Pub Date : 2013-07-29DOI: 10.1109/INDIN.2013.6622934
Apala Ray, J. Åkerberg, M. Gidlund, M. Björkman, Christophe Tremlet
The security of industrial plants has gained a lot of importance since the last decade. The reason is that the different components from different network layers of automation systems have become inter-connected to support fast and cost-effective decisions at the management level. This inter-connectivity has posed many security challenges in this industrial segment. To achieve effective security mechanisms in industrial plants, there is a need to learn from other existing domains, matured in terms of security, whether existing matured security solutions can be reused in the industrial automation domain. The financial sector is a segment where security has been carefully managed since a long time, as security is very important for that sector. Therefore it would be beneficial to evaluate the security mechanisms present in financial card readers which are involved in financial transactions because these card readers have many similar characteristics with industrial process control devices. In this paper, the security requirements for both the field devices of industrial plants and card reader terminals of the financial sector have been evaluated to understand the security gap so that we can identify the areas where the security needs of industrial plants must be improved and where some of the existing security features of card reader terminals can be reused in field devices of industrial plants.
{"title":"Reusability assessment of financial card readers' security mechanisms in process control devices","authors":"Apala Ray, J. Åkerberg, M. Gidlund, M. Björkman, Christophe Tremlet","doi":"10.1109/INDIN.2013.6622934","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622934","url":null,"abstract":"The security of industrial plants has gained a lot of importance since the last decade. The reason is that the different components from different network layers of automation systems have become inter-connected to support fast and cost-effective decisions at the management level. This inter-connectivity has posed many security challenges in this industrial segment. To achieve effective security mechanisms in industrial plants, there is a need to learn from other existing domains, matured in terms of security, whether existing matured security solutions can be reused in the industrial automation domain. The financial sector is a segment where security has been carefully managed since a long time, as security is very important for that sector. Therefore it would be beneficial to evaluate the security mechanisms present in financial card readers which are involved in financial transactions because these card readers have many similar characteristics with industrial process control devices. In this paper, the security requirements for both the field devices of industrial plants and card reader terminals of the financial sector have been evaluated to understand the security gap so that we can identify the areas where the security needs of industrial plants must be improved and where some of the existing security features of card reader terminals can be reused in field devices of industrial plants.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"13 1","pages":"494-499"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82806615","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622952
João Bispo, Pedro Pinto, Ricardo Nobre, Tiago Carvalho, João MP Cardoso, P. Diniz
This paper describes MATISSE, a MATLAB to C compiler targeting embedded systems that is based on Strategic and Aspect-Oriented Programming concepts. MATISSE takes as input: (1) MATLAB code and (2) LARA aspects related to types and shapes, code insertion/removal, and specialization based directives defining default variable values. In this paper we also illustrate the use of MATISSE in leveraging data types and shapes to generate customized C code suitable for high-level hardware synthesis tools. The preliminary experimental results presented here reveal the described approach to yield performance results for the resulting hardware and software references implementations that are comparable in terms of performance with hand-crafted solutions but derived automatically at a fraction of the cost.
