Pub Date : 2006-09-01DOI: 10.1109/ETFA.2006.355345
E. Canuto, F. Musso
Embedded model control (EMC) methodology is applied to the Web winding control problem. The central task is the design of the embedded model (EM), which is the core of the control unit. The winding EM has been constructed in a companion paper. Control algorithms can be shown to act and to be designed as interfaces between EM and the plant command and output channels. Specifically the output-to-EM interface, the measurement law, is just in charge of updating the disturbance dynamics, by disentangling noise and neglected dynamics from the model error. In this respect EMC, while exploiting modern control theories, significantly departs from traditional model-based design as internal model control. EMC application to winding process is detailed and the relevant performance is compared to literature
{"title":"Embedded Model Control: Application to Web Winding. Part II: Digital Control","authors":"E. Canuto, F. Musso","doi":"10.1109/ETFA.2006.355345","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355345","url":null,"abstract":"Embedded model control (EMC) methodology is applied to the Web winding control problem. The central task is the design of the embedded model (EM), which is the core of the control unit. The winding EM has been constructed in a companion paper. Control algorithms can be shown to act and to be designed as interfaces between EM and the plant command and output channels. Specifically the output-to-EM interface, the measurement law, is just in charge of updating the disturbance dynamics, by disentangling noise and neglected dynamics from the model error. In this respect EMC, while exploiting modern control theories, significantly departs from traditional model-based design as internal model control. EMC application to winding process is detailed and the relevant performance is compared to literature","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115672449","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355387
M. Kuhl, R. Neugebauer
Quality monitoring is necessary for a stable manufacturing, especially in the case of laser welding processes. During the project a system was developed which allows the analysis of in process data by fuzzy pattern recognition methods. This resulted in improved prediction of seam irregularities as compared with conventional methods. The work was carried out in the framework of the MAINE cooperative project funded by the Free State of Saxony.
{"title":"Quality and Process Control of Nd: YAG - Laser Welding Using fuzzy Pattern Recognition Techniques for Multisensor Systems","authors":"M. Kuhl, R. Neugebauer","doi":"10.1109/ETFA.2006.355387","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355387","url":null,"abstract":"Quality monitoring is necessary for a stable manufacturing, especially in the case of laser welding processes. During the project a system was developed which allows the analysis of in process data by fuzzy pattern recognition methods. This resulted in improved prediction of seam irregularities as compared with conventional methods. The work was carried out in the framework of the MAINE cooperative project funded by the Free State of Saxony.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114509849","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355236
F. Valdés, F. Espinosa, AbdelBaset M. H. Awawdeh, Julio Pastor
This work presents a trajectory generation strategy used for merging and splitting maneuvers of a platoon of vehicles formed in urban environments. Using the reference trajectory defined and marked by the lead unit, and using pre-defined locations of the parking areas outside this trajectory, a solution sets out that fixes the way to follow for the units that require to separate (split) or to connect (merge) the convoy. The proposal is based on arcs of circumference adapted to the kinematics constrains of the vehicle for initial and final stretches, and on a tangent line to these circumferences to minimize the path distance. In addition the maneuver trajectory includes one static end (park point) and another dynamic end which is determined based on the relation between the maneuver trajectory and the convoy trajectory. All of that is part of the strategy designed for platooning guidance in transport scenarios characterized by low speeds (up to 50 Km/h) and with hard nonlinearities as much in the reference trajectory as in the maneuver one.
{"title":"Routes for Splitting and Merging Maneuvers of Platoon Followers in Urban Environments","authors":"F. Valdés, F. Espinosa, AbdelBaset M. H. Awawdeh, Julio Pastor","doi":"10.1109/ETFA.2006.355236","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355236","url":null,"abstract":"This work presents a trajectory generation strategy used for merging and splitting maneuvers of a platoon of vehicles formed in urban environments. Using the reference trajectory defined and marked by the lead unit, and using pre-defined locations of the parking areas outside this trajectory, a solution sets out that fixes the way to follow for the units that require to separate (split) or to connect (merge) the convoy. The proposal is based on arcs of circumference adapted to the kinematics constrains of the vehicle for initial and final stretches, and on a tangent line to these circumferences to minimize the path distance. In addition the maneuver trajectory includes one static end (park point) and another dynamic end which is determined based on the relation between the maneuver trajectory and the convoy trajectory. All of that is part of the strategy designed for platooning guidance in transport scenarios characterized by low speeds (up to 50 Km/h) and with hard nonlinearities as much in the reference trajectory as in the maneuver one.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114527491","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355444
R. Bartosinski, Z. Hanzálek, L. Waszniowski, P. Struzka
This paper discuses advantages of using automatically generated code in the development cycle of control embedded software. Since the Matlab development tool chain has become standard in the control applications development, we focus on its facilities for code generation. As the Matlab main weakness is identified a poor support for handling hardware devices of a target microcontroller. Since there exists processor expert, an excellent tool for microcontrollers' hardware resources management and design at high level, we bring radical improvement of Matlab facilities for handling controller hardware by integrating processor expert to the Matlab Simulink environment. We present developed block set and processor expert real-time target for Matlab real-time workshop embedded coder.
