Pub Date : 1999-10-18DOI: 10.1109/ETFA.1999.815391
N. Navab, Echeyde Cubillo, B. Bascle, J. Lockau, K.-D. Kamsties, M. Neuberger
CyliCon is a Windows-based application for creating, updating and managing 3D computer models of factories from input digital images. The software is geared towards industrial piping environments. The resulting 3D representation of factory, being reconstructed from camera images of the site, is "as-built" and reflects the reality. This can be used for the purpose of updating and maintaining the industrial site. In addition, special attention has been given to the ease of use, portability and adaptability of the software. A well-designed user interface makes the process of reconstructing a 3D model simple and fast. CyliCon is also easy to integrate into an existing factory data and workflow, since it can read data from and export data to a variety of commercial databases and formats. CyliCon is a programmable platform, which can be customized by customers to their own needs.
{"title":"CyliCon: a software platform for the creation and update of virtual factories","authors":"N. Navab, Echeyde Cubillo, B. Bascle, J. Lockau, K.-D. Kamsties, M. Neuberger","doi":"10.1109/ETFA.1999.815391","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815391","url":null,"abstract":"CyliCon is a Windows-based application for creating, updating and managing 3D computer models of factories from input digital images. The software is geared towards industrial piping environments. The resulting 3D representation of factory, being reconstructed from camera images of the site, is \"as-built\" and reflects the reality. This can be used for the purpose of updating and maintaining the industrial site. In addition, special attention has been given to the ease of use, portability and adaptability of the software. A well-designed user interface makes the process of reconstructing a 3D model simple and fast. CyliCon is also easy to integrate into an existing factory data and workflow, since it can read data from and export data to a variety of commercial databases and formats. CyliCon is a programmable platform, which can be customized by customers to their own needs.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126665585","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815335
W. Kastner, C. Csebits, M. Mayer
Linux is a freely distributed, 32-bit, pre-emptive multi-tasking, multi-user operating system. Once developed for educational purpose it has become an attractive counterpart to its commercial competitors. Nowadays, Linux has been expanded from a simple UNIX kernel to a huge suite of applications and utilities developed by means of a GNU C/C++, JDK, TCP/IP and X Windows. The task of the paper is twofold: in the first part we focus the attention on Linux and show that this operating system is suitable to develop and run applications for factory automation. Therefore we present the design and implementation of the worldwide first device driver dedicated to that area: a Profibus-DP device driver. In the second part we introduce a gateway connecting Profibus-DP fieldbus systems to the Internet. By means of this Java-based gateway authorized users may control Profibus-DP devices remotely The only requirement to access the fieldbus is a workstation (regardless of its hardware and operating system) connected to the Internet and a standard Internet browser installed on it.
{"title":"Linux in factory automation? Internet controlling of fieldbus systems!","authors":"W. Kastner, C. Csebits, M. Mayer","doi":"10.1109/ETFA.1999.815335","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815335","url":null,"abstract":"Linux is a freely distributed, 32-bit, pre-emptive multi-tasking, multi-user operating system. Once developed for educational purpose it has become an attractive counterpart to its commercial competitors. Nowadays, Linux has been expanded from a simple UNIX kernel to a huge suite of applications and utilities developed by means of a GNU C/C++, JDK, TCP/IP and X Windows. The task of the paper is twofold: in the first part we focus the attention on Linux and show that this operating system is suitable to develop and run applications for factory automation. Therefore we present the design and implementation of the worldwide first device driver dedicated to that area: a Profibus-DP device driver. In the second part we introduce a gateway connecting Profibus-DP fieldbus systems to the Internet. By means of this Java-based gateway authorized users may control Profibus-DP devices remotely The only requirement to access the fieldbus is a workstation (regardless of its hardware and operating system) connected to the Internet and a standard Internet browser installed on it.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114077253","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813149
Yoshiaki Itoh, M. Fukagawa, T. Nagao, T. Mizuya, I. Miyazawa, Takashi Sekiguchi
The purpose of the paper is to propose a simple experimental method to evaluate the execution time in programmable controllers. First, features of the cyclic scan are examined experimentally by fundamental programs for evaluation. Second, the experimental evaluation method of the execution time of LDs and SFCs using stochastic tests is established. Furthermore, discussions on the evaluation method of other functions, the design for programming, and application to the real systems are also given.
