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Applications of Cognitive Robotics in Disassembly of Products Applications of Cognitive Robotics in Disassembly of Products By Supachai Vongbunyong B. Eng., M. Eng. A thesis in fulfilment of the requirements for the degree of Doctor of Philosophy School of Mechanical and Manufacturing Engineering The University of New South Wales July 2013 PLEASE TYPE THE UNIVERSITY OF NEW SOUTH WALES Thesis/Dissertation Sheet Surname or Family name Vongbunyong First name. Supachai Other name/s: - Abbreviation for degree as g1ven in the University calendar: PhD School· Mechamcal and Manufacturing Engmeering Faculty· Engmeenng Tille. Applications of cogmtlve robotics in disassembly of products Abstract 350 words maximum: (PLEASE TYPE) Disassembly automation has encountered difficulties in disassembly proces11 due to the variability in the planning and operation levels that result from uncertainties in quality-quantity of the products returned. Thus, the concept of cognitive robotics is Implemented to the vision-based and (semi-) destructive disassembly automation for end-of-life electronic products to handle this variability. The system consists of three operating modules, I.e. cognitive robotic module, vision system module, and disassembly operation module. First, the cognitive robotic module controls the system according to its behaviour influenced by four cognitive functions: reasoning, execution monitoring, learning, and revision. The cognitive robotic agent uses rule-based reasoning to schedule the actions according to the existing knowledge and sensed information from the physical world in regard to the disassembly state. Execution monitoring is used to determine accomplishment of the process. The significant Information of the current process is learned and will be Implemented in subsequent processes. Learning also occurs in the form of demonstration conducted by the expert user via the graphic user interface to overcome unresolved complex problem. The system is able to leam and revise the knowledge resulting In Increased disassembly performance as more processes are performed. Second, the vision system module performs recognition and localisation of the components using common features as detection rules. It also supplies other Information regarding the operations. Third, the disassembly operation unit module performs the cutting operations. The physical collision can also be detected and resolved by this module. Consequently, the integrated system Is flexible enough to successfully disassemble any models of given product type without specific process plans and parameters being supplied. LCD screens are used as a case-study product In this research. Declaration relating to disposition of project thesis/dissertation 1hereby grant to the University of New South Wales or its agents the right to archive and to make available my thesis or dissertation in whole or in part in the Umversity llbranes in all forms of media. now or here after known, subject to the provisions of the Copyright Act 1968. I retam all property nghts, such as patent nghts. I also retain the nght to use •n future works (such as articles or books) all or part of this thesis or dissertation I also authonse University Microfilms to use the 350 word abstract of my thesis in Dissertation Abstracts International (this is applicable to doctoral theses only) .. ..... ......... ;i.~ig~t~:r ·~·~ ·· · ······· ·· ··· .... /c.~S'C ....... ... ... ?. .~! 9}./.?.J.U .~ .............. Witness Dale The Un1verslty recognises that there may be exceptional circumstances requiring restrictions on copying or conditions on use. Requests for restriction for a period of up to 2 years must be made ln writing. Requests for a longer period of restriction may be considered in exceptional circumstances and require the approval of the Dean of Graduate Research. FOR OFFICE USE ONLY Date of completion of requirements for Award: THIS SHEET IS TO BE GLUED TO THE INSIDE FRONT COVER OF THE THESIS ORIGINALITY STATEMENT 'I hereby declare that this submission is my own work and to the best of my knowledge it contains no materials previously published or written by another person, or substantial propor1tions of material which have been accepted for the award of any other degree or diploma at UNSW or any other educational institution, except where due acknowledgement is made in the thesis. Any contribution made to the research by others, with whom I have worked at UNSW or elsewhere, is explicitly acknowledged in the thesis. I also declare that the intellectual content of thits thesis is the product of my own work, except to the extent that assistance from others in the project's design and conception or in style, presentation and linguistic expression is acknowledged.' Signed ..............f..~C!. .... ?/.tft':'.. ~~ .................. Date ............ ..... '?..~/.C?.:! /.~q_1.~ ...................... COPYRIGHT STATEMENT 'I hereby grant the Universi~t of New South Wales or its agents the right to archive and to make availabhe my thesis or dissertation in whole or part in the University libraries in all forms of media, now or here after known, subject to the provisions of the Copyright Act 1968. I retain all proprietary rights, such as patent rights. I also retain the right tc1 use in future works (such as articles or books) all or part of this thesis or dissertation. I also authorise University Microfilms to use the 350 word abstract of my thesis in Dissertation Abstract International (this is applicable to doctoral theses only). I have either used no substantial portions of copyright material in my thesis or I have obtained permission to use copyright material; where permission has not been granted I have applied/\\rill apply for a partial restriction of the digital copy of my thesis or dissertation.' Signed ... ............ f.?.':! ..... 9r?.tf.:J. '!.~............................. Date ................... ~. ~ /.'?. .7../.1-.f!.t~ ........................ .. ........ AUTHENTICITY STATEMENT 'I certify that the Library deposit digital copy is a direct equivalent of the final officially approved version of my thesis. No emendation of content has occurred and if there are any minor variations in formatting, they are the result of the conversion to digital format.' Signed .. ............. .. yn.!f.'1. .....9.? .1.1-"1-.£~ ......................... Date ...... ...............?:r;J../9.1./?:P..La ................................ Abstract ABSTRACT ________________________________________________ Disassembly automation has encountered difficulties in disassembly process due to the variability in the planning and operation levels that result from uncertainties in quality- quantity of the products returned. Thus, the concept of cognitive robotics is implemented to the vision-based and (semi-) destructive disassembly automation for end-of-life electronic products to handle this variability. The system consists of three operating modules, i.e. cognitive robotic module, vision system module, and disassembly operation module. First, the cognitive robotic module controls the system according to its behaviour influenced by four cognitive functions: reasoning, execution monitoring, learning, and revision. The cognitive robotic agent uses rule-based reasoning to schedule the actions according to the existing knowledge and sensed information from the physical world in regard to the disassembly state. Execution monitoring is used to determine accomplishment of the process. The significant information of the current process is learned and will be implemented in subsequent processes. Learning also occurs in the form of demonstration conducted by the expert user via the graphic user interface to overcome unresolved complex problem. The system is able to learn and revise the knowledge resulting in increased disassembly performance as more processes are performed. Second, the vision system module performs recognition and localisation of the components using common features as detection rules. It also supplies other information regarding the operations. Third, the disassembly operation unit module performs the cutting operations. The physical collision can also be detected and resolved by this module. Consequently, the integrated system is flexible enough to successfully disassemble any models of given product type without specific process plans and parameters being supplied. LCD screens are used as a case-study product in this research. i Acknowledgement ACKNOWLEDGEMENT ________________________________________________ Firstly, I would like to thank my supervisors A/Prof Sami Kara and co-supervisor A/Prof Maurice Pagnucco for the great opportunity given me to work on this exciting research topic. They have always given me the best support in research direction, theory, and technical perspectives which have been very important in producing this work. Next, I would like to thank the school of Mechanical and Manufacturing Engineering for funding support in the form of a PhD Scholarship and also the research funding and facility. In addition, I would like to thank the workshop and technical staff members, i.e. Martyn, Seetha, Russell, Alfred, Ian, Andy, Subash, Radha, and Steve, for the great technical support and production of hardware parts. I would like to thank Dr. Voorthuysen and Dr. Rajaratnam (CSE) for valuable suggestions and comments in the early stage of the disassembly cell set up in regard to robotics and programming perspectives. In addition, I would like to thank TAD NSW for supplying and donating LCD screens for testing. I would also like to thank the members of Sustainable
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