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SYSTEM DESIGN AND DEVELOPMENT FOR VISUAL PROGRAMMING OF ROBOT-IOT WORKFLOWS

thesis
posted on 12.10.2021, 12:22 by Pawan Sudhindra RaoPawan Sudhindra Rao

Autonomous Mobile Robots (AMR) and IoT (Internet of Things) devices have substantial potential to increase productivity in Small and Medium Enterprises (SME). However, factors such as high costs involved in setting up and maintaining AMR automation and deficit of programming expertise among factory workers render AMR automation uneconomical for SMEs.


Visual Programming can be used in the spatial context of the operating environment to enable closer mental models at the right level of abstraction for novice programmers. In this thesis, we develop a system for deploying a Spatially Situated Visual Language (SSVL) for programming robot-IoT workflows. To address the challenges of interoperability, scalability, and versatility of industrial machinery, we develop a novel communication protocol based on the Resource Description Framework (RDF). Our communication protocol forms the basis of a system architecture that integrates SSVL, IoT devices, and mobile robots that enables factory workers to program AMR workflows. We design, implement and validate the system and the architecture following the systems engineering approach. To evaluate the system developed in an industrial context, we deploy the system to author AMR workflows for material handling application for an SME painting factory.

History

Degree Type

Master of Science in Mechanical Engineering

Department

Mechanical Engineering

Campus location

West Lafayette

Advisor/Supervisor/Committee Chair

Dr. Karthik Ramani

Additional Committee Member 2

Dr. Raymond J. Cipra

Additional Committee Member 3

Dr. David Cappelleri