{"title":"Evaluation of execution time in programmable controller","authors":"Yoshiaki Itoh, M. Fukagawa, T. Nagao, T. Mizuya, I. Miyazawa, Takashi Sekiguchi","doi":"10.1109/ETFA.1999.813149","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813149","url":null,"abstract":"The purpose of the paper is to propose a simple experimental method to evaluate the execution time in programmable controllers. First, features of the cyclic scan are examined experimentally by fundamental programs for evaluation. Second, the experimental evaluation method of the execution time of LDs and SFCs using stochastic tests is established. Furthermore, discussions on the evaluation method of other functions, the design for programming, and application to the real systems are also given.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121081728","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813167
R. López de Mántaras, M. López-Sánchez
The paper describes a behaviour-based approach that controls an autonomous robot for following given paths. When following a given path, it can be the case that the robot finds an unexpected obstacle obstructing its trajectory. We present a control strategy that solves this situation by adding reactivity to the wall following process.
{"title":"Adding reactivity to path following by an autonomous robot","authors":"R. López de Mántaras, M. López-Sánchez","doi":"10.1109/ETFA.1999.813167","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813167","url":null,"abstract":"The paper describes a behaviour-based approach that controls an autonomous robot for following given paths. When following a given path, it can be the case that the robot finds an unexpected obstacle obstructing its trajectory. We present a control strategy that solves this situation by adding reactivity to the wall following process.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121730581","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815358
J. Cantón, Diego Ruiz, C. Benqlilou, J. M. Nougués, Luis Puigjaner
The effective operation of the batch processing based enterprise requires exploitation of computer integrated manufacturing (CIM) developments and the adaptation of these developments for the specific features of batch operations. The aim of the article is to present a general overview of a global methodology which allows one to find a practical solution for the control of a multipurpose batch chemical plant. A case study carried out in a pilot plant for the simulation of batch chemical processes is also described.
{"title":"Integrated information system for monitoring, scheduling and control applied to batch chemical processes","authors":"J. Cantón, Diego Ruiz, C. Benqlilou, J. M. Nougués, Luis Puigjaner","doi":"10.1109/ETFA.1999.815358","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815358","url":null,"abstract":"The effective operation of the batch processing based enterprise requires exploitation of computer integrated manufacturing (CIM) developments and the adaptation of these developments for the specific features of batch operations. The aim of the article is to present a general overview of a global methodology which allows one to find a practical solution for the control of a multipurpose batch chemical plant. A case study carried out in a pilot plant for the simulation of batch chemical processes is also described.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113987430","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815355
Huiping Liu, Yu Fan, Cheng Wu
In the research field of enterprise modeling and CIM implementation, many results have been achieved in the last 20 years (1979-1999), such as CIMOSA, GRAI-GIM, PERA, ARIS and DEM. But difficulties were still encountered when these methods were applied to guide CIM system design and implementation. A novel integrated enterprise modeling methodology based on the workflow model is proposed. The corresponding system architecture is presented. The integrated modeling environment is described, and the relationship between the workflow model and views are discussed.
