Pub Date : 2016-09-01DOI: 10.1109/ETFA.2016.7733725
M. Faroni, M. Beschi, A. Visioli, L. M. Tosatti
In this paper, we present a new approach to manipulability maximisation for a dual-arm manipulator, which takes into account the manipulability of the overall task. This method tries to overcome the drawbacks given by traditional approaches, which optimise the manipulability of the local configuration of the manipulator, but do not take into account the rest of the task, even though it is known a priori. In this way, it is possible to improve the average manipulability index over the task. The method is applied to a dual-arm system, wherein the task is expressed in terms of relative poses between the end-effectors. For this reason, the kinematic of the system is solved by means of the relative Jacobian.
{"title":"A global approach to manipulability optimisation for a dual-arm manipulator","authors":"M. Faroni, M. Beschi, A. Visioli, L. M. Tosatti","doi":"10.1109/ETFA.2016.7733725","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733725","url":null,"abstract":"In this paper, we present a new approach to manipulability maximisation for a dual-arm manipulator, which takes into account the manipulability of the overall task. This method tries to overcome the drawbacks given by traditional approaches, which optimise the manipulability of the local configuration of the manipulator, but do not take into account the rest of the task, even though it is known a priori. In this way, it is possible to improve the average manipulability index over the task. The method is applied to a dual-arm system, wherein the task is expressed in terms of relative poses between the end-effectors. For this reason, the kinematic of the system is solved by means of the relative Jacobian.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"26 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85166458","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733730
Z. Viharos, D. Chetverikov, A. Háry, Ramóna Sóghegyi, A. Barta, László Zalányi, I. Pomozi, Sz Soós, Zsolt Kövér, Balázs Varjú
The paper presents a statistical learning system based visual solution developed and applied for fault detection in industrial environment. As a mobile vision system the area of use was the automatic detection of rare faults in complex assembled objects. The object detection, the fore- and background separation, and the multi-model database enables the system to manage irregular batches of the different objects. A multi-model database guarantees that the object is compared with the statistically most relevant model, therefore it reduces the number of false alarms. The developed system is able to detect faults with the size of 2% of the total picture based on previously learned models.
{"title":"Vision based, statistical learning system for fault recognition in industrial assembly environment","authors":"Z. Viharos, D. Chetverikov, A. Háry, Ramóna Sóghegyi, A. Barta, László Zalányi, I. Pomozi, Sz Soós, Zsolt Kövér, Balázs Varjú","doi":"10.1109/ETFA.2016.7733730","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733730","url":null,"abstract":"The paper presents a statistical learning system based visual solution developed and applied for fault detection in industrial environment. As a mobile vision system the area of use was the automatic detection of rare faults in complex assembled objects. The object detection, the fore- and background separation, and the multi-model database enables the system to manage irregular batches of the different objects. A multi-model database guarantees that the object is compared with the statistically most relevant model, therefore it reduces the number of false alarms. The developed system is able to detect faults with the size of 2% of the total picture based on previously learned models.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"90 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79578142","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733654
Dimitri Block, Malte Schmidt, L. Duerkop, Nico Wiebusch, U. Meier
Wireless control systems for factory automation (FA) applications are subject to coexistence impairments, especially in license-free spectrum bands. Evaluating the coexistence impact requires the knowledge of appropriate characteristic parameters and the usage of a suitable simulation method. In this paper we propose an integral approach for the event-based simulation of wireless coexisting close-loop networked control systems (NCSs) for mutual impact evaluations based upon the integration of an ordinary differential equation resolving library within an event-based wireless network simulation framework. The approach is evaluated within a harsh FA scenario of two identical closed-loop NCS with two coexisting wireless technologies IEEE 802.11 and PNO WSAN-FA.
{"title":"Coexistence of wireless control systems: An integral event-based simulation approach","authors":"Dimitri Block, Malte Schmidt, L. Duerkop, Nico Wiebusch, U. Meier","doi":"10.1109/ETFA.2016.7733654","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733654","url":null,"abstract":"Wireless control systems for factory automation (FA) applications are subject to coexistence impairments, especially in license-free spectrum bands. Evaluating the coexistence impact requires the knowledge of appropriate characteristic parameters and the usage of a suitable simulation method. In this paper we propose an integral approach for the event-based simulation of wireless coexisting close-loop networked control systems (NCSs) for mutual impact evaluations based upon the integration of an ordinary differential equation resolving library within an event-based wireless network simulation framework. The approach is evaluated within a harsh FA scenario of two identical closed-loop NCS with two coexisting wireless technologies IEEE 802.11 and PNO WSAN-FA.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"40 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85344487","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733518
Stefan Fuchs, Hans-Peter Schmidt, S. Witte
In Industry 4.0 nodes are becoming interconnected and part of the growing Industrial Internet of Things. The use of a reduced physical layer and emerging real-time Ethernet standards, enables such nodes to be implemented cost-efficiently. Technologies and standards, which focus on cost-efficient Ethernet technologies for the use in vehicles, are quite promising for industrial applications. The integration of such new technologies and nodes in existing installations will lead to mixed systems consisting of conventional Industrial Ethernet equipment and new technologies. For such a migration scenario we present first results and a test system to validate physical layers and transceivers with respect to timing and synchronizing. Live-measurement methods are given for a dedicated real-time Ethernet system that provides detailed information about timing. Within this scope we show that mixed physical layers can be introduced in real-time Ethernet networks without deteriorating timing in real time application.
