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2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )最新文献

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Adopting Microservices for Industrial Control Systems: A Five Step Migration Path 工业控制系统采用微服务:五步迁移路径
Georg Buchgeher, R. Ramler, Heinz Stummer, H. Kaufmann
Microservices are widely used by large internet companies as they support scalable systems with high resilience and fault-tolerance, flexible and agile development, and continuous delivery enabling fast time to market. Hence, there is an increasing interest in adopting microservices in the field of industrial automation. This raises the question, if and to what degree this architectural style can also be applied for the development of industrial control systems (ICS). In this paper, we have systematically analyzed the applicability of microservices for ICS development. Together with domain experts from industry, we have developed a migration path from a monolithic ICS towards cloud-ready systems based on microservices. By studying the central principles for microservice development and operation, we found that microservices can be applied in the context of ICS and the use of microservices leads to increased flexibility with regard to frequent software releases and the development of new deployment variants. However, communication between real-time services is still an open research challenge that poses a potential technical risk in the migration towards adopting full microservice-based system architectures.
微服务被大型互联网公司广泛使用,因为它们支持具有高弹性和容错、灵活敏捷开发和持续交付的可扩展系统,从而实现快速上市。因此,人们对在工业自动化领域采用微服务越来越感兴趣。这就提出了一个问题,这种架构风格是否以及在多大程度上也可以应用于工业控制系统(ICS)的开发。本文系统地分析了微服务在ICS开发中的适用性。与行业领域专家一起,我们开发了一条从单片ICS到基于微服务的云就绪系统的迁移路径。通过研究微服务开发和运行的核心原则,我们发现微服务可以应用于ICS环境,微服务的使用增加了软件频繁发布和新部署变体开发的灵活性。然而,实时服务之间的通信仍然是一个开放的研究挑战,它在采用完全基于微服务的系统架构的迁移中构成了潜在的技术风险。
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引用次数: 0
Online Energy-Optimal Timing of Stochastic Robot Stations 随机机器人站在线能量优化时序
Mattias Hovgard, B. Lennartson, Kristofer Bengtsson
This paper investigates the problem of reducing the energy use of the movements of robots in industrial robot stations that have variations in execution times. An online method is presented that repeatedly solves an optimization problem during the execution of the station, that tries to minimize the energy use by finding the optimal execution times of the robot movements while at the same ensuring that the deadline of the station is met with a high enough probability. The method involves reformulating the original optimization problem, which is stochastic and nonlinear, into a convex version that can be solved efficiently. The method is tested on a simulated robot station and the result shows that the method is fast enough to be useable online and reduces the energy use of the station.
本文研究了在具有不同执行时间的工业机器人工位中,如何减少机器人运动的能量消耗问题。提出了一种在线方法,该方法在工位执行过程中反复求解优化问题,通过寻找机器人运动的最佳执行次数来最小化能量消耗,同时保证有足够高的概率满足工位的截止日期。该方法将原来的随机非线性优化问题转化为可有效求解的凸型优化问题。在仿真机器人工作站上进行了测试,结果表明该方法速度快,可以在线使用,并且降低了工作站的能耗。
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引用次数: 1
Synchronization network of data models in the process industry 过程工业中数据模型的同步网络
Julian Rahm, Daniel Henselmann, L. Urbas
In the process industry, ongoing digitization is leading to a considerable information exchange over the entire life cycle of a process plant. Data models are usually created in the initial planning phases and these change continuously with further progress including the planning phase itself, plant adaptations after commissioning, and maintenance. The various models from the disciplines involved have a considerable semantic overlap, creating dependencies. Changes in one model inevitably lead to changes in another. This paper presents an approach for networking and synchronization between data models based on these overlaps. The resulting synchronization network provides models which are as free of inconsistencies as possible across different disciplines at any point in time. In addition, first approaches for collaborative conflict resolution are presented. Approaches from model-driven software development and web technologies are adapted to the application domain of the process industry. Typical information models created during the planning phase of a process engineering plant serve as an example.
