Smart Manufacturing Frameworks

Narendrakrishnan Neythalath

Research output: Book/ReportPh.D. thesis

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Abstract

The construction industry has been plagued by low productivity for quite sometime now. Automation is considered as a viable way forward to improve the situation. The industry has not witnessed proliferation of robotic technologies as seen in other fields like manufacturing due to high levels of project specificity, smaller lot sizes for production and need for customization, thus causing the sector to remain vastly under-served. In this work, we focus on developing a software framework (Sculptor), which will help the industry to rapidly design, prototype, develop, and test robotic applications. An application is said to be understood as a cyber-physical system which contains one or more robotic manipulators equipped with necessary endeffectors and a tablet based interface to help a novice user to easily program the system. Architects find it convenient to express such robotic processes using parametric (data flow) models. These models come with some known drawbacks related to stability, maintainability, latency and re-usability. After having developed Sculptor, we are trying to address some of the above stated problems by applying methods like software design patterns. Further, the framework was used to develop multiple commercial applications to evaluate its effectiveness.
Original languageEnglish
PublisherTechnical University of Denmark
Number of pages132
Publication statusPublished - 2021

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