{"title":"Test and on-line monitoring of real-time Ethernet with mixed pysical layer for Industry 4.0","authors":"Stefan Fuchs, Hans-Peter Schmidt, S. Witte","doi":"10.1109/ETFA.2016.7733518","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733518","url":null,"abstract":"In Industry 4.0 nodes are becoming interconnected and part of the growing Industrial Internet of Things. The use of a reduced physical layer and emerging real-time Ethernet standards, enables such nodes to be implemented cost-efficiently. Technologies and standards, which focus on cost-efficient Ethernet technologies for the use in vehicles, are quite promising for industrial applications. The integration of such new technologies and nodes in existing installations will lead to mixed systems consisting of conventional Industrial Ethernet equipment and new technologies. For such a migration scenario we present first results and a test system to validate physical layers and transceivers with respect to timing and synchronizing. Live-measurement methods are given for a dedicated real-time Ethernet system that provides detailed information about timing. Within this scope we show that mixed physical layers can be introduced in real-time Ethernet networks without deteriorating timing in real time application.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"18 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90527579","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733636
J. Blech, P. Lindgren, David Pereira, V. Vyatkin, Alois Zoitl
Engineering and computer science have come up with a variety of techniques to increase the confidence in systems, increase reliability, facilitate certification, improve reuse and maintainability, improve interoperability and portability. Among them are various techniques based on formal models to enhance testing, validation and verification. In this paper, we are concentrating on formal verification both at runtime and design time of a system. Formal verification of a system property at design time is the process of mathematically proving that the property indeed holds. At runtime, one can check the validity of the property and report deviations by monitoring the system execution. Formal verification relies on semantic models, descriptions of the system and its properties. We report on ongoing verification work and present two different approaches for formal verification of IEC 61499-based programs. We provide two examples of ongoing work to exemplify the design and the runtime verification approaches.
{"title":"A Comparison of Formal Verification Approaches for IEC 61499","authors":"J. Blech, P. Lindgren, David Pereira, V. Vyatkin, Alois Zoitl","doi":"10.1109/ETFA.2016.7733636","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733636","url":null,"abstract":"Engineering and computer science have come up with a variety of techniques to increase the confidence in systems, increase reliability, facilitate certification, improve reuse and maintainability, improve interoperability and portability. Among them are various techniques based on formal models to enhance testing, validation and verification. In this paper, we are concentrating on formal verification both at runtime and design time of a system. Formal verification of a system property at design time is the process of mathematically proving that the property indeed holds. At runtime, one can check the validity of the property and report deviations by monitoring the system execution. Formal verification relies on semantic models, descriptions of the system and its properties. We report on ongoing verification work and present two different approaches for formal verification of IEC 61499-based programs. We provide two examples of ongoing work to exemplify the design and the runtime verification approaches.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"1 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76780386","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733570
Davide Compagnin, T. Vardanega
The inter-core interference that affects multicore processors highly complicates the timing analysis of embedded applications. The contribution of the execution-time penalty that software programs incur on access to hardware shared resources is hard to estimate, as it depends on both the resource arbitration policy and the quantity and activity of co-runners. An interesting vicious circle arises: the execution-time behavior of the application of interest must be known to determine its best allocation to a processor core; this decision however determines the actual set of co-runners, which in turns effects the inter-core interference suffered by the application of interest and consequently its execution-time behavior. This work presents a framework that aids the timing analysis of applications in presence of inter-core interference and addresses the cited circular dependency by providing a suite of synthetic co-runners designed to access hardware shared resources to produce fine-grained controlled interference. The framework specifically targets the Aurix Tricore family of processors designed by Infineon for the automotive domain, and includes a highly integrated toolchain to build, execute and trace applications. The toolchain includes a tailored version of Erika Enterprise, modified to exhibit time-composable behavior at run time, and the RT-Druid build environment. The paper includes an evaluation of the timing behavior of a real-world automotive application, adapted to fit the run-time target of choice and trialed under different levels of inter-core interference.
