Siemens Aktiengesellschaft

Siemens Product Lifecycle Management Software Inc.

Siemens Corporation

Other

Siemens Technology-to-business Center, LLC

Richard Gary McDaniel

Daniel Conrad Benson

Zakiya Tamimi

Heiko Claussen

Juan L Aparicio Ojea

Chengtao Wen

Eugen Solowjow

Yunhua Fu

Steven Michael Schofield

Swen Elpelt

Frank Dittrich Schiller

Xiaowen Yu

Roland Schneider

Autonomous operations, such as robotic grasping and manipulation, in unknown or dynamic environments present various technical challenges. For example, three-dimensional (3D) reconstruction of a given object often focuses on the geometry of the object without considering how the 3D model of the object is used in solving or performing a robot operation task. As described herein, in accordance with various embodiments, models are generated of objects and/or physical environments based on tasks that autonomous machines perform with the objects or within the physical environments. Thus, in some cases, a given object or environment may be modeled differently depending on the task that is performed using the model. Further, portions of an object or environment may be modeled with varying resolutions depending on the task associated with the model.

Task-oriented 3D reconstruction for autonomous robotic operations

A computer-implemented method of engineering autonomous system with reusable skills includes displaying a graphical user interface simulating a physical environment. The graphical user interface depicts one or more simulated objects corresponding to one or more physical objects. Graphical markers are created on the simulated objects based on instructions provided by a user via the graphical user interface. The position and orientation of each graphical marker is determined with respect to the simulated objects. A skill function is created which comprises a functional description for using a controllable physical device to interact with the physical objects based on the position and orientation of each graphical marker. Executable code operable to perform the skill function is created and used to actuate the controllable physical device.

Engineering autonomous systems with reusable skills

An autonomous system used for a production process includes a device configured to manipulate workpieces according to production process tasks. A device controller generates world model of the autonomous system to include data objects representing respective physical objects in the production process, such as workspace, workpieces, and the device. Semantic markers attached to the data objects include information related to a skill to accomplish a task objective. Semantic markers may be activated or deactivated depending on whether the physical object is currently available for a task performance. The device is controlled to perform tasks guided by the semantic markers while relying on an anticipation function with reasoning operations based on types of physical objects, types of skills, and configuration of the data objects.

Object marking to support tasks by autonomous machines

According to other embodiments, a method planning of motions to lift heavy objects using a robot system comprising a robot and an end effector, includes identifying data comprising (a) rigid bodies included in the robot and the end effector, (b) joints connecting the rigid bodies, and (c) torque limits for each of the joints. The torque limit for a joint indicates a maximum supported torque by a drive operating the joint. A motion path searching algorithm is applied to the input data to identify feasible robot paths. The motion path searching algorithm determines torque of each of joint when evaluating points for inclusion in a feasible robot path. An evaluated point is only included in a feasible robot path if the torque of each of the joints do not exceed the torque limits. At least one of the feasible robot paths is transferred to a controller associated with the robot.

Simulation assisted planning of motions to lift heavy objects

A cyber-physical production system includes a plurality of cyber-physical units configured to collectively produce a product comprising one or more workpieces. Each cyber-physical units comprises one or more automation system devices, a network interface and a processor. The network interface is configured to receive one or more skill instances. Each skill instance provides a machine-independent request for transformation of a workpiece by the one or more automation system devices. The processor is configured to execute each of the one or more skill instances by applying behaviors that control the automation system devices.

Skill interface for industrial applications

A computer-implemented method of simulating automation applications based on input from a user includes a computer creating a system design in a three-dimensional workspace based on one or more instructions provided by the user. The system design comprises a sensor component representative of a physical sensor controlled by a physical controller, and one or more detectable components representative of objects detectable by the physical sensor. The computer assigns a tag value to each of the one or more detectable components and executes a simulation of the system design in response to a command from the user. The sensor component simulates detection of the one or more detectable components using the tag value assigned to each respective detectable component.

Programming automation sensor applications using simulation

A system for designing automation applications based on input from a user includes a library interface, a three-dimensional workspace, a simulation engine, and controller code generation unit. The library interface is configured to receive a user selection of a plurality of components from a library of components. The three-dimensional workspace is configured to display the components and create a system design in the three-dimensional workspace using the components based on one or more instructions provided by the user. The simulation engine is configured to generate simulation code based on the system design in the three-dimensional workspace and execute the simulation code in response to a command from the user. One or more of the components in the three-dimensional workspace may be animated during execution of the simulation code. The controller code generation unit is configured to identify one or more physical controllers corresponding to the components in the three-dimensional workspace and generate controller-executable code for those physical controllers based on the system design.