在过程工业中,正在进行的数字化正在导致过程工厂整个生命周期中大量的信息交换。数据模型通常是在初始规划阶段创建的,这些模型会随着规划阶段本身、调试后的设备调整和维护等进一步的进展而不断变化。来自相关学科的各种模型具有相当大的语义重叠,从而产生依赖性。一个模型的变化不可避免地导致另一个模型的变化。本文提出了一种基于这些重叠的数据模型之间的联网和同步方法。由此产生的同步网络提供了在任何时间点跨不同学科尽可能避免不一致性的模型。此外,还提出了协作解决冲突的第一种方法。来自模型驱动软件开发和web技术的方法适用于过程工业的应用领域。在流程工程工厂的规划阶段创建的典型信息模型就是一个例子。
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引用次数: 1
Optimized Path Planning by Adaptive RRT* Algorithm for Constrained Environments Considering Energy 考虑能量约束环境下自适应RRT*算法优化路径规划
S. Ramasamy, K. Eriksson, Balasubramanian Perumal, Saptha Peralippatt, F. Danielsson
Optimized path planning of robots are necessary for the industries to thrive towards greater flexibility and sustainability. This paper proposes an implementation of a collision-free path with the shortest distance. The novelty of the work presented is the new ARRT*(Adaptive Rapidly exploring Random Tree Star) algorithm, which is modified from the RRT*(Rapidly exploring Random Tree Star). In a constraint environment, RRT* algorithms tend to fail when searching for suitable collision-free paths. The proposed ARRT* algorithm gives an optimized feasible collision-free paths in a constraint environment. The feasibility to implement RRT* and ARRT* in a Multi Agent System as a path agent for online control of robots is demonstrated. We have created a digital twin simulated environment to find a collision-free path based on these two algorithms. The simulated path is tested in real robots for feasibility and validation purpose. During the real time implementation, we measured the following parameters: the algorithm computation time for generating a collision-free path, move along time of the path in real time, and energy consumed by each path. These parameters were measured for both the RRT* and the ARRT* algorithms and the test results were compared. The test results were showing that ARRT* performs better in a constrained environment. Both algorithms were tested in a Plug and Produce setup and we find that the generated paths for both algorithms are suitable for online path planning applications.
机器人的路径优化规划是工业向更大的灵活性和可持续性发展的必要条件。本文提出了一种最短距离无碰撞路径的实现方法。该研究的新颖之处在于在RRT*(快速探索随机树星)的基础上改进了新的ARRT*(自适应快速探索随机树星)算法。在约束环境下,RRT*算法在寻找合适的无冲突路径时容易失败。提出的ARRT*算法给出了约束环境下可行无碰撞路径的优化。论证了在多智能体系统中实现RRT*和ARRT*作为路径智能体用于机器人在线控制的可行性。基于这两种算法,我们创建了一个数字孪生模拟环境来寻找无碰撞路径。仿真路径在真实机器人上进行了可行性和验证。在实时实现过程中,我们测量了以下参数:生成无碰撞路径的算法计算时间,实时沿路径移动的时间,以及每条路径消耗的能量。测量RRT*和ARRT*算法的这些参数,并比较测试结果。测试结果显示,ARRT*在受限的环境中表现更好。两种算法都在Plug and Produce设置中进行了测试,我们发现两种算法生成的路径都适合在线路径规划应用。
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引用次数: 0
Function call gateway for operational aspects in Industrie 4.0 工业4.0操作方面的功能调用网关
Nico Braunisch, Sven Schlesinger, R. Lehmann
In this paper, we present our approach towards a modular and adaptable IoT gateway for operational data and functions in the use case of retrofitting brownfield installation for industrie 4.0. The aim is to enable the existing operational technology installation to provide accessible function endpoints that can be triggered by modern IT services. To fulfill the high demands of flexibility in the IT and the requirements towards time-critical response in the OT a highly decoupled architecture employing a streaming platform is proposed. In perspective to mediating between synchronous interaction in functional aspects and asynchronous behavior in OT-IT communication a function call gateway resolves this issue with the support of a highperformance RPC framework. For the concept to be useful for a wide range of retrofitted OT, design principles and modeling standards of Industrie 4.0 are used.
