Pub Date : 2011-10-13DOI: 10.1109/CASE.2011.6042477
Yiming Wan, H. Ye
Fault detection of networked control systems subject to long delay and packet dropouts is discussed in this paper. No assumption about the statistics of long delay and packet dropouts is required for the proposed approach. Long delay and packet dropouts in sensor-to-controller link, which are known to the fault detection system, are handled with non-uniform sampling technique. Due to the unknown delay and packet dropouts in controller-to-actuator link, the true control commands implemented by the actuator are unknown to the fault detection system. However, given the upper bounds of delay and the number of successive packet dropouts, in a time window the number of possibilities of packet transmission in controller-to-actuator link is limited; then the limited possibilities of the control commands implemented by the actuator can be determined from the control commands sent by the controller. This fact is useful but has not been utilized by existing methods for fault detection of networked control systems to the knowledge of the authors. Then, consistency of parity relations is tested by evaluating residuals generated with the received outputs and each possibility of the corresponding control commands implemented by the actuator. The effectiveness of the proposed method is illustrated by a simulation example.
{"title":"Fault detection of networked control systems utilizing limited possibilities of unknown packet transmission","authors":"Yiming Wan, H. Ye","doi":"10.1109/CASE.2011.6042477","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042477","url":null,"abstract":"Fault detection of networked control systems subject to long delay and packet dropouts is discussed in this paper. No assumption about the statistics of long delay and packet dropouts is required for the proposed approach. Long delay and packet dropouts in sensor-to-controller link, which are known to the fault detection system, are handled with non-uniform sampling technique. Due to the unknown delay and packet dropouts in controller-to-actuator link, the true control commands implemented by the actuator are unknown to the fault detection system. However, given the upper bounds of delay and the number of successive packet dropouts, in a time window the number of possibilities of packet transmission in controller-to-actuator link is limited; then the limited possibilities of the control commands implemented by the actuator can be determined from the control commands sent by the controller. This fact is useful but has not been utilized by existing methods for fault detection of networked control systems to the knowledge of the authors. Then, consistency of parity relations is tested by evaluating residuals generated with the received outputs and each possibility of the corresponding control commands implemented by the actuator. The effectiveness of the proposed method is illustrated by a simulation example.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123747940","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042418
Juan Carlos González-Castolo, E. López-Mellado
This paper addresses state estimation of discrete event systems (DES) exhibiting variations on the duration of activities; the system state is approximated by the marking of Fuzzy Timed Petri Net (FTPN) models. For this purpose a definition of FTPN is presented in which fuzzy sets associated to places represent the ending time uncertainty of activities. A fuzzy marking matrix equation is proposed, allowing computing the marking evolution of cyclic FTPN. Finally, the uncertainty of the estimated marking is evaluated as a measure of quality on the approximation.
{"title":"State uncertainty analysis of Fuzzy Timed DES","authors":"Juan Carlos González-Castolo, E. López-Mellado","doi":"10.1109/CASE.2011.6042418","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042418","url":null,"abstract":"This paper addresses state estimation of discrete event systems (DES) exhibiting variations on the duration of activities; the system state is approximated by the marking of Fuzzy Timed Petri Net (FTPN) models. For this purpose a definition of FTPN is presented in which fuzzy sets associated to places represent the ending time uncertainty of activities. A fuzzy marking matrix equation is proposed, allowing computing the marking evolution of cyclic FTPN. Finally, the uncertainty of the estimated marking is evaluated as a measure of quality on the approximation.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123890462","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042472
Oskar Wigström, B. Lennartson
Minimization of energy consumption is today an issue of utmost importance in manufacturing industry. A previously presented technique for scheduling of robot cells, which exploits variable execution time for the individual robot operations, has shown promising results in energy minimization. In order to slow down a manipulator's movement the method utilizes a linear time scaling of the time optimal trajectory. This paper attempts to improve the scheduling method by generating energy optimal data using dynamic time scaling. Dynamic programming can be applied to an existing trajectory and generate a new energy optimal trajectory that follows the same path but with another execution time. With the new method, it is possible to solve the optimization problem for a range of execution times in one run. A simple two-joint planar example is presented in which energy optimal dynamic time scaling is compared to linear time scaling. The results show a small decrease in energy usage for minor scaling, but a significant reduction for longer execution times.
