Pub Date : 2014-09-01DOI: 10.1109/ETFA.2014.7005105
Thomas Gamer, M. Oriol, M. Wahler
In industrial automation, unexpected failures often generate high direct and indirect costs. To achieve high availability, the critical parts of the system are typically redundant. M-out-of-N (MooN) redundancy is a widespread redundancy pattern because it offers low failover times. This pattern has however two major disadvantages. First, the voter, an essential entity in MooN patterns, is itself a single point of failure. Second, it introduces delay to the control process and significant network load when deployed with multiple voters. This article proposes new MooN redundancy patterns for distributed control systems. These eliminate the voter as a single point of failure and reduce the network load and delay of the MooN redundancy. For each of these patterns we introduce an algorithm, which computes a near-minimum instance for the MooN problem. We validate our solution against minimum values and present a case study giving the delays introduced through our redundancy patterns and the induced network load.
在工业自动化中，意想不到的故障通常会产生很高的直接和间接成本。为了实现高可用性，系统的关键部分通常是冗余的。m -of- n (MooN)冗余是一种广泛使用的冗余模式，因为它提供较低的故障转移时间。然而，这种模式有两个主要缺点。首先，选民是月球模式中的一个重要实体，它本身就是一个单点故障。其次，当部署多个投票人时，它会给控制过程带来延迟和显著的网络负载。本文为分布式控制系统提出了新的MooN冗余模式。这些消除了投票人作为单点故障，减少了网络负载和MooN冗余的延迟。对于每一种模式，我们都引入了一种算法，该算法为MooN问题计算一个接近最小的实例。我们针对最小值验证了我们的解决方案，并给出了一个案例研究，给出了通过我们的冗余模式和诱导的网络负载引入的延迟。
{"title":"Increasing efficiency of M-out-of-N redundancy","authors":"Thomas Gamer, M. Oriol, M. Wahler","doi":"10.1109/ETFA.2014.7005105","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005105","url":null,"abstract":"In industrial automation, unexpected failures often generate high direct and indirect costs. To achieve high availability, the critical parts of the system are typically redundant. M-out-of-N (MooN) redundancy is a widespread redundancy pattern because it offers low failover times. This pattern has however two major disadvantages. First, the voter, an essential entity in MooN patterns, is itself a single point of failure. Second, it introduces delay to the control process and significant network load when deployed with multiple voters. This article proposes new MooN redundancy patterns for distributed control systems. These eliminate the voter as a single point of failure and reduce the network load and delay of the MooN redundancy. For each of these patterns we introduce an algorithm, which computes a near-minimum instance for the MooN problem. We validate our solution against minimum values and present a case study giving the delays introduced through our redundancy patterns and the induced network load.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"29 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74181467","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005229
Sathyamyla Kanthabhabhajeya, B. Lennartson
Optimizing the configuration and overall performance of synchronized modular systems is considered in this paper. The synchronized modules can be considered as a hybrid system, including continuous-time dynamics of local moving devices, combined with high-level discrete event sequences. The continuous-time trajectories are approximated by the Gauss pseudospectral method, resulting in a nonlinear programming (NLP) problem. The optimal configuration generates the maximal production rate subject to dynamic constraints. A complete design procedure is presented and applied to a case study of a packaging machine, where an alternative optimal configuration is achieved compared to current industrial practices.
{"title":"Optimal performance of modular and synchronized mechatronic systems","authors":"Sathyamyla Kanthabhabhajeya, B. Lennartson","doi":"10.1109/ETFA.2014.7005229","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005229","url":null,"abstract":"Optimizing the configuration and overall performance of synchronized modular systems is considered in this paper. The synchronized modules can be considered as a hybrid system, including continuous-time dynamics of local moving devices, combined with high-level discrete event sequences. The continuous-time trajectories are approximated by the Gauss pseudospectral method, resulting in a nonlinear programming (NLP) problem. The optimal configuration generates the maximal production rate subject to dynamic constraints. A complete design procedure is presented and applied to a case study of a packaging machine, where an alternative optimal configuration is achieved compared to current industrial practices.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"1 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72694948","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005265
John C. McCarthy, D. O’Sullivan
Building Automation and Control Systems (BACs) are used to manage the day-to-day functions, operation and maintenance of a huge diversity of equipment within facilities of varying size and function. These systems are developed by a large number of hardware and software manufacturers who produce proprietary products designed to solve specific problems. As a result a number of different BACS can be operating within a single facility controlling various devices and producing significant quantities of data. This data can prove difficult to access due to the proprietary nature of the individual applications, thereby limiting the potential for a holistic view of a facilities operation and limiting the scope for big data analytics. This paper proposes the implementation of a Data Access Framework to coalesce the disparate information sources that can exist within a facility via OPC into a tagged database with particular focus on Heating Ventilation and Air Conditioning (HVAC) as a test case.
