transformative technology in auditing, changing established approaches with its ability to improve productivity, accuracy and compliance. One of the most significant benefits of RPA in auditing is its ability to increase efficiency. Traditional audit procedures can sometimes be time-consuming and labor-intensive, as auditors must manually collect and evaluate data from multiple sources. RPA accelerates these activities by automating common tasks such as data entry, coordination and report generation. For example, an RPA robot can be trained to collect financial data from multiple sources (eg from multiple companies) and verify its accuracy using established criteria. This not only reduces the time required to perform audits, but also eliminates the possibility of human error. In addition to efficiency, there is another key advantage: accuracy. RPA enables auditors to take proactive measures to reduce risk, thereby protecting the financial integrity and reputation of the organization. By automating mundane and repetitive activities, RPA allows auditors to focus on more strategic activities that deliver value to the business. Auditors (in the broadest sense) can spend more time evaluating data models, finding areas for improvement, and making strategic suggestions to management. The aim of this bachelor's degree thesis is to explore and demonstrate the application of RPA in audit procedures, highlighting its benefits such as increased productivity, improved quality of rapid processing of large databases, improved risk management, and cost savings. The thesis also discusses the challenges and considerations related to the implementation of RPA in audit practices. The history of RPA is detailed, revealing its use by different industries and their goals. The thesis defines all types of RPA tools and their advantages and weaknesses. It also distinguishes between artificial intelligence (AI) and RPA, as it can confuse the activities of RPA tools with AI.
Keywords: robotic process automation, RPA, monitoring, analytics, security, productivity, auditing, audit process.
Published in DKUM: 09.09.2024; Views: 25; Downloads: 39
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3. Measurement device for testing printed circuit board assemblies coming off the production lineNejc Friškovec, Manja Obreza, Sebastijan Seme, Klemen Sredenšek, 2022, original scientific article Abstract: The paper presents an efficient way to evaluate and determine the quality of an assembled printed circuit board coming off the production line. A printed circuit board assembly consists of electronic devices soldered to the printed circuit board, which provides the electrical connections. After assembling the printed circuit board, a function test needs to be performed to guarantee the quality of the product. Usually, the assembly lines are equipped with cameras that detect inaccuracies such as missing components. This level of quality assurance is sometimes not enough, and we need to add another degree of precaution. In addition to camera inspections, electronic measurements must be conducted. The process needs to be automated to provide repeatability and speed. The paper evaluates such a device and presents its advantages, disadvantages, and complexity. The device includes an electrical part that performs the measurements, a mechanical part that consists of a housing and a mounting nest, and a program that supervises the process.
Keywords: electrical measurement, printed circuit board, testing device, automation, intelligent measuring system
Published in DKUM: 30.10.2023; Views: 385; Downloads: 37
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4. Vodenje asinhronskega stroja s pretvornikom Siemens SINAMICS G120 : diplomsko deloŽiga Romih, 2023, undergraduate thesis Abstract: V diplomskem delu je predstavljeno vodenje asinhronskega stroja s pretvornikom Siemens SINAMICS G120. Najprej sta predstavljeni uporabljena strojna in programska oprema, s pomočjo katerih smo izvedli eksperimentalno analizo. Podrobneje je predstavljen del programskega okolja Siemens Totally Integrated Automation Portal (TIA Portal), ki uporabnikom omogoča nastavljanje pogonskega sklopa. V okviru okolja TIA Portal so predstavljeni postopki za izvedbo vodenja z metodo U/f in za izvedbo vektorskega vodenja, pri čemer je poudarek na avtomatizirani nastavitvi parametrov pretvornika. Predstavljeni rezultati eksperimentalne analize zajemajo primerjavo med odzivi pogonskega sklopa v primeru različnih načinov vodenja, ki jih pretvornik omogoča. Na koncu so podani še napotki za ročno prilagoditev parametrov regulatorja hitrosti za doseganje želene dinamike pogona v primeru vektorskega vodenja.
Keywords: Asinhronski stroj, Siemens Totally Integrated Automation Portal, SINAMICS G120, vektorsko vodenje, vodenje U/f.
Published in DKUM: 13.10.2023; Views: 382; Downloads: 85
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5. Planning and construction of the lifting and towing device of the autonomous mobile robot MiR 100 for the delivery of transport trolleys in intralogisticsTone Lerher, Aleš Belšak, Rok Skerbiš, Jure Tumpej, Žiga Volavšek, Domen Stamenov, Marko Motaln, 2022, published scientific conference contribution Abstract: Intralogistics is a very important area in warehousing and production for managing the flow of materials and informational flow. In recent years, automation and especially robotisation have had a major impact on throughput performance in intralogistics. Especially important is the transport of materials and products based on automated guided vehicles (AGVs) and autonomous mobile robots (AMRs) with different top modules,
such as the lifting and towing device.
