Tasks

Goals

Motti studies a fleet of machines and humans operating in a single worksite from a system point of view. The goal is to develop a generic machine interface(s) that enables the fleet to operate together regardless of its heterogeneous structure. In order to succeed in this the machines should operate using variety levels of abstraction, including communication, hardware abstraction and fleet abstraction.

T1 Literature review and requirement analysis

The task includes state-of-the-art and requirement analysis for both multi machine control architectures and communication models. Both, the state-of-the art and the requirement analysis are based on literature review and to the interviews with Finnish machine manufacturers.

T2 Communication Model for multi-entity system

Any multi-entity system requires distributed communication mechanisms. Our agenda is to develop principles that allow the development of "Open Machine". Open Machine is concept that is taken from distributed computing referring to an open system. An open system offers its services through a standard rules that describe the syntax and semantics of the services. The services are often described using interfaces, that capture the syntax of the services (specify the names of the functions that the service provides).

In Motti, the Open Machine is based on previous work done on the GIMnet. This work is carried on in development of Machine Control Interface MaCI, which supports the component based programming and defines a certain level of hardware abstraction for a robotic system. The aim is that any machine using the interface provides the the access to its services in a coherent way, providing the possibility for creating generic system level components.

The next step in development is definition of "fleetware" based on the Open Macine. The fleetware is understood as a set of functions that supports the task management, monitoring and execution within the fleet.

T3 Task management and execution in multi-entity system

An essential part of the machine–system interface is the task management and execution system. The task management system receives tasks, which are distributed to different actors in the system. MOTTI deals with heterogeneous system that consists of machines with varying level of automation as well as humans. The tasks may come from upper level systems (ERP) or from worksite control station or from humans operating in the worksite. Additionally, user intervention may interrupt the task execution of a single machine (or even fleet). This task studies the possibilities of task management in multi-entity system.

T4 Reference Architecture design for multi-machine system

The task defines the control architecture, its functional blocks and interfaces between the blocks. Architecture includes the machines/human entities, different types of operative groups and generic system components such as HMIs, task/mission control systems and ERP type of upper level systems. The task integrates the results from T1, T2 and T3. The reference architecture options are tested in simulator and with robots in laboratory conditions. Reference architecture will be implemented in the proof of concept demonstration (see following task).

T5 Proof-of-concept demonstration

The functional proof-of-concept demonstration is organized to verify the research and demonstrate the results. The final demonstration shows the integrated system in an AGV-type of machines and environment.