{"title":"The MATISSE MATLAB compiler","authors":"João Bispo, Pedro Pinto, Ricardo Nobre, Tiago Carvalho, João MP Cardoso, P. Diniz","doi":"10.1109/INDIN.2013.6622952","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622952","url":null,"abstract":"This paper describes MATISSE, a MATLAB to C compiler targeting embedded systems that is based on Strategic and Aspect-Oriented Programming concepts. MATISSE takes as input: (1) MATLAB code and (2) LARA aspects related to types and shapes, code insertion/removal, and specialization based directives defining default variable values. In this paper we also illustrate the use of MATISSE in leveraging data types and shapes to generate customized C code suitable for high-level hardware synthesis tools. The preliminary experimental results presented here reveal the described approach to yield performance results for the resulting hardware and software references implementations that are comparable in terms of performance with hand-crafted solutions but derived automatically at a fraction of the cost.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"6 1","pages":"602-608"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87641096","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622885
Shirley Cavin, P. Ferreira, N. Lohse
In the last years, assembly systems have been challenged by the new market and economic trends, which require more flexible, evolvable, reconfigurable and adaptable manufacturing systems. This scenario has led to the development of new paradigms in the assembly domain. The “Plug & Produce” and modularity concepts along with the use of agent technologies have emerged to support the development of feasible solutions. Among these paradigms is highlighted the concept of Evolvable Assembly Systems (EAS). EAS proposes an agile solution while establishing a “Plug-&-Produce” environment. The introduction of this new approach presents new opportunities for modular assembly configuration methods but also brings new challenges. The work presented in this paper aims to address one of these challenges, the allocation of assembly system capabilities to processes requirements. This challenge emerges from the concept of separating product driven process requirements from the assembly system implementation, in specific functional capabilities to enable the concept of “Plug & Produce” in assembly systems. However, these assembly capabilities should be adequately allocated to fulfil specific product requirements. This paper describes the work carried out to solve the allocation problem of capabilities to the requirements of a particular assembly processes configuration, by proposing a methodology based on a set of rules that are domain specific.
{"title":"Dynamic skill allocation methodology for evolvable assembly systems","authors":"Shirley Cavin, P. Ferreira, N. Lohse","doi":"10.1109/INDIN.2013.6622885","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622885","url":null,"abstract":"In the last years, assembly systems have been challenged by the new market and economic trends, which require more flexible, evolvable, reconfigurable and adaptable manufacturing systems. This scenario has led to the development of new paradigms in the assembly domain. The “Plug & Produce” and modularity concepts along with the use of agent technologies have emerged to support the development of feasible solutions. Among these paradigms is highlighted the concept of Evolvable Assembly Systems (EAS). EAS proposes an agile solution while establishing a “Plug-&-Produce” environment. The introduction of this new approach presents new opportunities for modular assembly configuration methods but also brings new challenges. The work presented in this paper aims to address one of these challenges, the allocation of assembly system capabilities to processes requirements. This challenge emerges from the concept of separating product driven process requirements from the assembly system implementation, in specific functional capabilities to enable the concept of “Plug & Produce” in assembly systems. However, these assembly capabilities should be adequately allocated to fulfil specific product requirements. This paper describes the work carried out to solve the allocation problem of capabilities to the requirements of a particular assembly processes configuration, by proposing a methodology based on a set of rules that are domain specific.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"30 1","pages":"218-223"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90821493","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622867
G. Malaguti, M. Dian, C. Ferraresi, M. Ruggeri
Ethernet is by now the most adopted bus for fast digital communications in many environments, from household entertainment to PLC robotics in industrial assembly lines. Even in automotive industry, the interest in this technology is increasingly growing, pushed forward by much research and basically by the need of high throughput that high dynamics distributed control demands. This paper deals with architectural and technological aspects of advanced Ethernet networks in order to provide a high-throughput deterministic network for in-vehicle distribution control.
{"title":"Comparison on technological opportunities for in-vehicle Ethernet networks","authors":"G. Malaguti, M. Dian, C. Ferraresi, M. Ruggeri","doi":"10.1109/INDIN.2013.6622867","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622867","url":null,"abstract":"Ethernet is by now the most adopted bus for fast digital communications in many environments, from household entertainment to PLC robotics in industrial assembly lines. Even in automotive industry, the interest in this technology is increasingly growing, pushed forward by much research and basically by the need of high throughput that high dynamics distributed control demands. This paper deals with architectural and technological aspects of advanced Ethernet networks in order to provide a high-throughput deterministic network for in-vehicle distribution control.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"54 1","pages":"108-115"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91100240","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622874
T. Dang, Jinho Kim, J. Jeon
Mechatrolink-III is a real-time Ethernet protocol designed to achieve high performance with short cycle time. The Mechatrolink-III protocol includes five communication phases: synchronization, cyclic communication, retry communication, C1 master message communication, and C2 master message communication. These communication phases directly affect the cycle time of Mechatrolink-III. This paper analyzes the real-time performance of the Mechatrolink-III protocol according to cycle time on line and tree topologies. Moreover, we measure parameters that influence these communication phases in our system, and construct a formula to calculate the cycle time based on those parameters.
