Pub Date : 2013-10-28DOI: 10.1109/ETFA.2013.6648138
Heng-You Lin, M. Sorouri, V. Vyatkin, Z. Salcic
This paper presents a model-based design approach for description of mechatronic systems using System Modeling Language (SysML) in order to facilitate modification and customization of existing intelligent mechatronic components and their use in new applications. This approach enables re-use and integration of the existing mechatronic software components to meet system design requirements and minimize the design and commissioning complexity of the control systems. A case study with a delta robot used in a colour sorting application demonstrates how its control system is tailored to meet the desired system behaviour.
{"title":"Model-based customisation of intelligent mechatronic systems using SysML","authors":"Heng-You Lin, M. Sorouri, V. Vyatkin, Z. Salcic","doi":"10.1109/ETFA.2013.6648138","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648138","url":null,"abstract":"This paper presents a model-based design approach for description of mechatronic systems using System Modeling Language (SysML) in order to facilitate modification and customization of existing intelligent mechatronic components and their use in new applications. This approach enables re-use and integration of the existing mechatronic software components to meet system design requirements and minimize the design and commissioning complexity of the control systems. A case study with a delta robot used in a colour sorting application demonstrates how its control system is tailored to meet the desired system behaviour.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"2 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":"127575659","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.2013.6647971
W. Herfs, Adam Malik, W. Lohse, K. Fayzullin
Production cells are typically built up of many heterogeneous components which are controlled by a central unit such as a standard programmable logic controller. Engineering of such cell controllers is usually based on an imperative programming paradigm. All possible decision situations are defined manually and coded offline, which is an acceptable method for simple or fixed recurring automation tasks. Implementing complex control and adaptation strategies however leads to disproportionately high engineering efforts, which incur whenever process changes are required. This paper presents a modelbased assembly control concept and a cell control engineering methodology. The concept was validated using a micro-slab laser assembly process within a multi-robot assembly cell.
{"title":"Model-based assembly control concept","authors":"W. Herfs, Adam Malik, W. Lohse, K. Fayzullin","doi":"10.1109/ETFA.2013.6647971","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647971","url":null,"abstract":"Production cells are typically built up of many heterogeneous components which are controlled by a central unit such as a standard programmable logic controller. Engineering of such cell controllers is usually based on an imperative programming paradigm. All possible decision situations are defined manually and coded offline, which is an acceptable method for simple or fixed recurring automation tasks. Implementing complex control and adaptation strategies however leads to disproportionately high engineering efforts, which incur whenever process changes are required. This paper presents a modelbased assembly control concept and a cell control engineering methodology. The concept was validated using a micro-slab laser assembly process within a multi-robot assembly cell.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"162 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":"127318836","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.2013.6648078
C. Insaurralde, Alois Zoitl
Classical programming approaches are no longer enough to implement and integrate evolved control software for Industrial Automation Systems (IASs). The multidisciplinary implementation of increasingly-sophisticated IAS capabilities makes developers look for more effective methodologies to efficiently design, build, and evaluate such software. This paper identifies gaps in the development process of IASs. Filling these gaps can help improving the coding of IAS control applications by overcoming current development limitations. This paper argues for a requirements-driven development process and an interactive integration framework to mitigate drawbacks set by engineering tools. It shows gaps given by what current tools can provide and what is needed.
{"title":"Control software development in Industrial Automation","authors":"C. Insaurralde, Alois Zoitl","doi":"10.1109/ETFA.2013.6648078","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648078","url":null,"abstract":"Classical programming approaches are no longer enough to implement and integrate evolved control software for Industrial Automation Systems (IASs). The multidisciplinary implementation of increasingly-sophisticated IAS capabilities makes developers look for more effective methodologies to efficiently design, build, and evaluate such software. This paper identifies gaps in the development process of IASs. Filling these gaps can help improving the coding of IAS control applications by overcoming current development limitations. This paper argues for a requirements-driven development process and an interactive integration framework to mitigate drawbacks set by engineering tools. It shows gaps given by what current tools can provide and what is needed.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"61 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":"126996486","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.2013.6648035
V. Alfaro, R. Vilanova
The aim of this paper is to present the application of a model reference design procedure to the robust tuning of two-degree-of-freedom proportional integral derivative controllers with filter for control of unstable controlled processes. The design is based on the use of an optimization procedure with servo and regulatory closed-loop transfer functions targets. Due to the constrains imposed by the unstable processes the robust design is based in the maximum obtainable robustness with the selected control system response target. Controller tuning equations are provided for unstable first-order plus dead-time models. The design procedure considers at the same time the five parameters of the controller including the filter time constant. Equivalent parameters and a tuning rule for Standard PID controllers are also presented.