在本文中,我们提出了一种模块化和适应性强的物联网网关的方法,用于改造工业4.0棕地安装的用例中的操作数据和功能。其目的是使现有的操作技术安装能够提供可由现代IT服务触发的可访问的功能端点。为了满足IT对灵活性的高要求和OT对时间关键响应的要求,提出了一种采用流平台的高度解耦架构。从在功能方面的同步交互和OT-IT通信中的异步行为之间进行协调的角度来看,函数调用网关通过高性能RPC框架的支持解决了这个问题。为了使该概念适用于广泛的改装OT,使用了工业4.0的设计原则和建模标准。
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引用次数: 0
TOPNAV: Efficiently Navigating through Industrial Process Plant Topologies TOPNAV:通过工业过程工厂拓扑有效导航
Andreas Berlet, Julius Rückert, H. Koziolek, R. Drath, Mike Barth
Process engineers design industrial process plants using piping and instrumentation diagrams (P&IDs). Today, data analysts who diagnose plant disturbances based on historical signal trends usually analyze these complex diagrams manually on paper, which is time-consuming and error-prone. In the last 15 years, researchers have thus proposed several approaches and tools to turn these diagrams into machine-readable models that can be processed by software tools. Yet, these tools lack sophisticated query interfaces and intuitive visualizations. We propose the method TOPNAV to navigate plant topology models and aid data analytics. The method supports systematic searching for elements and paths in topology models and feeding the results into analytical tools to facilitate statistical analyses. In a user study, an up to 90% time reduction was observed compared to manual P&ID analysis, while reducing errors significantly.
工艺工程师使用管道和仪表图(p&id)设计工业工艺装置。如今,根据历史信号趋势诊断植物干扰的数据分析师通常在纸上手动分析这些复杂的图表,这既耗时又容易出错。因此,在过去的15年里,研究人员提出了几种方法和工具,将这些图转换为可以由软件工具处理的机器可读模型。然而,这些工具缺乏复杂的查询接口和直观的可视化。我们提出了TOPNAV方法来导航植物拓扑模型和辅助数据分析。该方法支持系统地搜索拓扑模型中的元素和路径,并将结果提供给分析工具,以方便统计分析。在一项用户研究中,与手动P&ID分析相比,最多可减少90%的时间,同时显著减少错误。
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引用次数: 3
Towards the Representation of Cross-Domain Quality Knowledge for Efficient Data Analytics 面向高效数据分析的跨领域质量知识表示
S. Kropatschek, Thorsten Steuer, Elmar Kiesling, Kristof Meixner, Thom W. Frühwirth, Patrik Sommer, Daniel Schachinger, S. Biffl
In Cyber-physical Production System (CPPS) engineering, data analysts and domain experts collaborate to identify likely causes for quality issues. Industry 4.0 production assets can provide a wealth of data for analysis, making it difficult to identify the most relevant data. Because data analysts typically do not posses detailed knowledge of the production process, a key challenge is to discover potential causes that impact product quality with various experts, as knowledge about production processes is typically distributed across various domains. To address this, we highlight the need for cross-domain modelling and outline an approach for effective and efficient quality analysis. Specifically, we introduce the Quality Dependency Graph (QDG) to represent cross-domain knowledge dependencies for efficiently prioritizing data sources. We evaluate the QDG in a feasibility study based on a real-world use case in the automotive industry.
