Pub Date : 2016-11-07DOI: 10.1109/ETFA.2016.7733583
I. Maurtua, N. Pedrocchi, Andrea Orlandini, J. Gea, Christian Vogel, A. Geenen, K. Althoefer, A. Shafti
Since December 2014, FourByThree Project (“Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications”) is developing a new generation of modular industrial robotic solutions that are suitable for efficient task execution in collaboration with humans in a safe way and are easy to use and program by factory workers. This paper summarizes the key technologies that are used to achieve this goal.
{"title":"FourByThree: Imagine humans and robots working hand in hand","authors":"I. Maurtua, N. Pedrocchi, Andrea Orlandini, J. Gea, Christian Vogel, A. Geenen, K. Althoefer, A. Shafti","doi":"10.1109/ETFA.2016.7733583","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733583","url":null,"abstract":"Since December 2014, FourByThree Project (“Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications”) is developing a new generation of modular industrial robotic solutions that are suitable for efficient task execution in collaboration with humans in a safe way and are easy to use and program by factory workers. This paper summarizes the key technologies that are used to achieve this goal.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73436342","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 : 2016-11-03DOI: 10.1109/ETFA.2016.7733650
Hasan Derhamy, Dmitrii Drozdov, Sandeep Patil, J. V. Deventer, J. Eliasson, V. Vyatkin
This paper presents a novel approach to automation of flexible manufacturing systems with mechatronic intelligence and distributed control. The mechatronic intelligence layer is implemented using a combination of wireless sensor/actuator networks with service-oriented architecture, where services are located at the device level, as well as in local and global Clouds following the Arrowhead framework.
{"title":"Orchestration of Arrowhead services using IEC 61499: Distributed automation case study","authors":"Hasan Derhamy, Dmitrii Drozdov, Sandeep Patil, J. V. Deventer, J. Eliasson, V. Vyatkin","doi":"10.1109/ETFA.2016.7733650","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733650","url":null,"abstract":"This paper presents a novel approach to automation of flexible manufacturing systems with mechatronic intelligence and distributed control. The mechatronic intelligence layer is implemented using a combination of wireless sensor/actuator networks with service-oriented architecture, where services are located at the device level, as well as in local and global Clouds following the Arrowhead framework.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73351488","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 : 2016-11-03DOI: 10.1109/ETFA.2016.7733703
Christian Schlette, E. G. Kaigom, Daniel Losch, Georgij Grinshpun, M. Emde, R. Waspe, Nils Wantia, J. Roßmann
Although SMEs would benefit from robotic solutions in assembly, the required invests and efforts for their implementation are often too risky and costly for them. Here, the Horizon 2020 project “ReconCell” aims at developing a new type of highy-reconfigurable multi-robot assembly cell which adresses the particular needs of SMEs. At the Institute for Man- Machine Interaction (MMI), we are developing 3D simulation-based user interfaces for ReconCell as the central technology to enable the fast, easy and safe programming of the system. ReconCell heavily builds on previous developments that are transferred from research and prepared for industrial partners with real use cases and demands. Thus, in this contribution, we describe MMI's software platform that will be the basis of the desired user interfaces for robot simulation and control, assembly simulation and execution, Visual Programming and sensor simulation.
{"title":"3D simulation-based user interfaces for a highly-reconfigurable industrial assembly cell","authors":"Christian Schlette, E. G. Kaigom, Daniel Losch, Georgij Grinshpun, M. Emde, R. Waspe, Nils Wantia, J. Roßmann","doi":"10.1109/ETFA.2016.7733703","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733703","url":null,"abstract":"Although SMEs would benefit from robotic solutions in assembly, the required invests and efforts for their implementation are often too risky and costly for them. Here, the Horizon 2020 project “ReconCell” aims at developing a new type of highy-reconfigurable multi-robot assembly cell which adresses the particular needs of SMEs. At the Institute for Man- Machine Interaction (MMI), we are developing 3D simulation-based user interfaces for ReconCell as the central technology to enable the fast, easy and safe programming of the system. ReconCell heavily builds on previous developments that are transferred from research and prepared for industrial partners with real use cases and demands. Thus, in this contribution, we describe MMI's software platform that will be the basis of the desired user interfaces for robot simulation and control, assembly simulation and execution, Visual Programming and sensor simulation.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84218663","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733649
Bruno Gonçalves Silva, M. Sousa
During the development of a new parser for the grammar defined in the latest edition of IEC 61131-3, the authors came across many inconsistencies between the main body of the standard and the formal definition of the grammar. This paper explains the inconsistencies that were uncovered, and suggests corrections to the formal grammar.
{"title":"Internal inconsistencies in the third edition of the IEC 61131-3 international standard","authors":"Bruno Gonçalves Silva, M. Sousa","doi":"10.1109/ETFA.2016.7733649","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733649","url":null,"abstract":"During the development of a new parser for the grammar defined in the latest edition of IEC 61131-3, the authors came across many inconsistencies between the main body of the standard and the formal definition of the grammar. This paper explains the inconsistencies that were uncovered, and suggests corrections to the formal grammar.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78947491","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733537
A. Manukyan, M. Olivares-Méndez, Tegawendé F. Bissyandé, H. Voos, Yves Le Traon
Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome the challenge of early identification of degradation, machine learning based on flight features is a promising direction. Existing approaches build classifiers that consider their features to be correlated. This prevents a fine-grained detection of degradation for the different hardware components. This work presents an approach where the data is considered uncorrelated and, using machine learning techniques, allows the precise identification of UAV's damages.