{"title":"Robust tuning of 2DoF PID controllers with filter for unstable first-order plus dead-time processes","authors":"V. Alfaro, R. Vilanova","doi":"10.1109/ETFA.2013.6648035","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648035","url":null,"abstract":"The aim of this paper is to present the application of a model reference design procedure to the robust tuning of two-degree-of-freedom proportional integral derivative controllers with filter for control of unstable controlled processes. The design is based on the use of an optimization procedure with servo and regulatory closed-loop transfer functions targets. Due to the constrains imposed by the unstable processes the robust design is based in the maximum obtainable robustness with the selected control system response target. Controller tuning equations are provided for unstable first-order plus dead-time models. The design procedure considers at the same time the five parameters of the controller including the filter time constant. Equivalent parameters and a tuning rule for Standard PID controllers are also presented.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"459 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":"127033316","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.2013.6648066
Ferry Pramudianto, J. Simon, M. Eisenhauer, Hussein Khaleel, C. Pastrone, M. Spirito
In this paper, we describe a SOA-based middleware to integrate Internet-of-Things technologies in industrial setups. The middleware allows a seamless horizontal integration among heterogeneous technologies and vertical integration with applications and business systems. Using the middleware, we evaluated an approach to improve the reliability of 6LoWPAN-based sensor networks with self-configuration and self-healing capabilities to support an innovative monitoring and control framework in a manufacturing line. The sensor networks were evaluated in a test bed consisting of various physical devices that emulates a welding station.
{"title":"Prototyping the Internet of Things for the future factory using a SOA-based middleware and reliable WSNs","authors":"Ferry Pramudianto, J. Simon, M. Eisenhauer, Hussein Khaleel, C. Pastrone, M. Spirito","doi":"10.1109/ETFA.2013.6648066","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648066","url":null,"abstract":"In this paper, we describe a SOA-based middleware to integrate Internet-of-Things technologies in industrial setups. The middleware allows a seamless horizontal integration among heterogeneous technologies and vertical integration with applications and business systems. Using the middleware, we evaluated an approach to improve the reliability of 6LoWPAN-based sensor networks with self-configuration and self-healing capabilities to support an innovative monitoring and control framework in a manufacturing line. The sensor networks were evaluated in a test bed consisting of various physical devices that emulates a welding station.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"42 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":"127036696","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.2013.6648161
Yin Tong, Zhiwu Li, A. Giua
Observation structures usually considered for Petri nets assume that the firing of transitions may be observed through static labels and that the marking of some places may be measurable. These observation structures are rather limited and we consider in this paper more general ones, correspondingly defining two new classes of nets: labeled Petri nets with outputs and adaptive labeled Petri nets. Several examples of nets in these classes are considered. Furthermore we also show the possibility to convert a labeled Petri net into an adaptive Petri net or a labeled Petri net.
{"title":"General observation structures for Petri nets","authors":"Yin Tong, Zhiwu Li, A. Giua","doi":"10.1109/ETFA.2013.6648161","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648161","url":null,"abstract":"Observation structures usually considered for Petri nets assume that the firing of transitions may be observed through static labels and that the marking of some places may be measurable. These observation structures are rather limited and we consider in this paper more general ones, correspondingly defining two new classes of nets: labeled Petri nets with outputs and adaptive labeled Petri nets. Several examples of nets in these classes are considered. Furthermore we also show the possibility to convert a labeled Petri net into an adaptive Petri net or a labeled Petri net.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"136 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":"122771865","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.2013.6648112
Aitor Agirre, Jon Perez, Rafael Priego, M. Marcos, Elisabet Estévez-Estévez
Component Based Software Engineering (CBSE) is being increasingly applied in the distributed embedded systems (DES) domain as long as these systems are getting more and more complex in terms of flexibility, dynamism or heterogeneity. Besides that, safety critical systems must cope with the fulfillment of safety requirements and certification standards. This factor increases considerably the development cost of safety distributed embedded systems, even more if they must cope with flexibility, dynamism and heterogeneity. This paper focuses on the distribution aspects of such systems, and more specifically on safe communication channels for safety critical distributed systems. The proposed approach describes a certifiable general purpose safety communication layer that could be reused in different systems, thereby reducing the cost of system development and certification.