{"title":"The research of integrated enterprise modeling method based on workflow model","authors":"Huiping Liu, Yu Fan, Cheng Wu","doi":"10.1109/ETFA.1999.815355","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815355","url":null,"abstract":"In the research field of enterprise modeling and CIM implementation, many results have been achieved in the last 20 years (1979-1999), such as CIMOSA, GRAI-GIM, PERA, ARIS and DEM. But difficulties were still encountered when these methods were applied to guide CIM system design and implementation. A novel integrated enterprise modeling methodology based on the workflow model is proposed. The corresponding system architecture is presented. The integrated modeling environment is described, and the relationship between the workflow model and views are discussed.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122960360","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813110
A. Khatab, É. Niel
We approach the problem of controlling the behavior of a given real time discrete event system (RTDES) described in terms of its state trajectories by using predicates and predicate transformers. The timed supervisory predicate control problem (TSPCP) is introduced as the problem of synthesizing a supervisor for a given RTDES. So that, the set of legal predicates corresponds to the weakest predicate that remains invariant under control. RTDES is modeled as a finite automaton and characterized by its untimed automaton, namely the activity transition graph augmented by data variables, and its timed automaton, namely its timed transition graph. In contrast to the work of Brandin (1994) and O'Young (1991), the approach proposed in the paper does not rely on a search through the reachability of the timed automaton of a given RTDES. The TSPCP addressed in the paper takes into account two types of control mechanisms: enabling/disabling and forcing events. Furthermore two types of controllability notion are handled. The first one corresponds to the classical notion of controllability when the forcing mechanism is not invoked, and it is shown that it serves as a necessary and sufficient condition for solving the TSPCP. The second one is called forced controllability and used to solve the TSPCP in the case where the required legal predicate is not controllable.
{"title":"Predicates and predicate transformers for the supervisory control of timed discrete event system","authors":"A. Khatab, É. Niel","doi":"10.1109/ETFA.1999.813110","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813110","url":null,"abstract":"We approach the problem of controlling the behavior of a given real time discrete event system (RTDES) described in terms of its state trajectories by using predicates and predicate transformers. The timed supervisory predicate control problem (TSPCP) is introduced as the problem of synthesizing a supervisor for a given RTDES. So that, the set of legal predicates corresponds to the weakest predicate that remains invariant under control. RTDES is modeled as a finite automaton and characterized by its untimed automaton, namely the activity transition graph augmented by data variables, and its timed automaton, namely its timed transition graph. In contrast to the work of Brandin (1994) and O'Young (1991), the approach proposed in the paper does not rely on a search through the reachability of the timed automaton of a given RTDES. The TSPCP addressed in the paper takes into account two types of control mechanisms: enabling/disabling and forcing events. Furthermore two types of controllability notion are handled. The first one corresponds to the classical notion of controllability when the forcing mechanism is not invoked, and it is shown that it serves as a necessary and sufficient condition for solving the TSPCP. The second one is called forced controllability and used to solve the TSPCP in the case where the required legal predicate is not controllable.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133334070","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813156
R. Cortesão, R. Koeppe
In modern robotics, the robot is seen not as a mechanical unit, but instead as an intelligent unit, with planning and cognitive structures that are capable of making intelligent decisions and of helping human beings in high-level and interactive tasks. A new generation of robots is ready to emerge: human-oriented robots. In the near future, they should be able to perform perfect human-robot symbiosis, such as helping disabled people in their basic day-to-day problems. A key issue to accomplish this goal is the development of robust skill transfer systems, in order to teach some basic tasks in a natural way. This paper describes the design of a data fusion module for skill transfer applications. It consists of two independent modules for optimal fusion and filtering. A different interpretation of the Kalman filter equations is made, in order to achieve a "model-free" equation that is capable of following arbitrary variables. The presented fusion algorithm is global, and could easily be extended to any arbitrary system. It was successfully tested in the Institute of Robotics and System Dynamics at the German Aerospace Centre (DLR).