{"title":"UAV degradation identification for pilot notification using machine learning techniques","authors":"A. Manukyan, M. Olivares-Méndez, Tegawendé F. Bissyandé, H. Voos, Yves Le Traon","doi":"10.1109/ETFA.2016.7733537","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733537","url":null,"abstract":"Unmanned Aerial Vehicles are currently investigated as an important sub-domain of robotics, a fast growing and truly multidisciplinary research field. UAVs are increasingly deployed in real-world settings for missions in dangerous environments or in environments which are challenging to access. Combined with autonomous flying capabilities, many new possibilities, but also challenges, open up. To overcome the challenge of early identification of degradation, machine learning based on flight features is a promising direction. Existing approaches build classifiers that consider their features to be correlated. This prevents a fine-grained detection of degradation for the different hardware components. This work presents an approach where the data is considered uncorrelated and, using machine learning techniques, allows the precise identification of UAV's damages.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80708739","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733715
Thibaut Le Guilly, A. Skou, Petur Olsen, P. P. Madsen, M. Albano, L. Ferreira, L. M. Pinho, Keld Pedersen, M. Casals, M. Macarulla, M. Gangolells
This paper presents how the ICT infrastructure developed in the European ENCOURAGE project, centered around a message oriented middleware, enabled energy savings in buildings and households. The components of the middleware, as well as the supervisory control strategy, are overviewed, to support the presentation of the results and how they could be achieved. The main results are presented on three of the pilots of the project, a first one consisting of a single household, a second one of a residential neighborhood, and a third one in a university campus.
{"title":"ENCOURAGEing results on ICT for energy efficient buildings","authors":"Thibaut Le Guilly, A. Skou, Petur Olsen, P. P. Madsen, M. Albano, L. Ferreira, L. M. Pinho, Keld Pedersen, M. Casals, M. Macarulla, M. Gangolells","doi":"10.1109/ETFA.2016.7733715","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733715","url":null,"abstract":"This paper presents how the ICT infrastructure developed in the European ENCOURAGE project, centered around a message oriented middleware, enabled energy savings in buildings and households. The components of the middleware, as well as the supervisory control strategy, are overviewed, to support the presentation of the results and how they could be achieved. The main results are presented on three of the pilots of the project, a first one consisting of a single household, a second one of a residential neighborhood, and a third one in a university campus.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87525601","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733548
A. A. Yaseen, M. Bayart
The Generalized Predictive Controller (GPC) is a preferred controller implementation method in the Networked Control System (NCS). However, the prediction feature of the standard GPC weakens the ability for fast detection of cyber-attack on the remote plant side. This paper proposes an Intelligent Generalized Predictive Controller (IGPC) as an enhancement for the standard GPC. The IGPC is designed along with an internal cyber-attack detector; this one is based on the comparison between the predicted and actual nonlinear terms of the plant by a specific computation algorithm. The test result of the proposed method shows that it can be significantly used for detection of the cyber-attack.
{"title":"Intelligent Generalized Predictive Control strategy for Networked Control System with an internal cyber-attack detector","authors":"A. A. Yaseen, M. Bayart","doi":"10.1109/ETFA.2016.7733548","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733548","url":null,"abstract":"The Generalized Predictive Controller (GPC) is a preferred controller implementation method in the Networked Control System (NCS). However, the prediction feature of the standard GPC weakens the ability for fast detection of cyber-attack on the remote plant side. This paper proposes an Intelligent Generalized Predictive Controller (IGPC) as an enhancement for the standard GPC. The IGPC is designed along with an internal cyber-attack detector; this one is based on the comparison between the predicted and actual nonlinear terms of the plant by a specific computation algorithm. The test result of the proposed method shows that it can be significantly used for detection of the cyber-attack.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85389870","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733616
Jean-Philippe Tavella, M. Caujolle, S. Vialle, Cherifa Dad, Charles Tan, Gilles Plessis, Mathieu Schumann, A. Cuccuru, S. Revol
Multi-simulation in the context of future smart electrical grids consists in associating components modeling different physical domains, but also their local or global control. Our DACCOSIM multi-simulation environment is based on the version 2.0 of the FMI-CS (Functional Mock-up Interface for Co-Simulation) standard maintained by the Modelica Association. It has been specifically designed to run large-scale and complex systems on a single PC or a cluster of multicore nodes. But it is quite challenging to accurately simulate FMUs-composed systems involving predictable and unpredictable events while preserving the system overall performance. This paper presents some additions to the FMI-CS standard aiming to improve the accuracy and the performance of distributed multi-simulations involving a mix of both time steps and various kinds of events. The proposed FMI-CS primitives are explained, as well as the Master Algorithm strategies to exploit them efficiently.