{"title":"Energy optimization of trajectories for high level scheduling","authors":"Oskar Wigström, B. Lennartson","doi":"10.1109/CASE.2011.6042472","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042472","url":null,"abstract":"Minimization of energy consumption is today an issue of utmost importance in manufacturing industry. A previously presented technique for scheduling of robot cells, which exploits variable execution time for the individual robot operations, has shown promising results in energy minimization. In order to slow down a manipulator's movement the method utilizes a linear time scaling of the time optimal trajectory. This paper attempts to improve the scheduling method by generating energy optimal data using dynamic time scaling. Dynamic programming can be applied to an existing trajectory and generate a new energy optimal trajectory that follows the same path but with another execution time. With the new method, it is possible to solve the optimization problem for a range of execution times in one run. A simple two-joint planar example is presented in which energy optimal dynamic time scaling is compared to linear time scaling. The results show a small decrease in energy usage for minor scaling, but a significant reduction for longer execution times.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"393 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121384332","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042413
Thibault Lemattre, B. Denis, J. Faure, J. Pétin, Patrick Salaün
This paper presents a method that eases the design of the operational architecture of a control system by providing, from the knowledge of some characteristics of the functions that the control system must ensure and a generic model of controller, an assignment solution of these functions that satisfies capabilities and distribution constraints. This method relies on the verification of a reachability property on a network of communicating automata that models the assignment process. The benefit of this proposal is illustrated by a non-trivial case study from industry.
{"title":"Designing operational control architectures of critical systems by reachability analysis","authors":"Thibault Lemattre, B. Denis, J. Faure, J. Pétin, Patrick Salaün","doi":"10.1109/CASE.2011.6042413","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042413","url":null,"abstract":"This paper presents a method that eases the design of the operational architecture of a control system by providing, from the knowledge of some characteristics of the functions that the control system must ensure and a generic model of controller, an assignment solution of these functions that satisfies capabilities and distribution constraints. This method relies on the verification of a reachability property on a network of communicating automata that models the assignment process. The benefit of this proposal is illustrated by a non-trivial case study from industry.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116797499","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042523
M. Dahane, N. Rezg
This paper considers a manufacturing system composed of a single randomly failing machine. Initially, the system is the supplier of a direct client, in a supplier - client relation. In order to maximise its profits, the system provides an outsourcing task to several firms, in a subcontractor - multi-outsourcers relation. The research described here aims to study the outsourcing constraints from the subcontractor point of view, and determine when outsourcing is profitable for the subcontractor firms in the multi-outsourcers case.
{"title":"Economic model of outsourcing for a subcontractor manufacturing system in a single subcontractor - multi-outsourcers relationship","authors":"M. Dahane, N. Rezg","doi":"10.1109/CASE.2011.6042523","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042523","url":null,"abstract":"This paper considers a manufacturing system composed of a single randomly failing machine. Initially, the system is the supplier of a direct client, in a supplier - client relation. In order to maximise its profits, the system provides an outsourcing task to several firms, in a subcontractor - multi-outsourcers relation. The research described here aims to study the outsourcing constraints from the subcontractor point of view, and determine when outsourcing is profitable for the subcontractor firms in the multi-outsourcers case.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116164464","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042513
J. Wason, J. Wen
Robot Raconteur is a new distributed communication architecture and library designed for robotic and automation systems with distributed resources, including data and program modules. The motivation for this architecture is based on the need to rapidly connect sensors and actuators distributed across a network together in a development environment, such as MATLAB, without time consuming development of data communication infrastructure. The architecture consists of interconnected nodes, communicating through message passing. Each node is typically a process running on a computer or embedded device, which may be a critical real-time, non-critical real-time, or event driven process. Robot Raconteur is organized as three hierarchical levels: channels that provide communication between nodes, message passing which routes messages between endpoints within the nodes, and an object-based client-service model that is built on top of message passing. The implementation of Robot Raconteur nodes so far consists of Microsoft C#, Microsoft C++, MATLAB, MATLAB/Simulink xPC Target, and the Arduino embedded processor. Implementation on four distributed control systems consisted of multiple sensors, actuators, and computation nodes are presented, including smart room (an instrumented room with distributed lighting control and sensor feedback), dual-arm robotic system, multi-probe microassembly station, and adaptive optical scanning microscope.
{"title":"Robot Raconteur: A communication architecture and library for robotic and automation systems","authors":"J. Wason, J. Wen","doi":"10.1109/CASE.2011.6042513","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042513","url":null,"abstract":"Robot Raconteur is a new distributed communication architecture and library designed for robotic and automation systems with distributed resources, including data and program modules. The motivation for this architecture is based on the need to rapidly connect sensors and actuators distributed across a network together in a development environment, such as MATLAB, without time consuming development of data communication infrastructure. The architecture consists of interconnected nodes, communicating through message passing. Each node is typically a process running on a computer or embedded device, which may be a critical real-time, non-critical real-time, or event driven process. Robot Raconteur is organized as three hierarchical levels: channels that provide communication between nodes, message passing which routes messages between endpoints within the nodes, and an object-based client-service model that is built on top of message passing. The implementation of Robot Raconteur nodes so far consists of Microsoft C#, Microsoft C++, MATLAB, MATLAB/Simulink xPC Target, and the Arduino embedded processor. Implementation on four distributed control systems consisted of multiple sensors, actuators, and computation nodes are presented, including smart room (an instrumented room with distributed lighting control and sensor feedback), dual-arm robotic system, multi-probe microassembly station, and adaptive optical scanning microscope.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116595389","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042433
Luka Kalinovcic, T. Petrović, S. Bogdan, V. Bobanac
In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.