Programming automation in a 3D graphical editor with tightly coupled logic and physical simulation

Modeling is provided in three-dimensional simulation. Proxies are used as virtual rigid bodies to create () reusable part files. A custom physics object is defined () in the part file using the proxy to allow for control of object behavior, such as control of the rate of spinning of a spindle of a motor. By overriding () the part file with the proxy, links to up or owner part files may be made. Changes to physics properties in the different instances of proxies may be made without requiring or resulting in the same change to the other instances. The proxy acts as a virtual rigid body that may or may not move during simulation. The proxy body may be replaced with a rigid body from the assembly when both reference the same geometry object.

Rigid body proxy for modeling in three-dimensional simulation

A wildlife access fence or gate may include at least one pass-through section having a guard attached thereto. The pass-through section may be a jump-through section and a jump guard attached thereto that defines a jump height and jump span that selectively allows wildlife to leap over and/or through the fence while preventing cattle from crossing the fence. The fence or gate may include a crawl-through section and a crawl guard that selectively allows wildlife to crawl under and/or through the fence while preventing cattle from crossing the fence.

Wildlife access fence and gate devices, systems, and methods

A system, method, and computer readable medium. A method includes receiving a geometric object and corresponding physical object for a CAD model. The method includes executing function code in a behavior object to determine required references of the behavior object. The method includes receiving and storing an assignment of at least one of the required references of the behavior object to the physical object, and storing the geometric object, physical object, and behavior object in the data processing system as associated with the CAD model. The method includes simulating operation of at least part of the CAD model, including executing the behavior object to modify the state of the physical object.

System and method to embed behavior in a CAD-based physical simulation

Methods for model simulation and corresponding systems and computer-readable mediums. A method includes receiving a simulation model in the data processing system, the simulation model including at least one master joint connected to at least one slave joint by a coupling, the master joint having a rigid body master attachment and the slave joint having a rigid body slave attachment. The method includes identifying a master axis of the master attachment and a slave axis of the slave attachment. The method includes making a motor determination as to whether the master axis or the slave axis has a motor and making a cross-base determination. The method includes making a constraint determination of which bodies to constrain based on the motor determination and the cross-base determination, storing constraints according to the constraint determination, and executing the simulation model according to the constraint determination.

Simulation using coupling constraints

Systems, methods, and computer readable mediums. A method includes receiving a three dimensional model for a simulation that includes a first material portion that extends between first and second material handling elements. The method includes simulating motion of the first and second material handling elements and simulating an interaction between the first material portion and the first and second material handling elements. The method includes maintaining a constraint between the first and second material handling elements according to the first material portion, dynamically updating the model and displaying the simulation, and storing the model. A method for fluid simulation is also discussed.

Method and system for simulation of automated processes

A system for creating physical simulations using hand-sketched three-dimensional (3D) objects, including: a memory device for storing a program; a processor in communication with the memory device, the processor operative with the program to enable: 3D objects to be hand-sketched and assigned physical descriptions; and behavior of the physical descriptions to be simulated in a physics environment.

Sketching three-dimensional(3D) physical simulations

An overdraw method for editing a three-dimensional geometry includes receiving a three-dimensional geometry including a plurality of individual curves whose positions are defined by a plurality of control points, receiving a polyline overdrawn on the three-dimensional geometry, matching the polyline to the three-dimensional geometry to determine a portion of the three-dimensional geometry being modified, recognizing a shape feature of the polyline to determine a shape modification to apply to the three-dimensional geometry, shifting the three-dimensional geometry to determine a modified geometry by changing a position of at least one of the control points towards the polyline, and matching the modified geometry with at least one symmetry operator to determine whether the changed position satisfies a constraint and applying the constraint to the modified geometry to further modify the modified geometry.

Sketched overdrawn lines for editing spline-based three-dimensional curves

A system for controlling symmetry relationships in a three-dimensional (3-D) model is disclosed. The system includes a processor and a memory in communication with the processor. The memory is configured to store processor-executable instructions to identify a prototype object defined within the 3-D model, detect a symmetry object associated on the identified prototype object such that the symmetry object relates to the prototype object based on a differentiation function, quantify a plurality of model parameters associated with the symmetry object such that the plurality of model parameters defines the differentiation function, and couple the prototype object and the symmetry object based such that an update to one of the objects propagates to other object.

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Hightstown, NJ, United States of America

Richard Gary McDaniel