{"title":"Toward an accurate and fast hybrid multi-simulation with the FMI-CS standard","authors":"Jean-Philippe Tavella, M. Caujolle, S. Vialle, Cherifa Dad, Charles Tan, Gilles Plessis, Mathieu Schumann, A. Cuccuru, S. Revol","doi":"10.1109/ETFA.2016.7733616","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733616","url":null,"abstract":"Multi-simulation in the context of future smart electrical grids consists in associating components modeling different physical domains, but also their local or global control. Our DACCOSIM multi-simulation environment is based on the version 2.0 of the FMI-CS (Functional Mock-up Interface for Co-Simulation) standard maintained by the Modelica Association. It has been specifically designed to run large-scale and complex systems on a single PC or a cluster of multicore nodes. But it is quite challenging to accurately simulate FMUs-composed systems involving predictable and unpredictable events while preserving the system overall performance. This paper presents some additions to the FMI-CS standard aiming to improve the accuracy and the performance of distributed multi-simulations involving a mix of both time steps and various kinds of events. The proposed FMI-CS primitives are explained, as well as the Master Algorithm strategies to exploit them efficiently.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89466658","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733699
L. Ferreira, M. Albano, J. Delsing
This paper presents an architecture that supports Quality of Service (QoS) in an Arrowhead-compliant System of Systems (SoS). The Arrowhead Framework supports local cloud functionalities for automation applications, provided by means of a Service Oriented Architecture (SOA), by offering a number of services that ease application development. On such applications the QoS guarantees are required for service fruition, and are themselves requested as services from the framework. To fulfil this objective we start by describing the Arrowhead architecture and the components needed to dynamically in run-time negotiate a system configuration that guarantees the QoS requirements between application services.
{"title":"QoS-as-a-Service in the local cloud","authors":"L. Ferreira, M. Albano, J. Delsing","doi":"10.1109/ETFA.2016.7733699","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733699","url":null,"abstract":"This paper presents an architecture that supports Quality of Service (QoS) in an Arrowhead-compliant System of Systems (SoS). The Arrowhead Framework supports local cloud functionalities for automation applications, provided by means of a Service Oriented Architecture (SOA), by offering a number of services that ease application development. On such applications the QoS guarantees are required for service fruition, and are themselves requested as services from the framework. To fulfil this objective we start by describing the Arrowhead architecture and the components needed to dynamically in run-time negotiate a system configuration that guarantees the QoS requirements between application services.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77313462","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 : 2016-09-06DOI: 10.1109/ETFA.2016.7733551
P. Lindgren, Marcus Lindner, David Pereira, L. M. Pinho
Concurrent programming is dominated by thread based solutions with lock based critical sections. Careful attention has to be paid to avoid race and deadlock conditions. Real-Time for The Masses (RTFM) takes an alternative language approach, introducing tasks and named critical sections (via resources) natively in the RTFM-core language. RTFM-core programs can be compiled to native C-code, and efficiently executed onto single-core platforms under the Stack Resource Policy (SRP) by the RTFM-kernel. In this paper we formally define the well-formedness criteria for SRP based resource management, and develop a certified (formally proven) implementation of the corresponding compilation from nested critical sections of the input RTFM-core program to a resulting flat sequence of primitive operations and scheduling primitives. Moreover we formalise the properties for resource ceilings under SRP and develop a certified algorithm for their computation. The feasibility of the described approach is shown through the adoption of the Why3 platform, which allows the necessary verification conditions to be automatically generated and discharged through a variety of automatic external SMT-solvers and interactive theorem provers. Moreover, Why3 supports the extraction of certified Ocaml code for proven implementations in WhyML. As a proof of concept the certified extracted development is demonstrated on an example system.
{"title":"Towards certified compilation of RTFM-core applications","authors":"P. Lindgren, Marcus Lindner, David Pereira, L. M. Pinho","doi":"10.1109/ETFA.2016.7733551","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733551","url":null,"abstract":"Concurrent programming is dominated by thread based solutions with lock based critical sections. Careful attention has to be paid to avoid race and deadlock conditions. Real-Time for The Masses (RTFM) takes an alternative language approach, introducing tasks and named critical sections (via resources) natively in the RTFM-core language. RTFM-core programs can be compiled to native C-code, and efficiently executed onto single-core platforms under the Stack Resource Policy (SRP) by the RTFM-kernel. In this paper we formally define the well-formedness criteria for SRP based resource management, and develop a certified (formally proven) implementation of the corresponding compilation from nested critical sections of the input RTFM-core program to a resulting flat sequence of primitive operations and scheduling primitives. Moreover we formalise the properties for resource ceilings under SRP and develop a certified algorithm for their computation. The feasibility of the described approach is shown through the adoption of the Why3 platform, which allows the necessary verification conditions to be automatically generated and discharged through a variety of automatic external SMT-solvers and interactive theorem provers. Moreover, Why3 supports the extraction of certified Ocaml code for proven implementations in WhyML. As a proof of concept the certified extracted development is demonstrated on an example system.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91288962","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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