{"title":"SCA extensions to support safety critical distributed embedded systems","authors":"Aitor Agirre, Jon Perez, Rafael Priego, M. Marcos, Elisabet Estévez-Estévez","doi":"10.1109/ETFA.2013.6648112","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648112","url":null,"abstract":"Component Based Software Engineering (CBSE) is being increasingly applied in the distributed embedded systems (DES) domain as long as these systems are getting more and more complex in terms of flexibility, dynamism or heterogeneity. Besides that, safety critical systems must cope with the fulfillment of safety requirements and certification standards. This factor increases considerably the development cost of safety distributed embedded systems, even more if they must cope with flexibility, dynamism and heterogeneity. This paper focuses on the distribution aspects of such systems, and more specifically on safe communication channels for safety critical distributed systems. The proposed approach describes a certifiable general purpose safety communication layer that could be reused in different systems, thereby reducing the cost of system development and certification.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"68 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":"122556370","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.2013.6647990
Yosuke Sakuragi, Takao Sato, N. Araki, Y. Konishi
This paper proposes a new design method for a drum boiler system, which is a benchmark problem for PID control. The boiler is a multi-input multi-output (MIMO) system with interference, but it is divided into independent single-input single-output (SISO) systems. In the proposed method, interference is considered a disturbance, and a controller is designed for each system. Because the controlled plants are time-varying systems, the control system is adaptively updated based on generalized minimum variance control (GMVC).
{"title":"Self-tuning PI control for a boiler control system","authors":"Yosuke Sakuragi, Takao Sato, N. Araki, Y. Konishi","doi":"10.1109/ETFA.2013.6647990","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647990","url":null,"abstract":"This paper proposes a new design method for a drum boiler system, which is a benchmark problem for PID control. The boiler is a multi-input multi-output (MIMO) system with interference, but it is divided into independent single-input single-output (SISO) systems. In the proposed method, interference is considered a disturbance, and a controller is designed for each system. Because the controlled plants are time-varying systems, the control system is adaptively updated based on generalized minimum variance control (GMVC).","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"35 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":"122707293","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.2013.6647951
J. Tanguy, Jean-Luc Béchennec, M. Briday, Sébastien Dubé, O. Roux
Currently the development of embedded software managing hardware devices that fulfills industrial constraints (safety, real time constraints) is a very complex task. To allow an increased reusability between projects, generic device drivers have been developed in order to be used in a wide range of applications. Usually the level of gener-icity of such drivers require a lot of configuration code, which is often generated. However, a generic driver requires a lot of configuration and need more computing power and more memory needs than a specific driver. This paper presents a more efficient methodology to solve this issue based on a formal modeling of the device and the application. Starting from this modeling, we use well-known game theory techniques to solve the driver model synthesis problem. The resulting model is then translated into the actual driver embedded code with respect to an implementation model. By isolating the model of the device, we allow more reusability and interoperability between devices for a given application, while generating an application-specific driver.
{"title":"Device driver synthesis for embedded systems","authors":"J. Tanguy, Jean-Luc Béchennec, M. Briday, Sébastien Dubé, O. Roux","doi":"10.1109/ETFA.2013.6647951","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6647951","url":null,"abstract":"Currently the development of embedded software managing hardware devices that fulfills industrial constraints (safety, real time constraints) is a very complex task. To allow an increased reusability between projects, generic device drivers have been developed in order to be used in a wide range of applications. Usually the level of gener-icity of such drivers require a lot of configuration code, which is often generated. However, a generic driver requires a lot of configuration and need more computing power and more memory needs than a specific driver. This paper presents a more efficient methodology to solve this issue based on a formal modeling of the device and the application. Starting from this modeling, we use well-known game theory techniques to solve the driver model synthesis problem. The resulting model is then translated into the actual driver embedded code with respect to an implementation model. By isolating the model of the device, we allow more reusability and interoperability between devices for a given application, while generating an application-specific driver.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"6 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":"123870713","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.2013.6648071
F. Koumboulis
The general class of linear singular neutral multi delay systems is introduced. The controller is of the general proportional multi delay measurement output feedback type. For the case of regularizable linear singular multi delay systems the design problem of Exact Model Matching (EMM) is solved under the assumption that the ideal model is left invertible. The necessary and sufficient conditions for the problem to admit a realizable controller solution are established and the general solution of the realizable controllers is derived.
{"title":"On the Exact Model Matching of linear singular multi-delay systems via measurement output feedback","authors":"F. Koumboulis","doi":"10.1109/ETFA.2013.6648071","DOIUrl":"https://doi.org/10.1109/ETFA.2013.6648071","url":null,"abstract":"The general class of linear singular neutral multi delay systems is introduced. The controller is of the general proportional multi delay measurement output feedback type. For the case of regularizable linear singular multi delay systems the design problem of Exact Model Matching (EMM) is solved under the assumption that the ideal model is left invertible. The necessary and sufficient conditions for the problem to admit a realizable controller solution are established and the general solution of the realizable controllers is derived.","PeriodicalId":106678,"journal":{"name":"2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"69 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":"124465351","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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