{"title":"Performance analysis of Mechatrolink-III","authors":"T. Dang, Jinho Kim, J. Jeon","doi":"10.1109/INDIN.2013.6622874","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622874","url":null,"abstract":"Mechatrolink-III is a real-time Ethernet protocol designed to achieve high performance with short cycle time. The Mechatrolink-III protocol includes five communication phases: synchronization, cyclic communication, retry communication, C1 master message communication, and C2 master message communication. These communication phases directly affect the cycle time of Mechatrolink-III. This paper analyzes the real-time performance of the Mechatrolink-III protocol according to cycle time on line and tree topologies. Moreover, we measure parameters that influence these communication phases in our system, and construct a formula to calculate the cycle time based on those parameters.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"10 1","pages":"152-157"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81989459","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622862
M. Mori, Ryoji Kobayashi, M. Samejima, N. Komoda
In supply chain, catastrophic disasters such as earthquakes may prevent procurements from suppliers, which causes losses in retailers. Decentralizing orders and urgent stocks can reduce the losses, but cost the retailer. And, the losses by the catastrophic disasters are uncertain. In order to support planning of decentralizing orders and urgent stocks, we propose the evaluation method of procurement risks that are Conditional Value at Risk (CVaR) of the losses, which are often applied for a rare event causing a heavy loss. Because the uncertain procurement risk is reduced in return for the cost, the proposed method evaluates the decentralizing orders with the urgent stock based on real option approach.
{"title":"An evaluation method of reduced procurement risks by decentralized ordering in supply chain","authors":"M. Mori, Ryoji Kobayashi, M. Samejima, N. Komoda","doi":"10.1109/INDIN.2013.6622862","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622862","url":null,"abstract":"In supply chain, catastrophic disasters such as earthquakes may prevent procurements from suppliers, which causes losses in retailers. Decentralizing orders and urgent stocks can reduce the losses, but cost the retailer. And, the losses by the catastrophic disasters are uncertain. In order to support planning of decentralizing orders and urgent stocks, we propose the evaluation method of procurement risks that are Conditional Value at Risk (CVaR) of the losses, which are often applied for a rare event causing a heavy loss. Because the uncertain procurement risk is reduced in return for the cost, the proposed method evaluates the decentralizing orders with the urgent stock based on real option approach.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"7 1","pages":"80-85"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87187254","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622881
Stefan Windmann, Shuo Jiao, O. Niggemann, H. Borcherding
In the presented work, the detection of anomalous energy consumption in hybrid industrial production systems is investigated. A model-based approach with a timed hybrid automaton as overall system model is employed for anomaly detection. The approach is based on the assumption of several system modes, i.e. phases with continuous system behavior. Transitions between the modes are attributed to discrete control events such as on/off signals. The underlying discrete event system which comprises both system modes and transitions is modeled as finite state machine. The focus of this paper is set on the modeling of the energy consumption in the particular system modes. Sequences of stochastic state space models are employed for this purpose. Model learning and anomaly detection for this approach are considered. The proposed approach is further evaluated in a small model factory. The experimental results show significant improvements compared to existing approaches to anomaly detection in hybrid industrial systems.
