Confrence ISA France SEE

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On the way to communicating machine-tools
Jean Vareille Laboratoire dInformatique 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
ISAThe Instrumentation, Systems, and Automation
Society
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• Laboratoire dInformatique de Brest EA2215
  Equipe Langages et Interfaces pour Machines
  Intelligentes (LIMI)
• Université de Bretagne Occidentale (UBO) UFR
  Sciences et Techniques20 avenue Le Gorgeu29200
  BREST
• Jean Vareille, Lionel Marcé, Philippe Le Parc,
  Pascal Ogorhttp//doelan-gw.univ-brest.fr8080/
• ltfirst-name.name_at_univ-brest.frgt

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Plan of the presentation

• Introduction to the  "Téléproductique" project
• Proposed Software Architecture
• Methodological aspects
• Samples of driven machines
• Future enhancements
• Conclusion

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The Téléproductique project

• Goals and motivation Internet is everywhere
  gt new way of working Being able to control a
  system on Internet.

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The Téléproductique project

• We have to design a new software architecture
• to take into account the QoS
• we use a new method of development.

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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.fr8080/teleproductiqu
  e/teleprod.html
• Océanopolishttp//www.oceanopolis.com/
• IRVI Progénérishttp//www.irvi-soft.com/
• FHOOWhttp//www.et-inf.fho-emden.de/Angebot/Medie
  ntechnik.html

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Proposed Software Architecture

Local Server
Client
HTTP Server
Web Navigator
Video Applet
Video Capture
SaturneServer JAVA
Saturne Control Applet
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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.

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The architecture of the Saturne server

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SATURNE
I N T E R N E T
User management algorithm
Far Control Unit
Local Control Unit
10 / 21 ISAThe Instrumentation, Systems, and
Automation Society
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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

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From Gemma to Gemma Q

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

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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 gt stop procedure
• Q5 extremely bad quality gt emergency stop
• Qz no user/controller

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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

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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.

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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

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Industrial machines

• The light 3-axis milling machine for rapid
  prototyping
• The five-axis articulated-arm robot

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Other types of machines

• Motorised cameras orientation and zoom
• One small liftcontrolled by automaton or a PC
• One miniature mobile robot Khepera

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Demonstrations

• The light 3-axis milling machine for rapid
  prototyping http//pclimi2.univ-brest.fr/v2001/W
  elcome.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/oceano
  polis/camera.html

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Future  developments

• Metadescriptions of machines and systems,
• model checking, properties verification,
  validation,
• real experiments, practice works.

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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.