A Piping and Instrumentation Diagram - P&ID, is a schematic illustration of functional relationship of piping, instrumentation and system equipment components.
P&ID shows all of piping including the physical sequence of branches, reducers, valves, equipment, instrumentation and control interlocks. The P&ID are used to operate the process system.
A P&ID should include:
- Instrumentation and designations
- Mechanical equipment with names and numbers
- All valves and their identifications
- Process piping, sizes and identification
- Miscellaneous - vents, drains, special fittings, sampling lines, reducers, increasers and swagers
- Permanent start-up and flush lines
- Flow directions
- Interconnections references
- Control inputs and outputs, interlocks
- Interfaces for class changes
- Seismic category
- Quality level
- Annunciation inputs
- Computer control system input
- Vendor and contractor interfaces
- Identification of components and subsystems delivered by others
- Intended physical sequence of the equipment .
P&ID should not include:
- Instrument root valves
- control relays
- manual switches
- equipment rating or capacity
- primary instrument tubing and valves
- pressure temperature and flow data
- elbow, tees and similar standard fittings
- extensive explanatory notes .
What are Automatic Guided Vehicles AVGs?
An automatic guided vehicle (AGV), also known as a self guided vehicle, is an unmanned, computer-controlled mobile transport unit that is powered by a battery or an electric motor. AGVs are programmed to drive to specific points and perform designated functions. They are becoming increasingly popular worldwide in applications that call for repetitive actions over a distance. Common procedures include load transferring, pallet loading/unloading and tugging/towing. Different models, which include forked, tug/tow, small chassis and large chassis/unit load, have various load capacities and design characteristics. They come in varying sizes and shapes, according to their specific uses and load requirements.
AGVs have onboard microprocessors and usually a supervisory control system that helps with various tasks, such as tracking and tracing modules and generating and/or distributing transport orders. They are able to navigate a guide path network that is flexible and easy to program.
Various navigation methods used on AGVs include laser, camera, optical, inertial and wire guided systems. AGVs are programmed for many different and useful maneuvers, such as spinning and side-traveling, which allow for more effective production. Some are designed for the use of an operator, but most are capable of operating independently.
Corporations that use AGVs, often factories, warehouses, hospitals and other large facilities, benefit from the many advantages AGVs have to offer. One of the most beneficial is reduced labor costs. AGVs do not tire like human workers, and when their batteries are drained, charging the AGVs easily replenishes their energy. Loads that AGVs carry are far heavier than any single human could manage, which makes transporting heavy objects quick and simple. AGVs help give companies a competitive edge because they increase productivity and complete the job in an effective and time-efficient manner. They are flexible and can be adapted to many different needs. Also, using AGVs reduces damage to products and increases safety among workers.
Currently, AGVs are fairly pricey, and this discourages some companies, but in truth, the money is quickly earned back through reduction of other costs. Manufacturers of AGVs are working on reducing costs and making the units easier to understand to attract more potential buyers. Research on these vehicles is on-going, and new developments on software and movement techniques are frequently being made.
What is Robotics? - Robotics Industrial
Robotics is the science and technology of robots, their design, manufacture, and application. Robotics requires a working knowledge of electronics, mechanics, and software and a person working in the field has become known as a roboticist.
Although the appearance and capabilities of robots vary vastly, all robots share the features of a mechanical, movable structure under some form of control. The structure of a robot is usually mostly mechanical and can be called a kinematic chain (its functionality being akin to the skeleton of a body). The chain is formed of links (its bones), actuators (its muscles) and joints which can allow one or more degrees of freedom. Most contemporary robots use open serial chains in which each link connects the one before to the one after it. These robots are called serial robots and often resemble the human arm. Some robots, such as the Stewart platform, use closed parallel kinematic chains. Other structures, such as those that mimic the mechanical structure of humans, various animals and insects, are comparatively rare. However, the development and use of such structures in robots is an active area of research (e.g. biomechanics).
Although the appearance and capabilities of robots vary vastly, all robots share the features of a mechanical, movable structure under some form of control. The structure of a robot is usually mostly mechanical and can be called a kinematic chain (its functionality being akin to the skeleton of a body). The chain is formed of links (its bones), actuators (its muscles) and joints which can allow one or more degrees of freedom. Most contemporary robots use open serial chains in which each link connects the one before to the one after it. These robots are called serial robots and often resemble the human arm. Some robots, such as the Stewart platform, use closed parallel kinematic chains. Other structures, such as those that mimic the mechanical structure of humans, various animals and insects, are comparatively rare. However, the development and use of such structures in robots is an active area of research (e.g. biomechanics).
Robots used as manipulators have an end effector mounted on the last link. This end effector can be anything from a welding device to a mechanical hand used to manipulate the environment.
The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases - perception, processing and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g. the position of its joints or its end effector). Using strategies from the field of control theory, this information is processed to calculate the appropriate signals to the actuators (motors) which move the mechanical structure. The control of a robot involves various aspects such as path planning, pattern recognition, obstacle avoidance, etc. More complex and adaptable control strategies can be referred to as artificial intelligence.