{"title":"Processor Expert Enhances Matlab Simulink Facilities for Embedded Software Rapid Development","authors":"R. Bartosinski, Z. Hanzálek, L. Waszniowski, P. Struzka","doi":"10.1109/ETFA.2006.355444","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355444","url":null,"abstract":"This paper discuses advantages of using automatically generated code in the development cycle of control embedded software. Since the Matlab development tool chain has become standard in the control applications development, we focus on its facilities for code generation. As the Matlab main weakness is identified a poor support for handling hardware devices of a target microcontroller. Since there exists processor expert, an excellent tool for microcontrollers' hardware resources management and design at high level, we bring radical improvement of Matlab facilities for handling controller hardware by integrating processor expert to the Matlab Simulink environment. We present developed block set and processor expert real-time target for Matlab real-time workshop embedded coder.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115797776","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355432
Jean-Luc Béchennec, M. Briday, S. Faucou, Y. Trinquet
This paper introduces an OSEK/VDX operating system implementation. OSEK/VDX is an industry standard for real-time operating system used in the field of automotive embedded software. This implementation is proposed in the context of the open source software, which interest needs not to be demonstrated any more. The paper explains the main implementation choices as well as the technique proposed for the generation of a real-time application. This implementation is nowadays available for three targets: Infineon C167, Darwin/PowerPC and Linux/x86.
{"title":"Trampoline An Open Source Implementation of the OSEK/VDX RTOS Specification","authors":"Jean-Luc Béchennec, M. Briday, S. Faucou, Y. Trinquet","doi":"10.1109/ETFA.2006.355432","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355432","url":null,"abstract":"This paper introduces an OSEK/VDX operating system implementation. OSEK/VDX is an industry standard for real-time operating system used in the field of automotive embedded software. This implementation is proposed in the context of the open source software, which interest needs not to be demonstrated any more. The paper explains the main implementation choices as well as the technique proposed for the generation of a real-time application. This implementation is nowadays available for three targets: Infineon C167, Darwin/PowerPC and Linux/x86.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116172082","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355214
V. Silva, J. Ferreira, J. Fonseca
The controller area network (CAN) protocol was initially developed for the automotive industry to support low-level communication services between modules in distributed car control systems. Nowadays CAN is used in many other real-time applications, some of them requiring dependable behavior. When designing CAN based dependable systems the bus topology of CAN is a single point of failure that needs to be addressed either through bus replication or by adopting alternative topologies with better fault-tolerance capabilities, e.g., star topologies. This paper proposes a set of components, an architecture and protocols to enable the dynamic management of the topology of CAN networks made of several replicated buses, both to increase the total available bandwidth and to reconfigure the network upon bus permanent error. In many operational scenarios, the proposed solution could be plugged into existing systems to improve its resilience to bus permanent errors, without changing the code running in the nodes.
{"title":"Dynamic Topology Management in CAN","authors":"V. Silva, J. Ferreira, J. Fonseca","doi":"10.1109/ETFA.2006.355214","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355214","url":null,"abstract":"The controller area network (CAN) protocol was initially developed for the automotive industry to support low-level communication services between modules in distributed car control systems. Nowadays CAN is used in many other real-time applications, some of them requiring dependable behavior. When designing CAN based dependable systems the bus topology of CAN is a single point of failure that needs to be addressed either through bus replication or by adopting alternative topologies with better fault-tolerance capabilities, e.g., star topologies. This paper proposes a set of components, an architecture and protocols to enable the dynamic management of the topology of CAN networks made of several replicated buses, both to increase the total available bandwidth and to reconfigure the network upon bus permanent error. In many operational scenarios, the proposed solution could be plugged into existing systems to improve its resilience to bus permanent errors, without changing the code running in the nodes.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"108 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114896079","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355198
O. Rose
In this paper, we present a method to automate the manual process of optimizing a semiconductor wafer fabrication environment with regard to tool and operator costs. We use the simulator factory explorer for evaluation of the common performance measures. First, we provide a short introduction about the challenges of planning and optimizing a complete factory. After that we outline a six step algorithm that mimics the optimization process used by human planners for factory cost minimization for a given target output. The amount of time needed for optimization can be reduced considerably through this approach compared to performing this task manually.
