Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6647957
M. Ashjaei, M. Behnam, G. Rodríguez-Navas, T. Nolte
The interest to use Switched Ethernet technologies in real-time communication is increasing due to its absence of collisions when transmitting messages. Nevertheless, using COTS switches affect the timeliness guarantee inherent in potentially overflowing internal FIFO queues. In this paper we focus on a solution, called the FTT-SE protocol, which is developed based on a master-slave technique. Recently, an extension of the FTT-SE protocol has been proposed where the transmission of messages are controlled using multiple master nodes. In order to guarantee the correctness of the protocol, the masters should be timely synchronized. Therefore, in this paper we investigate the possibility of using a clock synchronization protocol, based on the IEEE 1588 standard, among master nodes. Moreover, we evaluate the overhead that is imposed by the clock synchronization protocol to the FTT-SE protocol. Finally, we present a formal verification of this solution by means of model checking technique to prove the correctness of the FTT-SE protocol when the clock synchronization protocol is applied.
{"title":"Implementing a clock synchronization protocol on a multi-master Switched Ethernet network","authors":"M. Ashjaei, M. Behnam, G. Rodríguez-Navas, T. Nolte","doi":"10.1109/ETFA.2013.6647957","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647957","url":null,"abstract":"The interest to use Switched Ethernet technologies in real-time communication is increasing due to its absence of collisions when transmitting messages. Nevertheless, using COTS switches affect the timeliness guarantee inherent in potentially overflowing internal FIFO queues. In this paper we focus on a solution, called the FTT-SE protocol, which is developed based on a master-slave technique. Recently, an extension of the FTT-SE protocol has been proposed where the transmission of messages are controlled using multiple master nodes. In order to guarantee the correctness of the protocol, the masters should be timely synchronized. Therefore, in this paper we investigate the possibility of using a clock synchronization protocol, based on the IEEE 1588 standard, among master nodes. Moreover, we evaluate the overhead that is imposed by the clock synchronization protocol to the FTT-SE protocol. Finally, we present a formal verification of this solution by means of model checking technique to prove the correctness of the FTT-SE protocol when the clock synchronization protocol is applied.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"219 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115983572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648029
G. Ebenhofer, H. Bauer, M. Plasch, S. Zambal, Sharath Chandra Akkaladevi, A. Pichler
The robotic system integrator's dream of (re)using existing software components and benefiting from a common software framework for service orchestration becomes more and more evident. Current initiatives tend to promote the own framework or class library and do not put a lot of effort into illustrating how to integrate existing functionality from other frameworks. Within joint projects between industry and scientific partners, we typically face the challenge of having several development teams using different techniques, class libraries and open source frameworks. In this context, we want to present our development approach using 4DIAC development tools and explicitly highlight useful extensions added for a smooth integration of heterogeneous components of various frameworks which is shown by examples.
{"title":"A system integration approach for service-oriented robotics","authors":"G. Ebenhofer, H. Bauer, M. Plasch, S. Zambal, Sharath Chandra Akkaladevi, A. Pichler","doi":"10.1109/ETFA.2013.6648029","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648029","url":null,"abstract":"The robotic system integrator's dream of (re)using existing software components and benefiting from a common software framework for service orchestration becomes more and more evident. Current initiatives tend to promote the own framework or class library and do not put a lot of effort into illustrating how to integrate existing functionality from other frameworks. Within joint projects between industry and scientific partners, we typically face the challenge of having several development teams using different techniques, class libraries and open source frameworks. In this context, we want to present our development approach using 4DIAC development tools and explicitly highlight useful extensions added for a smooth integration of heterogeneous components of various frameworks which is shown by examples.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123809364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648154
G. Neugschwandtner, Maarten Reekmans, D. Linden
Being able to respond flexibly to business opportunities is essential for the manufacturing industries to stay competitive. Making flexible use of the plant floor equipment is an essential aspect to this. The research presented proposes an approach to automation systems design and implementation, focusing on (but not limited to) batch processes and derived from the ISA-88 standard, with the aim of minimising the programming effort required for a new product by following a modular approach. Particular attention is given to implementing the interfaces between system modules in an open manner using the OPC UA communication standard.
{"title":"An open automation architecture for flexible manufacturing","authors":"G. Neugschwandtner, Maarten Reekmans, D. Linden","doi":"10.1109/ETFA.2013.6648154","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648154","url":null,"abstract":"Being able to respond flexibly to business opportunities is essential for the manufacturing industries to stay competitive. Making flexible use of the plant floor equipment is an essential aspect to this. The research presented proposes an approach to automation systems design and implementation, focusing on (but not limited to) batch processes and derived from the ISA-88 standard, with the aim of minimising the programming effort required for a new product by following a modular approach. Particular attention is given to implementing the interfaces between system modules in an open manner using the OPC UA communication standard.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124949440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6647942
W. Dai, V. Vyatkin, J. Christensen
Distributed control systems are widely deployed to all areas in industrial automation. However, a systematic approach to the design and programming of distributed automation and control systems is not clearly defined. This paper analyzes the differences between two control system architectures defined in IEC Standards - IEC 61131-3 for centralized control with programmable controllers (PLCs) vs. IEC 61499 for the use of function blocks (FBs) in distributed automation and control - in an attempt to identify the essential elements - the sine qua non - for such programming. Through this analysis, two indispensable elements - software modularity and the use of communication services - are identified. Guidelines are given for the use of these elements in both PLC and FB systems, and the application of these guidelines is illustrated in a case study of airport baggage handling systems.