{"title":"A data access framework for integration to facilitate efficient building operation","authors":"John C. McCarthy, D. O’Sullivan","doi":"10.1109/ETFA.2014.7005265","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005265","url":null,"abstract":"Building Automation and Control Systems (BACs) are used to manage the day-to-day functions, operation and maintenance of a huge diversity of equipment within facilities of varying size and function. These systems are developed by a large number of hardware and software manufacturers who produce proprietary products designed to solve specific problems. As a result a number of different BACS can be operating within a single facility controlling various devices and producing significant quantities of data. This data can prove difficult to access due to the proprietary nature of the individual applications, thereby limiting the potential for a holistic view of a facilities operation and limiting the scope for big data analytics. This paper proposes the implementation of a Data Access Framework to coalesce the disparate information sources that can exist within a facility via OPC into a tagged database with particular focus on Heating Ventilation and Air Conditioning (HVAC) as a test case.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"6 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79134455","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005172
G. Shrestha, O. Niggemann
Optimizing the resource consumption by the products (machines) and making them environment friendly is the aim of almost all producers today. May it be due to cost of resources, their limited availability, their affect on the environment or consumer awareness. Ample research is being carried out at national and international level for resource optimization. Adding intelligence and learning capability is being increasingly used as an approach for resource optimization. Different methods and models for machine learning are available in the literature. Bayesian network is one of the widely used learning model for resource optimization in wide range of applications [1], [2]. In this paper, we present the use of Bayesian network for resource optimization and decision support system in an industrial cleaning process. The proposed Bayesian predictive assistance system assists the cleaner in choosing the optimal parameters and would be a self-learning system that stores the successful cleaning results in a global database for future cleaning cycle.
{"title":"A Bayesian predictive assistance system for resource optimization — A case study in industrial cleaning process","authors":"G. Shrestha, O. Niggemann","doi":"10.1109/ETFA.2014.7005172","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005172","url":null,"abstract":"Optimizing the resource consumption by the products (machines) and making them environment friendly is the aim of almost all producers today. May it be due to cost of resources, their limited availability, their affect on the environment or consumer awareness. Ample research is being carried out at national and international level for resource optimization. Adding intelligence and learning capability is being increasingly used as an approach for resource optimization. Different methods and models for machine learning are available in the literature. Bayesian network is one of the widely used learning model for resource optimization in wide range of applications [1], [2]. In this paper, we present the use of Bayesian network for resource optimization and decision support system in an industrial cleaning process. The proposed Bayesian predictive assistance system assists the cleaner in choosing the optimal parameters and would be a self-learning system that stores the successful cleaning results in a global database for future cleaning cycle.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"49 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85081450","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005231
Waqas Ikram, Niklas Jansson, T. Harvei, N. Aakvaag, I. Halvorsen, Stig Petersen, Simon Carlsen, N. Thornhill
Wireless communication is already used in process automation for process monitoring. The next stage of implementation of wireless technology in industrial applications is for process control. The need for wireless networked control systems has evolved because of the necessity for extensibility, mobility, modularity, fast deployment, and reduced installation and maintenance cost. These benefits are only applicable given that the wireless network of choice can meet the strict requirements of process control applications, such as latency. In this regard, this paper is an effort towards identifying current industry practices related to implementing process control over a wireless link and evaluates the suitability of ISA100.11a network for use in process control through experiments.