{"title":"A stochastic method for the detection of anomalous energy consumption in hybrid industrial systems","authors":"Stefan Windmann, Shuo Jiao, O. Niggemann, H. Borcherding","doi":"10.1109/INDIN.2013.6622881","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622881","url":null,"abstract":"In the presented work, the detection of anomalous energy consumption in hybrid industrial production systems is investigated. A model-based approach with a timed hybrid automaton as overall system model is employed for anomaly detection. The approach is based on the assumption of several system modes, i.e. phases with continuous system behavior. Transitions between the modes are attributed to discrete control events such as on/off signals. The underlying discrete event system which comprises both system modes and transitions is modeled as finite state machine. The focus of this paper is set on the modeling of the energy consumption in the particular system modes. Sequences of stochastic state space models are employed for this purpose. Model learning and anomaly detection for this approach are considered. The proposed approach is further evaluated in a small model factory. The experimental results show significant improvements compared to existing approaches to anomaly detection in hybrid industrial systems.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"10 1","pages":"194-199"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75295770","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622950
José-Inácio Rocha, O. P. Dias, L. Gomes
Dataflow and Petri nets are used in modeling and analyzing streaming applications, which execute indefinitely using limited resources. Therefore it is essential to know if a system model guaranties certain properties, namely, liveness, boundedness or the maximal throughput. Besides, working with hardware/ software co-design techniques helps to define architecture and platform mapping, accommodating static and dynamically reconfigurable components. Over the last two decades a multitude of dataflow domains emerged along with the specificity of the outlined model of computation, in particular the Synchronous Dataflows, which have proved their adequacy in data-dominated systems, and it is nowadays a mature model of computation. This paper describes a set of translating rules allowing the mapping from Synchronous Dataflows into Petri nets. Study on invariants is presented. Signal processing application examples are used, illustrating the effectiveness of Petri net based modeling strategies to optimize digital system design, identifying a schedule that minimizes the amount of storage resource thus improving the systems' power consumption. The proposed approach allows one to know in advance at design stage the maximum potential and effective amount of storage resource at any signal processing system.
{"title":"Exploiting dataflows and Petri nets mappings","authors":"José-Inácio Rocha, O. P. Dias, L. Gomes","doi":"10.1109/INDIN.2013.6622950","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622950","url":null,"abstract":"Dataflow and Petri nets are used in modeling and analyzing streaming applications, which execute indefinitely using limited resources. Therefore it is essential to know if a system model guaranties certain properties, namely, liveness, boundedness or the maximal throughput. Besides, working with hardware/ software co-design techniques helps to define architecture and platform mapping, accommodating static and dynamically reconfigurable components. Over the last two decades a multitude of dataflow domains emerged along with the specificity of the outlined model of computation, in particular the Synchronous Dataflows, which have proved their adequacy in data-dominated systems, and it is nowadays a mature model of computation. This paper describes a set of translating rules allowing the mapping from Synchronous Dataflows into Petri nets. Study on invariants is presented. Signal processing application examples are used, illustrating the effectiveness of Petri net based modeling strategies to optimize digital system design, identifying a schedule that minimizes the amount of storage resource thus improving the systems' power consumption. The proposed approach allows one to know in advance at design stage the maximum potential and effective amount of storage resource at any signal processing system.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"9 1","pages":"590-595"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73683326","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6889116
G. Keramidas, Stephan Wong, Fakhar Anjam, Anthony Brandon, Roel Seedorf, Claudio Scordino, L. Carro, D. Matos, R. Giorgi, Stamatis Kavvadias, S. Mckee, Bhavishya Goel, Vasileios Spiliopoulos
The growing complexity and diversity of embedded systems-combined with continuing demands for higher performance and lower power consumption-places increasing pressure on embedded platforms designers. The target of the ERA project is to offer a holistic, multi-dimensional methodology to address these problems in a unified framework exploiting the inter- and intra-synergism between the reconfigurable hardware (core, memory, and network resources), the reconfigurable software (compiler and tools), and the run-time system. Starting from the hardware level, we design our platform via a structured approach that allows integration of reconfigurable computing elements, network fabrics, and memory hierarchy components. These hardware elements can adapt their composition, organization, and even instruction-set architectures to exploit tradeoffs in performance and power. Appropriate hardware resources can be selected both statically at design time and dynamically at run time. Hardware details are exposed to our custom operating system, our custom runtime system, and our adaptive compiler, and are even visible all the way up to the application level. The design philosophy followed in the ERA project proved efficient enough not only to enable a better choice of power/performance trade-offs but also to support fast platform prototyping of high-efficiency embedded system designs. In this paper, we present a brief overview of the design approach, the major outcomes, and the lessons learned in the ERA project.