在信息物理生产系统(CPPS)工程中,数据分析师和领域专家合作确定质量问题的可能原因。工业4.0生产资产可以为分析提供丰富的数据,这使得识别最相关的数据变得困难。由于数据分析师通常不具备生产过程的详细知识,因此一个关键的挑战是与不同的专家一起发现影响产品质量的潜在原因,因为有关生产过程的知识通常分布在不同的领域。为了解决这个问题,我们强调了跨领域建模的必要性,并概述了一种有效和高效的质量分析方法。具体来说,我们引入了质量依赖图(QDG)来表示跨领域的知识依赖关系,以便有效地对数据源进行优先级排序。我们在基于汽车行业实际用例的可行性研究中评估QDG。
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引用次数: 5
Realization of a Database-Driven Control System Using a CMAC 基于CMAC的数据库驱动控制系统的实现
Zhifeng Li, Zhe Guan, Toru Yamamoto, S. Omatsu
As a nonlinear control algorithm, database-driven PID control (DD-PID) approach has been proposed to learn PID parameters based on a database. This method is based on a strategy in which PID parameters are determined based on neighboring data extracted based on the similarity between the query (current input/output data) and the information vector contained in the database. Since sorting operation is required in extracting the neighbor data, it is impossible to finish the calculation within a certain sampling interval for systems with fast response time, which is one of the hindrances in industrial applications. In addition, the DD-PID requires a large amount of storage memory in the database in order to obtain the desired control performance. On the other hand, one of the neural networks is the cerebellar model articulation controller (CMAC). It is a table-referenced adaptive learning controller. The major advantage of this method lies in the reduction of memory and computational load. This paper discusses a realization of the DD-PID by effectively utilizing the advantage of the CMAC.
数据库驱动PID控制(DD-PID)是一种基于数据库学习PID参数的非线性控制算法。该方法基于一种策略,即根据查询(当前输入/输出数据)与数据库中包含的信息向量之间的相似性提取的相邻数据来确定PID参数。由于提取邻域数据需要进行排序操作,对于响应时间较快的系统,不可能在一定的采样间隔内完成计算,这是工业应用的障碍之一。此外,为了获得理想的控制性能,DD-PID需要在数据库中占用大量的存储内存。另一方面,其中一种神经网络是小脑模型关节控制器(CMAC)。它是一种表参考自适应学习控制器。该方法的主要优点在于减少了内存和计算量。本文讨论了一种有效利用CMAC的优势实现DD-PID的方法。
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引用次数: 0
Using UPPAAL to Verify Recovery in a Fault-tolerant Mechanism Providing Persistent State at the Edge 在提供边缘持久状态的容错机制中使用UPPAAL验证恢复
Z. Bakhshi, G. Rodríguez-Navas, H. Hansson
In our previous work we proposed a fault-tolerant persistent storage for container-based fog architecture. We leveraged the use of containerization to provide storage as a containerized application working along with other containers. As a fault-tolerance mechanism we introduced a replicated data structure and to solve consistency issue between the replicas distributed in the cluster of nodes, we used the RAFT consensus protocol. In this paper, we verify our proposed solution using the UPPAAL model checker. We explain how our solution is modeled in UPPAAL and present a formal verification of key properties related to persistent storage and data consistency between nodes.
在我们之前的工作中,我们为基于容器的雾架构提出了容错持久存储。我们利用容器化的使用,将存储提供为与其他容器一起工作的容器化应用程序。作为一种容错机制,我们引入了复制数据结构,并使用RAFT共识协议来解决分布在节点集群中的副本之间的一致性问题。在本文中,我们使用UPPAAL模型检查器验证了我们提出的解决方案。我们将解释如何在UPPAAL中对我们的解决方案进行建模,并对与节点之间的持久存储和数据一致性相关的关键属性进行形式化验证。
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引用次数: 3
A concept towards the evolution and versioning of aggregated information models 关于聚合信息模型的演进和版本控制的概念
Sebastian Schmied, Daniel Grossmann, Selvine G. Mathias, Ralph Klaus Müller
Information models are defined as a comprehensive semantic description of data within a production system. These systems underlay a constant change. Therefore, the corresponding information models are also subject to continuous evolution. This paper shows approaches for the versioning compliant design of information models and their implementation as well as support strategies to assist such changes.
信息模型被定义为对生产系统中数据的全面语义描述。这些系统是不断变化的基础。因此,相应的信息模型也在不断演化。本文展示了符合版本控制的信息模型设计及其实现的方法,以及协助此类更改的支持策略。
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引用次数: 0
期刊
2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA )
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