Abstract: 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.

Abstract: Disclosed herein are system, apparatus, article of manufacture, method and/or computer program product embodiments, and/or combinations and sub-combinations thereof, for using a hot sedimentary aquifer (HSA) in geothermal energy generation applications. An example embodiment operates by pumping, via multiple extraction wells, heated water from one or more extraction depths of an HSA. The HSA is identified based on a permeability satisfying a threshold permeability range. The example embodiment further operates by extracting, via a power generation unit, heat from the heated water to generate power and transform the heated water into cooled water. Subsequently, the example embodiment operates by injecting, via multiple injection wells, the cooled water at one or more injection depths of the HSA.

Abstract: System and method develop a control program for operating an automation system in a manufacturing process. A design software application includes an object generator module and an editor module. Object generator module generates a plurality of virtual objects having embedded information related to an automation process, the virtual objects representing automation components to be controlled by the control program and work product parts to be manipulated for the manufacturing process. Editor module arranges, using a graphical user interface, the plurality of virtual objects in a virtual workspace, the virtual workspace representing a configuration of the automation system. The control program is developed by the arrangement of virtual objects in the virtual workspace.

Abstract: A computer-implemented method includes operating a first autonomous system to perform a task based on executable code derived from objects in a world model of the first autonomous system. The world model objects of the first autonomous system represent an operating environment of the first autonomous system. The method includes determining an initiation trigger when the first autonomous system is to begin interaction with a second autonomous system. The second autonomous system is operated based on executable code derived from a world model that includes world model objects representing an operating environment of the second autonomous system. After the initiation trigger, the method includes sharing of the world model objects between the first and second autonomous systems. Subsequently, the method includes continuing operating the first autonomous system based on an extended world model of the first autonomous system that includes the shared world model objects of the second autonomous system.

Abstract: Disclosed herein are system, apparatus, article of manufacture, method and/or computer program product embodiments, and/or combinations and sub-combinations thereof, for stimulating convective thermal recharge in a hot sedimentary aquifer (HSA) used in geothermal energy generation applications. An example system pumps, via an extraction well, heated water from an extraction depth of a hot sedimentary aquifer (HSA) identified based on a convective heat transfer coefficient of the HSA satisfying a threshold convective heat transfer coefficient. The system then extracts, via a power generation unit, heat from the heated water to generate power and transform the heated water into cooled water. Subsequently, the system injects, via an injection well, the cooled water at an injection depth of the HSA. As a result of these operations, the system stimulates a convective flow field within the HSA having a convective heat transfer rate sufficient to provide a convective thermal recharge of the extracted heat.

Abstract: 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.

Abstract: Disclosed herein are system, apparatus, article of manufacture, method and/or computer program product embodiments, and/or combinations and sub-combinations thereof, for using a hot sedimentary aquifer (HSA) in geothermal energy generation applications. An example embodiment operates by pumping, via multiple extraction wells, heated water from one or more extraction depths of an HSA. The HSA is identified based on a permeability satisfying a threshold permeability range. The example embodiment further operates by extracting, via a power generation unit, heat from the heated water to generate power and transform the heated water into cooled water. Subsequently, the example embodiment operates by injecting, via multiple injection wells, the cooled water at one or more injection depths of the HSA.

Abstract: 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.

Abstract: Over the past several decades, rapid advances in semiconductors, automation, and control systems have resulted in the widespread adoption of advanced automated machines (including robots) in complex industrial environments. These machines are deployed in a very wide range of industrial settings and carry out an immense variety tasks in a limited and predefined manner. A systematic approach coordinates the actions of machines to allow a hierarchy of autonomous systems to make decisions about how to meet manufacturing demands, including delegation to lower-level autonomous systems.

Abstract: 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.

Abstract: A system for performing autonomous operations in an operating environment comprising a plurality of objects includes a server computer. The server computer comprises a nontransitory computer readable medium storing detailed representations of the objects in the operating environment. Each detailed representation of an object comprises one or more markers providing knowledge information related to the object. The autonomous device comprises a non-transitory computer readable medium storing a world model that comprises sparse representations of the objects in the operating environment, a processor configured to use the world model to execute tasks requiring use of at least one of the objects, and a networking card for connecting to the server computer. When execution of a new task requires use of a particular object in the operating environment, the autonomous device updates the world model to include the detailed representation of the particular object.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: A programmable process plant includes a plurality of physical components relating to the processing at least one fluid in the process plant. A three-dimensional (3D) simulation system includes a plurality of programmable 3D simulation objects, each simulation object corresponding to a physical component of the process plant. The programmable 3D simulation objects include state variables relating to states of the simulation object and programming code which may be altered by a user during the execution of a simulation application on the 3D simulation system. Based on observed results of the simulation, programming code associated with one or more of the simulation objects may be transferred to a corresponding physical component. The physical component is configured to execute the transferred programming code to control or alter a state of the physical component of the process plant.

Abstract: 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.

Abstract: Modeling is provided in three-dimensional simulation. Proxies are used as virtual rigid bodies to create (22) reusable part files. A custom physics object is defined (22) 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 (28) 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.

Abstract: 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.