{"title":"Embedded reconfigurable computing: the ERA approach","authors":"G. Keramidas, Stephan Wong, Fakhar Anjam, Anthony Brandon, Roel Seedorf, Claudio Scordino, L. Carro, D. Matos, R. Giorgi, Stamatis Kavvadias, S. Mckee, Bhavishya Goel, Vasileios Spiliopoulos","doi":"10.1109/INDIN.2013.6889116","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6889116","url":null,"abstract":"The growing complexity and diversity of embedded systems-combined with continuing demands for higher performance and lower power consumption-places increasing pressure on embedded platforms designers. The target of the ERA project is to offer a holistic, multi-dimensional methodology to address these problems in a unified framework exploiting the inter- and intra-synergism between the reconfigurable hardware (core, memory, and network resources), the reconfigurable software (compiler and tools), and the run-time system. Starting from the hardware level, we design our platform via a structured approach that allows integration of reconfigurable computing elements, network fabrics, and memory hierarchy components. These hardware elements can adapt their composition, organization, and even instruction-set architectures to exploit tradeoffs in performance and power. Appropriate hardware resources can be selected both statically at design time and dynamically at run time. Hardware details are exposed to our custom operating system, our custom runtime system, and our adaptive compiler, and are even visible all the way up to the application level. The design philosophy followed in the ERA project proved efficient enough not only to enable a better choice of power/performance trade-offs but also to support fast platform prototyping of high-efficiency embedded system designs. In this paper, we present a brief overview of the design approach, the major outcomes, and the lessons learned in the ERA project.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"2 1","pages":"827-832"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81179990","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 : 2013-07-29DOI: 10.1109/INDIN.2013.6622907
P. R. Kumar, B. Bandyopadhyay
A Stewart platform manipulator is 6 degrees of freedom parallel robot with a superior performance over serial robots. The forward kinematic problem of a Stewart platform is to determine the actual position and orientation of the movable platform with respect to the base for a given set of leg lengths. The existing analytical methods to solve this problem give multiple solutions, out of which an exact and practical solution has to be selected. A novel method based on non linear autoregressive model with exogenous input (NLARX) using wavelet network is proposed in this paper for the identification of forward kinematic model of a Stewart platform. For a given position of the platform, the leg lengths are estimated using inverse kinematics. This information is used to identify and validate the NLARX model. The simulation results show the ability of the estimated NLARX model to represent the dynamic behavior of the Stewart platform in the forward kinematic mode.
{"title":"The forward kinematic modeling of a Stewart platform using NLARX model with wavelet network","authors":"P. R. Kumar, B. Bandyopadhyay","doi":"10.1109/INDIN.2013.6622907","DOIUrl":"https://doi.org/10.1109/INDIN.2013.6622907","url":null,"abstract":"A Stewart platform manipulator is 6 degrees of freedom parallel robot with a superior performance over serial robots. The forward kinematic problem of a Stewart platform is to determine the actual position and orientation of the movable platform with respect to the base for a given set of leg lengths. The existing analytical methods to solve this problem give multiple solutions, out of which an exact and practical solution has to be selected. A novel method based on non linear autoregressive model with exogenous input (NLARX) using wavelet network is proposed in this paper for the identification of forward kinematic model of a Stewart platform. For a given position of the platform, the leg lengths are estimated using inverse kinematics. This information is used to identify and validate the NLARX model. The simulation results show the ability of the estimated NLARX model to represent the dynamic behavior of the Stewart platform in the forward kinematic mode.","PeriodicalId":6312,"journal":{"name":"2013 11th IEEE International Conference on Industrial Informatics (INDIN)","volume":"37 1","pages":"343-348"},"PeriodicalIF":0.0,"publicationDate":"2013-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86355811","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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