# Automation and Robotics Pilot Lines in the Context of Industry 5.0
## 3 GAMHE Pilot Line  
The GAMHE 5.0 pilot line (Figures 2 and 3) was established thanks to the research and development in artificial cognitive control systems and reference architectures within the framework of Industry 5.0. The system focuses on integrating computer numerical controls (CNCs) for machine tools, including a Deckel Maho DMC 75 V Linear high-speed machining center equipped with a Siemens 840D CNC, and a Kern-Evo ultraprecision micro-machining center featuring a Nano NT laser control and Heidenhain CNC. To simulate a manufacturing production line, additional components were incrementally incorporated. These include two conveyor belts, a Universal Robots UR5e collaborative robotic arm, and a Han's Robot Elfin 10L-PRO collaborative robotic arm, both used for part handling alongside the machining centers. For inspection and quality control, an Allied Vision Mako G-192 camera was connected to a Raspberry Pi 4 Model B with 8 GB of RAM, enabling the development and testing of artificial vision routines. The system's most recent integration involved an AMR ROSbot XL HUSARION, equipped with a RPLIDAR A2 LiDAR sensor and an Intel RealSense stereoscopic camera, facilitating the transportation of manufactured components across different workstations. Each element of the pilot line is equipped with an Internet of Things (IoT) node capable of communicating with its respective machine through various industrial protocols. The CNC Deckel Maho uses Open Platform Communications Data Access (OPC DA); the CNC \begin{table}
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Table 1: State-of-the-art comparison. Kern Evo employs Language for Service and Visualization version 2 (LSV-2); both URSe robotic arm and the Allied Vision Mako G-192 camera use TCP-IP; finally, EtherCAT is utilized for the Elfin 10L-PRO robotic arm. All these IoT nodes communicate with one another through a central server functioning as an MQTT broker. This configuration enables each machine to interact with other IoT nodes within the pilot line, transmit sensor data, report operational states and alarms, and receive operation commands. The IoT nodes run on two Raspberry Pi 3B+, two Raspberry Pi 4B with Raspbian/Linux, and two MSI Core i3 mini-computers with Windows operating systems. The GAMHE 5.0 pilot line is distinguished by integrating systems operating under different protocols and from various technological eras, combining early 2000s machining centers with state-of-the-art collaborative robots. Thus, this configuration serves as a case study on implementing digital transformation in established manufacturing plants. The system enables bidirectional communication among all elements of the pilot line, facilitating performance optimization through precise coordination of its various components.