Any task involves the motion of the robot. The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effector position, orientation, velocity and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy (different possibilities of performing the same movement), collision avoidance and singularity avoidance. Once all relevant positions, velocities and accelerations have been calculated using kinematics, methods from the field of dynamics are used to study the effect of forces upon these movements. Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end effector acceleration. This information can be used to improve the control algorithms of a robot.
The mechanical structure of a robot must be controlled to perform tasks. The control of a robot involves three distinct phases - perception, processing and action (robotic paradigms). Sensors give information about the environment or the robot itself (e.g. the position of its joints or its end effector). Using strategies from the field of control theory, this information is processed to calculate the appropriate signals to the actuators (motors) which move the mechanical structure. The control of a robot involves various aspects such as path planning, pattern recognition, obstacle avoidance, etc. More complex and adaptable control strategies can be referred to as artificial intelligence.
Any task involves the motion of the robot. The study of motion can be divided into kinematics and dynamics. Direct kinematics refers to the calculation of end effector position, orientation, velocity and acceleration when the corresponding joint values are known. Inverse kinematics refers to the opposite case in which required joint values are calculated for given end effector values, as done in path planning. Some special aspects of kinematics include handling of redundancy (different possibilities of performing the same movement), collision avoidance and singularity avoidance. Once all relevant positions, velocities and accelerations have been calculated using kinematics, methods from the field of dynamics are used to study the effect of forces upon these movements. Direct dynamics refers to the calculation of accelerations in the robot once the applied forces are known. Direct dynamics is used in computer simulations of the robot. Inverse dynamics refers to the calculation of the actuator forces necessary to create a prescribed end effector acceleration. This information can be used to improve the control algorithms of a robot.
Handbook of Industrial Robotics
About the Handbook of Industrial Robotics, Second Edition:
"Once again, the Handbook of Industrial Robotics, in its Second Edition, explains the good ideas and knowledge that are needed for solutions." -Christopher B. Galvin, Chief Executive Officer, Motorola, Inc.
"The material covered in this Handbook reflects the new generation of robotics developments. It is a powerful educational resource for students, engineers, and managers, written by a leading team of robotics experts." - Yukio Hasegawa, Professor Emeritus, Waseda University, Japan.
"The Second Edition of the Handbook of Industrial Robotics organizes and systematizes the current expertise of industrial robotics and its forthcoming capabilities. These efforts are critical to solve the underlying problems of industry. This continuation is a source of power. I believe this Handbook will stimulate those who are concerned with industrial robots, and motivate them to be great contributors to the progress of industrial robotics." -Hiroshi Okuda, President, Toyota Motor Corporation.
"Once again, the Handbook of Industrial Robotics, in its Second Edition, explains the good ideas and knowledge that are needed for solutions." -Christopher B. Galvin, Chief Executive Officer, Motorola, Inc.
"The material covered in this Handbook reflects the new generation of robotics developments. It is a powerful educational resource for students, engineers, and managers, written by a leading team of robotics experts." - Yukio Hasegawa, Professor Emeritus, Waseda University, Japan.
"The Second Edition of the Handbook of Industrial Robotics organizes and systematizes the current expertise of industrial robotics and its forthcoming capabilities. These efforts are critical to solve the underlying problems of industry. This continuation is a source of power. I believe this Handbook will stimulate those who are concerned with industrial robots, and motivate them to be great contributors to the progress of industrial robotics." -Hiroshi Okuda, President, Toyota Motor Corporation.
"This Handbook describes very well the available and emerging robotics capabilities. It is a most comprehensive guide, including valuable information for both the providers and consumers of creative robotics applications." -Donald A. Vincent, Executive Vice President, Robotic Industries Association
120 leading experts from twelve countries have participated in creating this Second Edition of the Handbook of Industrial Robotics. Of its 66 chapters, 33 are new, covering important new topics in the theory, design, control, and applications of robotics. Other key features include a larger glossary of robotics terminology with over 800 terms and a CD-ROM that vividly conveys the colorful motions and intelligence of robotics. With contributions from the most prominent names in robotics worldwide, the Handbook remains the essential resource on all aspects of this complex subject.
SHIMON Y. NOF, a recognized expert in robotics research and applications, is Professor of Industrial Engineering at Purdue University's School of Industrial Engineering.
120 leading experts from twelve countries have participated in creating this Second Edition of the Handbook of Industrial Robotics. Of its 66 chapters, 33 are new, covering important new topics in the theory, design, control, and applications of robotics. Other key features include a larger glossary of robotics terminology with over 800 terms and a CD-ROM that vividly conveys the colorful motions and intelligence of robotics. With contributions from the most prominent names in robotics worldwide, the Handbook remains the essential resource on all aspects of this complex subject.
SHIMON Y. NOF, a recognized expert in robotics research and applications, is Professor of Industrial Engineering at Purdue University's School of Industrial Engineering.
Tidak ada komentar:
Posting Komentar