In this paper, planning and construction of the lifting and towing device of the autonomous mobile robot MiR 100 for the delivery of transport trolleys in intralogistics is presented. Using the engineering design methods, a new design of the lifting and towing device has been proposed and evaluated.
Keywords: intralogistics, material handling systems, automation and robotisation, planning and construction, lifting and towing mechanism, simulation and animation
Published in DKUM: 15.03.2023; Views: 679; Downloads: 82
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7. The Internet of Things Communication Protocol for Devices with Low Memory FootprintSašo Vinkovič, Milan Ojsteršek, original scientific article Abstract: This paper describes a new communication protocol named XMC which is designed for the transmission of messages between an embedded device and a remote system. A new markup language called XMDD has also been developed and is used to describe the functional profile of the embedded device. The main advantage of the XMC communication protocol is its flexibility and independence from the device type. It is suitable for communication with devices that have a curtailed amount of working memory (a few kB) and limited computing power, i.e. 8-bit or 16-bit microcontrollers. Messaging between the embedded device and the remote systems is done without any interference with the basic source code of the embedded device, thus allowing access to all functionalities and features of the connectable embedded device and is based on the functionality dictionary and built-in features of an embedded device. It also maintains a low production price for the embedded device and from the programming point of view provides a transparent and flexible upgrade of the hardware and software without any redundancy input.
Keywords: communication protocol, internet of things, home automation, functional profile, smart appliance, code generation, embedded system, framework
Published in DKUM: 21.12.2014; Views: 2653; Downloads: 117
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8. OPC-driven data exchange between MATLAB and PLC-controlled systemStojan Peršin, Boris Tovornik, Nenad Muškinja, 2003, original scientific article Abstract: Many manufacturing, and mechatronics systems, are controlled by PLCs and SCADAsystems. These systems provide very limited possibilities for research, optimisation, testing and simulation. The main advantage of this proposed solution, which uses OPC, is an integration of the numerical, computational and graphical strengths of MATLAB with the robustness of industrial systems. The experimental setup, the processing of the data and the results are presented with particular emphasis on student use in a laboratory environment but the techniques employed in the experiments will likely to be seen by the students in their subsequent employment after completion of their college careers.
Keywords: mechatronics, industrial automation, industrial systems, MATLAB, SCADA systems, process control
Published in DKUM: 01.06.2012; Views: 1947; Downloads: 41
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9. Relational database as a cogitative part of an intelligent manufacturing systemIgor Drstvenšek, Mirko Ficko, Jože Balič, 2004, original scientific article Abstract: An intelligent manufacturing system is intended to produce one or more subjects that it is designed for in an optimal way. This means that it has to find a proper production process to produce the subject in an optimal way. The manufacturing system can be called "intelligent" when it is able to find applicable optimisation criteria upon its past experiences thus improving its performance in future. Therefore, an intelligent manufacturing system needs capabilities to store data and make decisions upon them. Such a "brain" can be established by a proper design of a technological database and its database management system (DBMS). Examining all constitutive parameters of a work operation a model of a production process organization can be made, which can serve as a basis for a suitable database design. In addition, an application programme that will check the existence and availability of work operations in the database has to be added to the DBMS. What remains are some optimisation criteria upon which we will choose an operation among suitable and available work operations. This task is fulfilled by a genetic algorithm optimisation technique that would consider work operations' data as parameters of optimisation and on this basis search the optimal one out of the set of available operation.
Keywords: production processes, optimisation, relational database, database management systems, production automation, manufacturing system
Published in DKUM: 01.06.2012; Views: 2034; Downloads: 135
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10. A model of data flow in lower CIM levelsIgor Drstvenšek, Ivo Pahole, Jože Balič, 2004, original scientific article Abstract: After years of work in fields of computer-integrated manufacturing (CIM), flexible manufacturing systems (FMS), and evolutionary optimisation techniques, several models of production automation were developed in our laboratories. The last model pools the discoveries that proved their effectiveness in the past models. It is based on the idea of five levels CIM hierarchy where the technological database (TDB) represents a backbone of the system. Further on the idea of work operation determination by an analyse of the production system is taken out of a model for FMS control system, and finally the approach to the optimisation of production is supported by the results of evolutionary based techniques such as genetic algorithms and genetic programming.
Keywords: computer integrated manufacturing, flexible manufacturing systems, evolutionary optimisation techniques, production automation, CIM hierarchy, technological databases, production optimisation, genetic algorithms, genetic programming
Published in DKUM: 01.06.2012; Views: 2248; Downloads: 106
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