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DEVELOPMENT OF MULTI-MACHINE REMOTE CONTROL PLATFORM

DEVELOPMENT OF MULTI-MACHINE REMOTE CONTROL PLATFORM. Jari Saarinen 1 , Mika Hyvönen 2 , Jussi Suomela 1 Jani Vilenius 2 , Aarne Halme 1 , Kalevi Huhtala 2 Finnish Center of Excellence in Generic Intelligent Machines Research (GIM)

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DEVELOPMENT OF MULTI-MACHINE REMOTE CONTROL PLATFORM

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  1. DEVELOPMENT OF MULTI-MACHINE REMOTE CONTROL PLATFORM Jari Saarinen1, Mika Hyvönen2, Jussi Suomela1 Jani Vilenius2, Aarne Halme1, Kalevi Huhtala2 Finnish Center of Excellence in Generic Intelligent Machines Research (GIM) Helsinki University of Technology Tampere University of technology Automation Technology laboratory Institute of Hydraulics and Automation Jari Saarinen

  2. Jari Saarinen Introduction • The paper presents initial results of a project called Integrator (Finnish national project funded by Tekes). • Project is part of the GIM • The goal is to set up a mutual testbed for two laboratories (TKK/ATL and TUT/IHA)

  3. Jari Saarinen Overview • Teleoperation over internet • Worksite is test hall in Tampere • Real work machines • Multiple control stations • Use of virtual models

  4. Jari Saarinen Network topology • Physical distance approx. 200km • Universities behind firewalls • Work site and machines are connected to the system with WLAN

  5. Jari Saarinen Machines • Standard Avant Tecno small tractors • Modified for computer control: • Control CPU (Axiomatic) • I/O Modules, CAN • Proportional valves • Extra On-board CPU for automation, extra sensors and WLAN • All components are automotive qualified -> Real computer work machine

  6. Jari Saarinen Simulator • Hardware-in-the-loop (HIL) • Dynamic simulation of • Hydraulics • Ground interaction • 3D-model of the environment • Provides valuable information in development and testing of the system

  7. Jari Saarinen Software - GIMnet • Hybrid architecture for distributed “RT”-control • a VPN-type of solution allows bypassing of firewalls, while allowing p2p • Network layer – tcpHub • Session/application layer NIF and GIMI • Designed for easy usage and deployment!

  8. Jari Saarinen Software features • Distributed name and ID service (tcpHub) • Unicast, multicast, broadcast (tcpHub + GIMI) • Synchronized and unsynchronized data transmission • Automatic hub-to-hub and client-to-hub reconnect • Service registration, subscription and listing • Application level ping

  9. Jari Saarinen Applications - I • Direct teleoperation

  10. Jari Saarinen Applications - II • ASRobo • GIMnet based generic robot control architecture

  11. Jari Saarinen Conclusions and future work • Introduction to functional components of the system • The results are showing that the developed system is capable for real-time control and is successfully deployed • Future work includes, automation functions for work machines, extra sensors for machines, actual multi-machine teleoperation demonstration, continuous development of the demonstrator as the GIM produces results

  12. Jari Saarinen

  13. Jari Saarinen

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