{"title":"Wireless communication in process control loop: Requirements analysis, industry practices and experimental evaluation","authors":"Waqas Ikram, Niklas Jansson, T. Harvei, N. Aakvaag, I. Halvorsen, Stig Petersen, Simon Carlsen, N. Thornhill","doi":"10.1109/ETFA.2014.7005231","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005231","url":null,"abstract":"Wireless communication is already used in process automation for process monitoring. The next stage of implementation of wireless technology in industrial applications is for process control. The need for wireless networked control systems has evolved because of the necessity for extensibility, mobility, modularity, fast deployment, and reduced installation and maintenance cost. These benefits are only applicable given that the wireless network of choice can meet the strict requirements of process control applications, such as latency. In this regard, this paper is an effort towards identifying current industry practices related to implementing process control over a wireless link and evaluates the suitability of ISA100.11a network for use in process control through experiments.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"27 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81790236","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005157
C. Haubeck, W. Lamersdorf, J. Ladiges, A. Fay
Production systems are typically long-living, interdisciplinary systems which undergo continuous evolution. However, especially in the industry of the production automation, any formalized documentation of evolutionary changes is often neither created nor adapted to the application. Accordingly, no knowledge artefacts exist that can be automatically processed in order to support the evolution process. Therefore, this paper proposes a software system which is capable to capture knowledge about the underlying production process. Based on so called “active service components” the corresponding software architecture enables the production system to acquire and keep knowledge about itself and to implement further functionalities based on this “self-awareness” in a uniform way. This is done by external behavior observation (without influencing any control code), which makes the architecture suitable for already existing plants in a non-invasive manner.
{"title":"An active service-component architecture to enable self-awareness of evolving production systems","authors":"C. Haubeck, W. Lamersdorf, J. Ladiges, A. Fay","doi":"10.1109/ETFA.2014.7005157","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005157","url":null,"abstract":"Production systems are typically long-living, interdisciplinary systems which undergo continuous evolution. However, especially in the industry of the production automation, any formalized documentation of evolutionary changes is often neither created nor adapted to the application. Accordingly, no knowledge artefacts exist that can be automatically processed in order to support the evolution process. Therefore, this paper proposes a software system which is capable to capture knowledge about the underlying production process. Based on so called “active service components” the corresponding software architecture enables the production system to acquire and keep knowledge about itself and to implement further functionalities based on this “self-awareness” in a uniform way. This is done by external behavior observation (without influencing any control code), which makes the architecture suitable for already existing plants in a non-invasive manner.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"39 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81771405","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005190
Anaïs Guignard, J. Faure
Numerous worthwhile results have been published in the last two decades on validation of logic controllers by using formal methods like model-checking or conformance testing. Whatever the merits of these contributions, the first approach considers only a model of the control code while the second one focuses on an isolated controller that executes this code. However, from a control engineering point of view, validation of a logic controller requires also to analyze the behavior of the controller when it is connected to the plant it must control to form a closed-loop system. This paper proposes a method to check, from observation of I/O events, whether the behavior of such a controller conforms to its specification. The principle of this method is to build a model of the closed-loop system from the observed I/O events then to compare this model to the specification model. A criterion to terminate the observation step is defined by using previous results on identification of discrete event systems. This method is illustrated on a small example.
{"title":"Validation of logic controllers from events observation in a closed-loop system","authors":"Anaïs Guignard, J. Faure","doi":"10.1109/ETFA.2014.7005190","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005190","url":null,"abstract":"Numerous worthwhile results have been published in the last two decades on validation of logic controllers by using formal methods like model-checking or conformance testing. Whatever the merits of these contributions, the first approach considers only a model of the control code while the second one focuses on an isolated controller that executes this code. However, from a control engineering point of view, validation of a logic controller requires also to analyze the behavior of the controller when it is connected to the plant it must control to form a closed-loop system. This paper proposes a method to check, from observation of I/O events, whether the behavior of such a controller conforms to its specification. The principle of this method is to build a model of the closed-loop system from the observed I/O events then to compare this model to the specification model. A criterion to terminate the observation step is defined by using previous results on identification of discrete event systems. This method is illustrated on a small example.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"65 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83829731","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005294
A. Ascheri, M. Ippolito, G. Colombo, F. Furini, E. Atzeni
Design of assembly lines is a knowledge intensive process relying significantly on experience and associated with high costs, long lead times and high probability of risks and reworks. This paper presents a methodology to support the early stage design of assembly lines through Knowledge Based Engineering (KBE). In this introductory paper the authors discuss the methodology to implement the KBE approach. A set of system engineering rules is extracted from direct interviews and domain best practices and knowledge about product and process is formalized. These rules will be implemented in a user-friendly platform allowing the design of first phase line layout by taking the defined system requirements (e.g. cycle time) as input. Then, the KBE approach is extended to a specific case study taken from the powertrain sector.