{"title":"Modified Banker's algorithm for scheduling in multi-AGV systems","authors":"Luka Kalinovcic, T. Petrović, S. Bogdan, V. Bobanac","doi":"10.1109/CASE.2011.6042433","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042433","url":null,"abstract":"In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129423340","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042501
L. T. D'Angelo, Andreas Loercher, T. Lüth
In this contribution, an electrically driven walking frame for both passive and active mobility support is presented for the first time. Problems of the musculoskeletal system are an important issue for people dependent on their personal mobility in order to live independently for as long as possible. However, solutions on the market today only offer passive walking frames which may not give enough support for long distances or mobility scooters, which do not require any movement at all and thus lead to even worse mobility problems on the long run. The presented system gives both a passive support like a walking frame, but also the option of switching to an active support in case the user cannot walk any more. Both, system concept and an evaluation with potential users are presented.
{"title":"A new electrically driven walking frame for both passive and active mobility support","authors":"L. T. D'Angelo, Andreas Loercher, T. Lüth","doi":"10.1109/CASE.2011.6042501","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042501","url":null,"abstract":"In this contribution, an electrically driven walking frame for both passive and active mobility support is presented for the first time. Problems of the musculoskeletal system are an important issue for people dependent on their personal mobility in order to live independently for as long as possible. However, solutions on the market today only offer passive walking frames which may not give enough support for long distances or mobility scooters, which do not require any movement at all and thus lead to even worse mobility problems on the long run. The presented system gives both a passive support like a walking frame, but also the option of switching to an active support in case the user cannot walk any more. Both, system concept and an evaluation with potential users are presented.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125565378","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042511
Tung Le, C. Hadjicostis
In this paper, we study marginal problems for a class of binary pairwise Gibbs random fields (BPW-GRFs). Given a BPW-GRF associated with a family of binary positive pairwise potentials, finding the exact marginal for each random variable is typically an NP-hard problem. In this paper, we develop upper and lower bounds of the true marginals in BPW-GRFs. Our bounds can be easily computed via an iteration on appropriate trees that are constructed from the corresponding BPW-GRF graphs. We prove that these marginal bounds outperform existing bounds. We also show via simulations that this improvement is significant on graphs with weak potentials.
{"title":"Marginal analysis on binary pairwise Gibbs random fields","authors":"Tung Le, C. Hadjicostis","doi":"10.1109/CASE.2011.6042511","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042511","url":null,"abstract":"In this paper, we study marginal problems for a class of binary pairwise Gibbs random fields (BPW-GRFs). Given a BPW-GRF associated with a family of binary positive pairwise potentials, finding the exact marginal for each random variable is typically an NP-hard problem. In this paper, we develop upper and lower bounds of the true marginals in BPW-GRFs. Our bounds can be easily computed via an iteration on appropriate trees that are constructed from the corresponding BPW-GRF graphs. We prove that these marginal bounds outperform existing bounds. We also show via simulations that this improvement is significant on graphs with weak potentials.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125257382","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 : 2011-10-13DOI: 10.1109/CASE.2011.6042434
D. Jasper, S. Fatikow
To date, determining depth information for robotic handling in a scanning electron microscope is a challenging problem without a versatile solution. In this paper, focus-based as well as other depth detection methods are analyzed showing limitations in terms of accuracy and speed. To overcome these limitations, existing focus-based approaches are combined with a new line-scan based position tracking in order to increase both accuarcy and update rate. Using normalized variance as focus measure on each line scan results in well-defined focus curves. The depth from defocus approach exploits the linearity of the normalized variance for defocused objects to facilitate fast coarse positioning. The depth from focus approach determines the peak of the normalized variance during a focus sweep with high accuracy and enables fine positioning using a look-then-move methodology. For the first time, a z-alignment on the nanoscale is implemented solely relying on the SEM's focus information.
{"title":"Fast focus-based depth detection for manipulation in scanning electron microscopes","authors":"D. Jasper, S. Fatikow","doi":"10.1109/CASE.2011.6042434","DOIUrl":"https://doi.org/10.1109/CASE.2011.6042434","url":null,"abstract":"To date, determining depth information for robotic handling in a scanning electron microscope is a challenging problem without a versatile solution. In this paper, focus-based as well as other depth detection methods are analyzed showing limitations in terms of accuracy and speed. To overcome these limitations, existing focus-based approaches are combined with a new line-scan based position tracking in order to increase both accuarcy and update rate. Using normalized variance as focus measure on each line scan results in well-defined focus curves. The depth from defocus approach exploits the linearity of the normalized variance for defocused objects to facilitate fast coarse positioning. The depth from focus approach determines the peak of the normalized variance during a focus sweep with high accuracy and enables fine positioning using a look-then-move methodology. For the first time, a z-alignment on the nanoscale is implemented solely relying on the SEM's focus information.","PeriodicalId":236208,"journal":{"name":"2011 IEEE International Conference on Automation Science and Engineering","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126491751","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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