{"title":"Essential elements for programming of distributed automation and control systems","authors":"W. Dai, V. Vyatkin, J. Christensen","doi":"10.1109/ETFA.2013.6647942","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647942","url":null,"abstract":"Distributed control systems are widely deployed to all areas in industrial automation. However, a systematic approach to the design and programming of distributed automation and control systems is not clearly defined. This paper analyzes the differences between two control system architectures defined in IEC Standards - IEC 61131-3 for centralized control with programmable controllers (PLCs) vs. IEC 61499 for the use of function blocks (FBs) in distributed automation and control - in an attempt to identify the essential elements - the sine qua non - for such programming. Through this analysis, two indispensable elements - software modularity and the use of communication services - are identified. Guidelines are given for the use of these elements in both PLC and FB systems, and the application of these guidelines is illustrated in a case study of airport baggage handling systems.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"11 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131389346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648145
Giuliana Alderisi, G. Iannizzotto, Gaetano Patti, L. L. Bello
The Media Oriented Systems Transport (MOST) network, the current de-facto standard for in-vehicle multimedia and infotainment, does not provide support for the stream priority and serves bandwidth allocation requests based on their arrival order, irrespective of the stream importance. This work proposes a novel bandwidth allocation approach for multimedia streams on MOST150 networks that introduces the stream priority, which is used to reserve bandwidth for each stream according to its importance. The approach also exploits the ability for dynamically changing the bandwidth needs of multimedia streams through variable bitrate compression and is useful in MOST 150 networks supporting, together with multimedia streams, also bandwidth-greedy applications, such as Advanced Driver Assistance Systems.
{"title":"Prioritization-based bandwidth allocation for MOST networks","authors":"Giuliana Alderisi, G. Iannizzotto, Gaetano Patti, L. L. Bello","doi":"10.1109/ETFA.2013.6648145","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648145","url":null,"abstract":"The Media Oriented Systems Transport (MOST) network, the current de-facto standard for in-vehicle multimedia and infotainment, does not provide support for the stream priority and serves bandwidth allocation requests based on their arrival order, irrespective of the stream importance. This work proposes a novel bandwidth allocation approach for multimedia streams on MOST150 networks that introduces the stream priority, which is used to reserve bandwidth for each stream according to its importance. The approach also exploits the ability for dynamically changing the bandwidth needs of multimedia streams through variable bitrate compression and is useful in MOST 150 networks supporting, together with multimedia streams, also bandwidth-greedy applications, such as Advanced Driver Assistance Systems.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121275287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648026
Jeffrey Yan, V. Vyatkin
This paper presents an investigation into the implementation of reconfigurable industrial applications using the IEC 61499 standard. An architecture and design methodology is proposed to allow for the addition of reconfigurable elements to existing IEC 61499 applications. The commercially available NxtForte IEC 61499 platform was chosen for experiments. The notion of state resumption is discussed along with a corresponding application level implementation. Deficiencies of the standard for promoting reconfiguration are outlined and some extensions are then proposed to streamline the development of reconfigurable applications.
{"title":"Extension of reconfigurability provisions in IEC 61499","authors":"Jeffrey Yan, V. Vyatkin","doi":"10.1109/ETFA.2013.6648026","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648026","url":null,"abstract":"This paper presents an investigation into the implementation of reconfigurable industrial applications using the IEC 61499 standard. An architecture and design methodology is proposed to allow for the addition of reconfigurable elements to existing IEC 61499 applications. The commercially available NxtForte IEC 61499 platform was chosen for experiments. The notion of state resumption is discussed along with a corresponding application level implementation. Deficiencies of the standard for promoting reconfiguration are outlined and some extensions are then proposed to streamline the development of reconfigurable applications.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130380148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648121
M. Weyrich, M. W. Abdullah
This paper presents a new design concept for spherical-joint supported gripper that can be easily installed on industrial robots. The purpose of this joint design is to increase the flexibility of the robots' movements by adding three additional degrees-of-freedom (d.o.f) in one single compact joint. In doing so, the trajectory can be enhanced or more simple ones be used. In addition, this design does neither require extra links nor modification of industrial robots structures since it is being installed as an end-effector. The theoretical analysis and the model of the spherical-joint gripper will be exemplified by a prototype that was built to study the efficiency of this approach.