{"title":"An automated framework for the timing analysis of applications for an automotive multicore processor","authors":"Davide Compagnin, T. Vardanega","doi":"10.1109/ETFA.2016.7733570","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733570","url":null,"abstract":"The inter-core interference that affects multicore processors highly complicates the timing analysis of embedded applications. The contribution of the execution-time penalty that software programs incur on access to hardware shared resources is hard to estimate, as it depends on both the resource arbitration policy and the quantity and activity of co-runners. An interesting vicious circle arises: the execution-time behavior of the application of interest must be known to determine its best allocation to a processor core; this decision however determines the actual set of co-runners, which in turns effects the inter-core interference suffered by the application of interest and consequently its execution-time behavior. This work presents a framework that aids the timing analysis of applications in presence of inter-core interference and addresses the cited circular dependency by providing a suite of synthetic co-runners designed to access hardware shared resources to produce fine-grained controlled interference. The framework specifically targets the Aurix Tricore family of processors designed by Infineon for the automotive domain, and includes a highly integrated toolchain to build, execute and trace applications. The toolchain includes a tailored version of Erika Enterprise, modified to exhibit time-composable behavior at run time, and the RT-Druid build environment. The paper includes an evaluation of the timing behavior of a real-world automotive application, adapted to fit the run-time target of choice and trialed under different levels of inter-core interference.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"153 4 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76793435","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733580
W. Steiner, Pablo Gutiérrez Peón, Marina Gutiérrez, Ayhan Mehmed, G. Rodríguez-Navas, Elena Lisova, Francisco Pozo
Ethernet-based networks have found their way into industrial communication more than a decade ago. However, while industry and academia developed Ethernet variants to also meet real-time and fault-tolerant requirements, recent standardization efforts within the IEEE 802 will broadly bring standard IT switched Ethernet in future industrial communication networks. As first standards of IEEE 802.1 time-sensitive networking (TSN) are becoming published at the time of this writing, we review these standards and formulate further research challenges that still go beyond current standard developments. Furthermore, we report on recent research results from the RetNet project that target these research challenges.
{"title":"Next generation real-time networks based on IT technologies","authors":"W. Steiner, Pablo Gutiérrez Peón, Marina Gutiérrez, Ayhan Mehmed, G. Rodríguez-Navas, Elena Lisova, Francisco Pozo","doi":"10.1109/ETFA.2016.7733580","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733580","url":null,"abstract":"Ethernet-based networks have found their way into industrial communication more than a decade ago. However, while industry and academia developed Ethernet variants to also meet real-time and fault-tolerant requirements, recent standardization efforts within the IEEE 802 will broadly bring standard IT switched Ethernet in future industrial communication networks. As first standards of IEEE 802.1 time-sensitive networking (TSN) are becoming published at the time of this writing, we review these standards and formulate further research challenges that still go beyond current standard developments. Furthermore, we report on recent research results from the RetNet project that target these research challenges.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"63 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76866114","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733581
R. Awad, G. Heppner, A. Rönnau, Mirko Bordignon
In this work, the ReApp Engineering Workbench and its underlying semantically enriched app models are presented. The usage of a model, which describes the apps functionality, interfaces and other attributes, allows the utilization of engineering tools for code generation and automated testing. Further, it ensures the compatibility of the generated interfaces, which in turn enhances the reusability of the developed apps in larger applications.
{"title":"ROS engineering workbench based on semantically enriched app models for improved reusability","authors":"R. Awad, G. Heppner, A. Rönnau, Mirko Bordignon","doi":"10.1109/ETFA.2016.7733581","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733581","url":null,"abstract":"In this work, the ReApp Engineering Workbench and its underlying semantically enriched app models are presented. The usage of a model, which describes the apps functionality, interfaces and other attributes, allows the utilization of engineering tools for code generation and automated testing. Further, it ensures the compatibility of the generated interfaces, which in turn enhances the reusability of the developed apps in larger applications.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"78 1","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73120378","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 : 2016-09-01DOI: 10.1109/ETFA.2016.7733558
M. P. Fanti, M. Roccotelli, J. Lesage, Gregory Faraut
The aim of the paper is to provide an optimal placement of sensors for inhabitant location tracking in smart homes, by using only motion detectors. In particular, motion detectors are binary sensors largely used in ambient assisted living applications because they are low cost, non-intrusive and privacy sensors. An approach to optimize the placement of motion detectors in a real home environment by adopting a two-dimensional grid is presented. In this context, the real coverage area of a sensor is computed by considering the obstacles and respecting the specified coverage performance requirements. The optimization problem is formalized and solved as an Integer Linear Programming problem and a case study is presented to show the efficacy of the proposed approach.
{"title":"Motion detector placement optimization in smart homes for inhabitant location tracking","authors":"M. P. Fanti, M. Roccotelli, J. Lesage, Gregory Faraut","doi":"10.1109/ETFA.2016.7733558","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733558","url":null,"abstract":"The aim of the paper is to provide an optimal placement of sensors for inhabitant location tracking in smart homes, by using only motion detectors. In particular, motion detectors are binary sensors largely used in ambient assisted living applications because they are low cost, non-intrusive and privacy sensors. An approach to optimize the placement of motion detectors in a real home environment by adopting a two-dimensional grid is presented. In this context, the real coverage area of a sensor is computed by considering the obstacles and respecting the specified coverage performance requirements. The optimization problem is formalized and solved as an Integer Linear Programming problem and a case study is presented to show the efficacy of the proposed approach.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"40 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74340149","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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