{"title":"Data fusion design for skill transfer systems","authors":"R. Cortesão, R. Koeppe","doi":"10.1109/ETFA.1999.813156","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813156","url":null,"abstract":"In modern robotics, the robot is seen not as a mechanical unit, but instead as an intelligent unit, with planning and cognitive structures that are capable of making intelligent decisions and of helping human beings in high-level and interactive tasks. A new generation of robots is ready to emerge: human-oriented robots. In the near future, they should be able to perform perfect human-robot symbiosis, such as helping disabled people in their basic day-to-day problems. A key issue to accomplish this goal is the development of robust skill transfer systems, in order to teach some basic tasks in a natural way. This paper describes the design of a data fusion module for skill transfer applications. It consists of two independent modules for optimal fusion and filtering. A different interpretation of the Kalman filter equations is made, in order to achieve a \"model-free\" equation that is capable of following arbitrary variables. The presented fusion algorithm is global, and could easily be extended to any arbitrary system. It was successfully tested in the Institute of Robotics and System Dynamics at the German Aerospace Centre (DLR).","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133619897","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 : 1999-10-18DOI: 10.1109/ETFA.1999.813172
E. Kamen
A systematic procedure is presented for generating Boolean logic equations that represent the desired control action to be carried out by a discrete logic controller. A key component of the controller design is the specification of set and reset operations that define the next value of each state variable in the Boolean logic equations for the controller. The logic equations can be implemented on a PLC or PC in order to realize the desired control action. Two examples are given to illustrate the procedure.
{"title":"Generation of Boolean logic equations for discrete logic control","authors":"E. Kamen","doi":"10.1109/ETFA.1999.813172","DOIUrl":"https://doi.org/10.1109/ETFA.1999.813172","url":null,"abstract":"A systematic procedure is presented for generating Boolean logic equations that represent the desired control action to be carried out by a discrete logic controller. A key component of the controller design is the specification of set and reset operations that define the next value of each state variable in the Boolean logic equations for the controller. The logic equations can be implemented on a PLC or PC in order to realize the desired control action. Two examples are given to illustrate the procedure.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"269 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133814023","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 : 1999-10-18DOI: 10.1109/ETFA.1999.815369
N. Anwer, A. Chep
Reports on the design and implementation of an intelligent process planning assistant (IPPA), a modular computer-aided process planning (CAPP) system offering knowledge-assisted planning of machining operations. A hierarchical efficient reasoning analysis methodology based on heuristic classification, feature modeling and constraint satisfaction is used for the IPPA knowledge model. Part of the implementation reported is related to IPPA modules (IPPA FEx, IPPA Class, IPPA /spl mu/Plan, IPPA Plan). IPPA FEx enables a direct mapping of computer-aided design (CAD) data into process planning data using an automated graph-based approach. IPPA Class concerns concepts and data hierarchical representation. IPPA /spl mu/Plan allows the definition and the instantiation of micro plans. IPPA Plan permits the ordering and the grouping of micro plans.
{"title":"IPPA: a knowledge assisted process planning system","authors":"N. Anwer, A. Chep","doi":"10.1109/ETFA.1999.815369","DOIUrl":"https://doi.org/10.1109/ETFA.1999.815369","url":null,"abstract":"Reports on the design and implementation of an intelligent process planning assistant (IPPA), a modular computer-aided process planning (CAPP) system offering knowledge-assisted planning of machining operations. A hierarchical efficient reasoning analysis methodology based on heuristic classification, feature modeling and constraint satisfaction is used for the IPPA knowledge model. Part of the implementation reported is related to IPPA modules (IPPA FEx, IPPA Class, IPPA /spl mu/Plan, IPPA Plan). IPPA FEx enables a direct mapping of computer-aided design (CAD) data into process planning data using an automated graph-based approach. IPPA Class concerns concepts and data hierarchical representation. IPPA /spl mu/Plan allows the definition and the instantiation of micro plans. IPPA Plan permits the ordering and the grouping of micro plans.","PeriodicalId":119106,"journal":{"name":"1999 7th IEEE International Conference on Emerging Technologies and Factory Automation. Proceedings ETFA '99 (Cat. No.99TH8467)","volume":"66 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115519560","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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