{"title":"Implementation of a Simulation-Based Optimizer for Semiconductor Wafer Factories","authors":"O. Rose","doi":"10.1109/ETFA.2006.355198","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355198","url":null,"abstract":"In this paper, we present a method to automate the manual process of optimizing a semiconductor wafer fabrication environment with regard to tool and operator costs. We use the simulator factory explorer for evaluation of the common performance measures. First, we provide a short introduction about the challenges of planning and optimizing a complete factory. After that we outline a six step algorithm that mimics the optimization process used by human planners for factory cost minimization for a given target output. The amount of time needed for optimization can be reduced considerably through this approach compared to performing this task manually.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126369918","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355451
Jorge Costa, Filipe Dias, R. Araújo
Localization is an important problem in autonomous mobile robots navigation. To solve this problem, robots must also be able to learn, maintain and update models of their environments. This paper describes a full implementation of a simultaneous localization and map building (SLAM) method. SLAM is the problem of an autonomous vehicle starting at an unknown position which then incrementally builds a world map and estimates the robot absolute pose according to the map. An extended Kalman filter (EKF) is used for estimation and data fusion. For perception, the method combines an adaptive break point detector, first and second order analysis, and the RANSAC algorithm for robust fitting of laser scan data in order to extract a model composed of line segments and their uncertainty. A dynamic cache is proposed and introduced in the world model in order to speedup the map search in the measurement prediction and feature matching phases of SLAM. Experimental results of simulation and real-robot experiments with a Nomad 200 are presented demonstrating the effectiveness of the SLAM methods and improvements attained with the cache of feature method.
{"title":"Simultaneous Localization and Map Building by Integrating a Cache of Features","authors":"Jorge Costa, Filipe Dias, R. Araújo","doi":"10.1109/ETFA.2006.355451","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355451","url":null,"abstract":"Localization is an important problem in autonomous mobile robots navigation. To solve this problem, robots must also be able to learn, maintain and update models of their environments. This paper describes a full implementation of a simultaneous localization and map building (SLAM) method. SLAM is the problem of an autonomous vehicle starting at an unknown position which then incrementally builds a world map and estimates the robot absolute pose according to the map. An extended Kalman filter (EKF) is used for estimation and data fusion. For perception, the method combines an adaptive break point detector, first and second order analysis, and the RANSAC algorithm for robust fitting of laser scan data in order to extract a model composed of line segments and their uncertainty. A dynamic cache is proposed and introduced in the world model in order to speedup the map search in the measurement prediction and feature matching phases of SLAM. Experimental results of simulation and real-robot experiments with a Nomad 200 are presented demonstrating the effectiveness of the SLAM methods and improvements attained with the cache of feature method.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124139341","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355226
V. Deligiannis, S. Manesis
This paper deals with the modeling of a batching and mixing plant for concrete. Such plants are hybrid systems since they are described by both discrete and continuous variables. For building system model, a recently proposed hyper-class of hybrid automata was used. This method provides greater modeling power compared with conventional methods, being suitable for modeling analysis of a wider variety of systems. The model described entails a hierarchical model with an automaton as supervisor and several other automata controlling each system's part.
{"title":"Automata Based Modeling for Batching and Mixing Plants for Concrete","authors":"V. Deligiannis, S. Manesis","doi":"10.1109/ETFA.2006.355226","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355226","url":null,"abstract":"This paper deals with the modeling of a batching and mixing plant for concrete. Such plants are hybrid systems since they are described by both discrete and continuous variables. For building system model, a recently proposed hyper-class of hybrid automata was used. This method provides greater modeling power compared with conventional methods, being suitable for modeling analysis of a wider variety of systems. The model described entails a hierarchical model with an automaton as supervisor and several other automata controlling each system's part.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121529703","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 : 2006-09-01DOI: 10.1109/ETFA.2006.355370
Danillo Moura Santos, R. Matos, A. A. Fröhlich, R. Cancian
Nowadays development strategies are not suitable for the design of many embedded systems applications, because they do not guide the developer in the use of nowadays software engineering concepts as aspects and generic programming. The present work shows the pros and cons of application-oriented system design (AOSD) strategy used in the design of a case study embedded system, aiming at AOSD methodology improvement. The disadvantages found in this case study may contribute to improve hardware generation according to AOSD.
{"title":"Application-Oriented System Design as an Embedded Systems Development Strategy: a critical analysis","authors":"Danillo Moura Santos, R. Matos, A. A. Fröhlich, R. Cancian","doi":"10.1109/ETFA.2006.355370","DOIUrl":"https://doi.org/10.1109/ETFA.2006.355370","url":null,"abstract":"Nowadays development strategies are not suitable for the design of many embedded systems applications, because they do not guide the developer in the use of nowadays software engineering concepts as aspects and generic programming. The present work shows the pros and cons of application-oriented system design (AOSD) strategy used in the design of a case study embedded system, aiming at AOSD methodology improvement. The disadvantages found in this case study may contribute to improve hardware generation according to AOSD.","PeriodicalId":431393,"journal":{"name":"2006 IEEE Conference on Emerging Technologies and Factory Automation","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124785032","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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