On the way to communicating machine-tools

1. On the way to communicating machine-tools Jean Vareille Laboratoire d’Informatique 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 ISA–The Instrumentation, Systems, and Automation Society

2. Laboratoire d’Informatique 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.fr:8080/ <first-name.name@univ-brest.fr>

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

4. The “Téléproductique” project • Goals and motivation Internet is everywhere => new way of working Being able to control a system on Internet.

5. The “Téléproductique” project • We have to design a new software architecture • to take into account the QoS • we use a new method of development.

6. 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” Bretagnehttp://doelan-gw.univ-brest.fr:8080/teleproductique/teleprod.html • Océanopolishttp://www.oceanopolis.com/ • IRVI Progénérishttp://www.irvi-soft.com/ • FHOOWhttp://www.et-inf.fho-emden.de/Angebot/Medientechnik.html

7. Internet Proposed Software Architecture Client Local Server HTTP Server Web Navigator Video Applet Video Capture SaturneServer JAVA Saturne Control Applet

8. 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.

9. Physical devices Local Control Unit Remote Control Unit Groom Cmd TI Cmd TI Cmd TI LC Sender RC Receiver Local Client Manager Remote Client Manager LC Receiver RC Sender User management algorithm Pinger Ponger Pinger Internet Tool Interface Tool Interface Device manager Connection manager Tool Interface The architecture of the Saturne server

10. Groom Cmd TI Cmd TI Cmd TI LC Sender RC Receiver Local Client Manager Remote Client Manager LC Receiver RC Sender Tool Interface Pinger Ponger Tool Interface Device manager Connection manager Tool Interface SATURNE I N T E R N E T User management algorithm Local Control Unit Far Control Unit 10 / 21 ISA–The Instrumentation, Systems, and Automation Society

11. 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

12. Test Stop procedures Working procedures Start Initial state Done Test State Status OK Stop Normal state Emergency Stop Emergency state Emergency procedures From Gemma to Gemma Q • The cells of the standard Gemma are shared in areas correlated to the quality of the communication

13. 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 => stop procedure • Q5 : extremely bad quality => emergency stop • Qz : no user/controller

14. 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

15. 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.

16. 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

17. Industrial machines • The light 3-axis milling machine for rapid prototyping • The five-axis articulated-arm robot

18. Other types of machines • Motorised cameras orientation and zoom • One small liftcontrolled by automaton or a PC • One miniature mobile robot Khepera

19. Demonstrations • The light 3-axis milling machine for rapid prototyping http://pclimi2.univ-brest.fr/v2001/Welcome.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 museumhttp://193.251.94.32/oceanopolis/camera.html

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

21. 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.