Rafael Lírio Arrais

Abstract
Motivated by the Fourth Industrial Revolution, there is an ever-increasing need to integrated Cyber-Physical Systems in industrial production environments. To address the demand for flexible robotics in contemporary industrial environments and the necessity to integrate robots and automation equipment in an efficient manner, an effective, bidirectional, reliable and structured data interchange mechanism is required. As an answer to these requirements, this article presents ROBIN, an open-source middleware for achieving interoperability between the Robot Operating System and CODESYS, a softPLC that can run on embedded devices and that supports a variety of fieldbuses and industrial network protocols. The referred middleware was successfully applied and tested in various industrial applications such as battery management systems, motion, robotic manipulator and safety hardware control, and horizontal integration between a mobile manipulator and a conveyor system.

Abstract

Abstract
FASTEN is an H2020 project under a bilateral call UE-Brazil. Embraer is a global aerospace company, with manufacturing and assembly lines in Europe, Brazil and USA. FASTEN aims to advance IoT and IoT enabled applications to support Industry 4.0 concepts, namely in the area of automation and additive manufacturing. The project results will be demonstrated through two pilots: one in Brazil, lead by a ThyssenKrupp use case, and the other in Europe, at Embraer facilities in Portugal. The project results for the Embraer use case will be presented, with emphasis on bilateral collaboration gains provided by exploiting common frameworks for development and open architecture, and future opportunities for exploitation discussed.

Abstract
To support the full adoption of Cyber-Physical Systems (CPS) in modern production lines, effective solutions need to be extended to the technological domains of robotics and industrial automation. This paper addresses the description, application and results of usage of the Open Scalable Production System (OSPS) and its underlying skill-based robot programming ideology to support machine tending of additive manufacturing operations by a mobile manipulator. © 2019, Springer Nature Switzerland AG.

Abstract
This paper proposes a logistic planner with supplementary 3D spatial representations to enhance and interact with traditional logistic systems on the context of mobile manipulators performing internal logistics operations. By defining a hierarchical structure, the logistic world model, as the central entity synchronized between multiple system components, the reliability and accuracy of the logistic system is strengthened. The proposed approach aims at implementing a robust and intuitive solution for the set-up of mobile manipulator based logistic systems. The logistic planner includes a web based interface for fast setup of the warehouse layout based on robot sensing, as well as the definition of missions for the fleet of robotic systems. © Springer International Publishing AG 2018.