Internet of things based cyber-physical system framework for real-time operations

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Authors
Maru, Vatsal K.
Nannapaneni, Saideep
Krishnan, Krishna K.
Issue Date
2020-06-10
Type
Conference paper
Language
en_US
Keywords
Convolutional neural network , Cyber-physical , Object detection , Real-time control , Universal robot , Ur5
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Abstract

The paper presents an intelligent cyber-physical system (CPS) framework using object detection for real-Time operations in an Internet-of-Things (IoT) connected physical environment. To facilitate real-Time object detection, we used a variant of Convolutional Neural Network (CNN) known as Faster R-CNN (R stands for the region proposals). The control action related to the detected object is exchanged with the actuation system using Real-Time Data Exchange (RTDE) protocol. We demonstrate the proposed framework to perform pick-And-place operations as it is a widely performed operation on a production floor using a Universal Robot (UR5) as an actuation system.

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V. Maru, S. Nannapaneni and K. Krishnan, "Internet of Things based Cyber-Physical System framework for Real-Time Operations," 2020 IEEE 23rd International Symposium on Real-Time Distributed Computing (ISORC), Nashville, TN, USA, 2020, pp. 146-147
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IEEE
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