{"title":"Concept of a three D.O.F spherical-joint gripper for industrial robots","authors":"M. Weyrich, M. W. Abdullah","doi":"10.1109/ETFA.2013.6648121","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648121","url":null,"abstract":"This paper presents a new design concept for spherical-joint supported gripper that can be easily installed on industrial robots. The purpose of this joint design is to increase the flexibility of the robots' movements by adding three additional degrees-of-freedom (d.o.f) in one single compact joint. In doing so, the trajectory can be enhanced or more simple ones be used. In addition, this design does neither require extra links nor modification of industrial robots structures since it is being installed as an end-effector. The theoretical analysis and the model of the spherical-joint gripper will be exemplified by a prototype that was built to study the efficiency of this approach.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115638594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648086
B. Guida, A. Cavallo
In this paper, the implementation of an Intelligent Load Power Management (I-LPM) strategy for an aeronautical electrical network using a Petri net based approach will be discussed. The control strategy for I-LPM implementation will be presented following a step-by-step approach. In details, a rigorous method for translating the requirements that describe the desired energy management logic in a formal Petri net will be discussed. Next, in order to verify the Petri net correctness in terms of qualitative properties, a number of reduction techniques steps will be applied, eventually deriving a straightforward net where some basic properties will be verified by direct inspection. Finally, simulation results will evidence how the first Petri net so far derived can be applied, as a consequence of the successful verification of its basic properties, as a supervisory control strategy for the I-LPM of a basic aeronautical electrical network, as well as the obtained advantages over a traditional energy management strategy.
{"title":"A Petri net application for energy management in aeronautical networks","authors":"B. Guida, A. Cavallo","doi":"10.1109/ETFA.2013.6648086","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648086","url":null,"abstract":"In this paper, the implementation of an Intelligent Load Power Management (I-LPM) strategy for an aeronautical electrical network using a Petri net based approach will be discussed. The control strategy for I-LPM implementation will be presented following a step-by-step approach. In details, a rigorous method for translating the requirements that describe the desired energy management logic in a formal Petri net will be discussed. Next, in order to verify the Petri net correctness in terms of qualitative properties, a number of reduction techniques steps will be applied, eventually deriving a straightforward net where some basic properties will be verified by direct inspection. Finally, simulation results will evidence how the first Petri net so far derived can be applied, as a consequence of the successful verification of its basic properties, as a supervisory control strategy for the I-LPM of a basic aeronautical electrical network, as well as the obtained advantages over a traditional energy management strategy.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123099882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6647969
V. Gribov, H. Voos
In this paper, a safety oriented model based software engineering process for autonomous robots is proposed. Herein, the main focus is on the modeling of the safety case based on the standard ISO/DIS 13482. Combined with a safe multilayer robot software architecture it allows to trace the safety requirements and to model safety relevant properties on the early design stages in order to build a reliable chain of evidence. The introduced engineering processes consist of the Domain Engineering, which is dealing with the development of a set of interlinked formalized safety cases and software components. Finally, the proposed engineering process is demonstrated on the example of the assembly assistant robot and ROS (Robot Operating System).
{"title":"Safety oriented software engineering process for autonomous robots","authors":"V. Gribov, H. Voos","doi":"10.1109/ETFA.2013.6647969","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647969","url":null,"abstract":"In this paper, a safety oriented model based software engineering process for autonomous robots is proposed. Herein, the main focus is on the modeling of the safety case based on the standard ISO/DIS 13482. Combined with a safe multilayer robot software architecture it allows to trace the safety requirements and to model safety relevant properties on the early design stages in order to build a reliable chain of evidence. The introduced engineering processes consist of the Domain Engineering, which is dealing with the development of a set of interlinked formalized safety cases and software components. Finally, the proposed engineering process is demonstrated on the example of the assembly assistant robot and ROS (Robot Operating System).","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124467228","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648031
André Schimschar, D. Hasler, M. Wollschlaeger, R. Lehmann
For several years many applications are using wireless communication in industrial automation, although wireless solutions (WS) are not yet fully integrated into the life cycle (LC) process of automation systems. Since several wireless technologies are candidates to fulfill given automation communication requirements, it is almost impossible for automation engineers to select the appropriate solution, to plan wireless solutions, or to perform diagnosis or fault analysis of a wireless network. Wireless specialists and specific tools are necessary for each potential WS. To overcome this problem, an information model for handling wireless systems throughout the life cycle (LC) has been developed in order to support automation engineers accessing the appropriate information when required. This paper presents the results of the project.
{"title":"Device-related modeling of wireless components for industrial automation systems","authors":"André Schimschar, D. Hasler, M. Wollschlaeger, R. Lehmann","doi":"10.1109/ETFA.2013.6648031","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648031","url":null,"abstract":"For several years many applications are using wireless communication in industrial automation, although wireless solutions (WS) are not yet fully integrated into the life cycle (LC) process of automation systems. Since several wireless technologies are candidates to fulfill given automation communication requirements, it is almost impossible for automation engineers to select the appropriate solution, to plan wireless solutions, or to perform diagnosis or fault analysis of a wireless network. Wireless specialists and specific tools are necessary for each potential WS. To overcome this problem, an information model for handling wireless systems throughout the life cycle (LC) has been developed in order to support automation engineers accessing the appropriate information when required. This paper presents the results of the project.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124834743","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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