{"title":"Automatic configuration of a powertrain assembly line layout based on a KBE approach","authors":"A. Ascheri, M. Ippolito, G. Colombo, F. Furini, E. Atzeni","doi":"10.1109/ETFA.2014.7005294","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005294","url":null,"abstract":"Design of assembly lines is a knowledge intensive process relying significantly on experience and associated with high costs, long lead times and high probability of risks and reworks. This paper presents a methodology to support the early stage design of assembly lines through Knowledge Based Engineering (KBE). In this introductory paper the authors discuss the methodology to implement the KBE approach. A set of system engineering rules is extracted from direct interviews and domain best practices and knowledge about product and process is formalized. These rules will be implemented in a user-friendly platform allowing the design of first phase line layout by taking the defined system requirements (e.g. cycle time) as input. Then, the KBE approach is extended to a specific case study taken from the powertrain sector.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"53 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84032658","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005097
Y. Ou, Jinwen Hu, Xiang Li, T. Le
To meet the challenges of the big data age, an urgent requirement from diverse manufacturing industries is to develop a systematic time-variant methodology to make good use of the condition parameters to benefit more from the monitoring point of view. With condition-based Statistical Process Control (SPC), we develop a time-variant Exponentially Weighted Moving Average-Cumulative Sum (EWMA-CUSUM) anomaly detection mechanism which can monitor real-time multi-condition parameters, as well as multi-output quality characteristics simultaneously and efficiently. This technique enables the process user to conduct the visualization in real-time, thus, affording the representation of the information from huge volume of data. In order to demonstrate the implementation for the monitoring of a real manufacturing process, the Wire Electrochemical Tuning (WECT) process is adopted as a practical application. The proposed mechanism is superior to the conventional univariate charting mechanism by 18.75% in terms of detection accuracy and it has great potential to be employed in a large area of factorial applications.
{"title":"MIMO EWMA-CUSUM condition-based Statistical Process Control in Manufacturing Processes","authors":"Y. Ou, Jinwen Hu, Xiang Li, T. Le","doi":"10.1109/ETFA.2014.7005097","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005097","url":null,"abstract":"To meet the challenges of the big data age, an urgent requirement from diverse manufacturing industries is to develop a systematic time-variant methodology to make good use of the condition parameters to benefit more from the monitoring point of view. With condition-based Statistical Process Control (SPC), we develop a time-variant Exponentially Weighted Moving Average-Cumulative Sum (EWMA-CUSUM) anomaly detection mechanism which can monitor real-time multi-condition parameters, as well as multi-output quality characteristics simultaneously and efficiently. This technique enables the process user to conduct the visualization in real-time, thus, affording the representation of the information from huge volume of data. In order to demonstrate the implementation for the monitoring of a real manufacturing process, the Wire Electrochemical Tuning (WECT) process is adopted as a practical application. The proposed mechanism is superior to the conventional univariate charting mechanism by 18.75% in terms of detection accuracy and it has great potential to be employed in a large area of factorial applications.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"75 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80507729","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 : 2014-09-01DOI: 10.1109/ETFA.2014.7005140
Dani Martínez, Javier Moreno, M. Tresanchez, M. Teixidó, J. Palacín, S. Marco
This paper presents the preliminary results obtained when using a mobile robot to measure gas and wind intensity in an indoor area by means of several attached sensors such as a LIDAR, an e-nose, and an anemometer. The robot navigation was performed by means of a random path planning and the robot self location was performed by means of an SLAM procedure. This paper presents the first preliminary results obtained in a set of measurement experiments. In all cases, the indoor area has a fixed artificial simulated airflow and an induced gas leak source placed in different locations of the experimentation area. Results have shown different gas diffusion profiles in the different experiments performed.
{"title":"Preliminary results on measuring gas and wind intensity with a mobile robot in an indoor area","authors":"Dani Martínez, Javier Moreno, M. Tresanchez, M. Teixidó, J. Palacín, S. Marco","doi":"10.1109/ETFA.2014.7005140","DOIUrl":"https://doi.org/10.1109/ETFA.2014.7005140","url":null,"abstract":"This paper presents the preliminary results obtained when using a mobile robot to measure gas and wind intensity in an indoor area by means of several attached sensors such as a LIDAR, an e-nose, and an anemometer. The robot navigation was performed by means of a random path planning and the robot self location was performed by means of an SLAM procedure. This paper presents the first preliminary results obtained in a set of measurement experiments. In all cases, the indoor area has a fixed artificial simulated airflow and an induced gas leak source placed in different locations of the experimentation area. Results have shown different gas diffusion profiles in the different experiments performed.","PeriodicalId":20477,"journal":{"name":"Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)","volume":"148 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2014-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77808806","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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