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Automation in Unstructured Production Environments Using Isaac Sim: A Flexible Framework for Dynamic Robot Adaptability
Linköping University, Department of Management and Engineering, Product Realisation. (Design Automation Laboratory)ORCID iD: 0000-0003-1745-3869
2024 (English)In: 57th CIRP Conference on Manufacturing Systems 2024 (CMS 2024) / [ed] Goran Putnik, 2024, Vol. 130, p. 837-846Conference paper, Published paper (Refereed)
Abstract [en]

In response to the growing complexity of industrial automation requirements, this paper introduces a comprehensive framework tailored for the automation of industrial robots within unstructured production environments. The framework, emphasizing on adaptability and flexibility, seamlessly merges cutting-edge GPU-based physics engine, the Isaac Sim from Omniverse NVIDIA, with industrial robots, thereby laying the foundation for the development of a robust and versatile digital twin. This digital shadow serves as a main step towards the realization of digital twin technologies in dynamically evolving production environments, facilitating dynamic decision-making processes powered by real-time virtual environmental data.

Furthermore, this paper show a compelling application scenario to underscore the practical relevance of the proposed framework. Specifically, the application case centers around a hospital test lab, an onsite facility charged with the preparation of tissue samples for subsequent evaluation by medical professionals. Presently, many of the lab’s tasks are performed manually, underscoring the urgent need for increased automation to enhance efficiency and the working environment. The specific task targeted by this paper involves the re-stacking of microscope slides from a slider fixture to a holder in preparation for subsequent operations. The motivation behind the integration of more dynamic behavior into the robotic system stems from the unstructured nature of incoming samples, coupled with deficiencies in the digital information chain, all within the constraints of a cost-sensitive, non-expert setting.

Proving the applicability of this framework in the current test case, it not only enhances efficiency in the hospital test lab scenario but also demonstrates its potential in more advanced applications within the manufacturing field, especially in environments with similar levels of complexity. By removing technical barriers and streamlining the exploration of digital twin applications, this paper contributes to the advancement of automation technologies and sets the stage for future developments in dynamic production environments.

Place, publisher, year, edition, pages
2024. Vol. 130, p. 837-846
Keywords [en]
Dynamic Production, Digital Twin, Collaborative Robot
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
URN: urn:nbn:se:liu:diva-215844DOI: 10.1016/j.procir.2024.10.173OAI: oai:DiVA.org:liu-215844DiVA, id: diva2:1979298
Conference
57th CIRP Conference on Manufacturing Systems 2024 (CMS 2024)
Funder
Vinnova, 2021-02481Available from: 2025-06-30 Created: 2025-06-30 Last updated: 2026-02-10
In thesis
1. Adaptive Automation Strategies for Increasing Variability in Design and Production
Open this publication in new window or tab >>Adaptive Automation Strategies for Increasing Variability in Design and Production
2026 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The increasing demand for customized products, together with the need for flexible, human-centric, and resilient manufacturing systems has intensified the need for automation solutions capable of operating in dynamic and unstructured industrial environments. This dissertation shows how automation methodologies evolve and where they fail as complexity and variability increase across the design and production domains.

The research begins by addressing time-consuming and iterative engineering tasks through design automation. Using Knowledge-Based Engineering (KBE) approaches, automated frameworks were developed to streamline engineering workflows and support consistent decision-making in structured industrial settings. However, when extending the focus to real-world production, the growing complexity and uncertainty of the environment create substantial challenges for both design and production automation.

While KBE provides structure and consistency, its reliance on predefined rules necessitates standardization, resulting in a rigid design space and limited adaptability. To overcome these inherent restrictions, the research integrates complementary tools and techniques that enable more flexible and adaptive automation. Camera vision captures real-world conditions and tracks changes in the environment, while large language models, combined with an agent-based approach, provide reasoning capabilities that interpret variations in products or processes and generate adaptive decision-making strategies. Digital twin simulations validate and predict the outcomes of these variations in a virtual environment, allowing the system to respond proactively and safely by reconciling real-time data with simulation outcomes.

Overall, this work contributes a holistic and scalable automation methodology that unifies design automation, adaptive digital twins, and knowledge-driven reasoning. The results demonstrate how structured engineering knowledge, combined with reasoning and adaptive technologies, enables the development of resilient automation solutions for the increasingly unstructured landscape of future Industry.

Abstract [sv]

Den ökande efterfrågan på kundanpassade produkter, tillsammans med behovet av flexibla, människocentrerade och motståndskraftiga tillverkningssystem, har intensifierat behovet av automatiseringslösningar som kan fungera i dynamiska och ostrukturerade industriella miljöer. Denna avhandling visar hur automatiserings-metoder utvecklas och var de misslyckas i takt med att komplexitet och variation ökar inom design- och produktionsområdena.

Forskningen börjar med att hantera tidskrävande och iterativa tekniska uppgifter genom designautomation. Med hjälp av kunskapsbaserad teknik (KBE) utvecklades automatiserade ramverk för att effektivisera tekniska arbetsflöden och stödja konsekvent beslutsfattande i strukturerade industriella miljöer. Men när fokus utvidgas till verklig produktion skapar den växande komplexiteten och osäkerheten i miljön betydande utmaningar för både design- och produktionsautomation.

Medan KBE ger struktur och konsekvens, kräver dess beroende av fördefinierade regler standardisering, vilket resulterar i ett rigid designutrymme och begränsad anpassningsförmåga. För att övervinna dessa inneboende begränsningar integrerar forskningen kompletterande verktyg och tekniker som möjliggör mer flexibel och adaptiv automatisering. Kameraseende fångar verkliga förhållanden och spårar förändringar i miljön, medan stora språkmodeller, i kombination med en agentbaserad metod, ger resonemangsförmåga som tolkar variationer i produkter eller processer och genererar adaptiva beslutsstrategier. Digitala tvillingsimuleringar validerar och förutsäger resultaten av dessa variationer i en virtuell miljö, vilket gör att systemet kan reagera proaktivt och säkert genom att förena realtidsdata med simuleringsresultat.

Sammantaget bidrar detta arbete med en holistisk och skalbar automationsmetodik som förenar designautomation, adaptiva digitala tvillingar och kunskapsdrivet resonemang. Resultaten visar hur strukturerad ingenjörskunskap, i kombination med resonemang och adaptiva teknologier, möjliggör utveckling av motståndskraftiga automationslösningar för det alltmer ostrukturerade landskapet inom framtidens industri.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2026. p. 62
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 2505
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:liu:diva-221174 (URN)10.3384/9789181184624 (DOI)9789181184617 (ISBN)9789181184624 (ISBN)
Public defence
2026-03-06, ACAS, A-building, Campus Valla, Linköping, 09:15 (English)
Opponent
Supervisors
Available from: 2026-02-10 Created: 2026-02-10 Last updated: 2026-02-11Bibliographically approved

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