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2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献

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Multivariable GPC for processes with multiple time delays: Implementation issues 具有多个时间延迟的过程的多变量GPC:实现问题
A. Pawłowski, J. L. Guzmán, M. Berenguel, J. Normey-Rico, S. Dormido
In this work, implementation issues related to multivariable Generalized Predictive Control (GPC) for processes with multiple time delays are analyzed. Due to specific properties of those processes, the resulting control system has to account for the existing delays between control variables changes and their effect on controlled outputs. In the case of Model Predictive Control (MPC) techniques, such as GPC, the dead-time issue can be captured in the process model and thus considered in the predictive mechanism of the controller. However, this working principle results in augmented matrix dimensions that considers input-output time delays as additional zero entries. This fact increases the computational load and has to be accounted for in the control system design, specially in systems where computing resources are scarce (eg. embedded systems). The reduction of the matrix dimension, and hence the computation required, depends on how the delay terms are structured. The presented analysis considers two different GPC implementations for multivariable dead-time processes, which are used to compensate for internal matrix dimensions for the multiple time delays. Each implementation mode is evaluated for two industrial multivariable processes, providing several performance indexes. Performed simulations show that the required computational load can be reduced when adequate implementation mode is selected.
在这项工作中,分析了多变量广义预测控制(GPC)在多时滞过程中的实现问题。由于这些过程的特殊性质,所得到的控制系统必须考虑控制变量变化及其对被控输出的影响之间存在的延迟。在模型预测控制(MPC)技术中,如GPC,死区时间问题可以在过程模型中捕获,从而在控制器的预测机制中考虑。然而,这种工作原理会导致矩阵维度的增加,将输入-输出时间延迟视为额外的零条目。这一事实增加了计算负荷,必须在控制系统设计中加以考虑,特别是在计算资源稀缺的系统中。嵌入式系统)。矩阵维数的降低以及所需的计算量取决于延迟项的结构。本文的分析考虑了两种不同的多变量死时过程的GPC实现,这两种实现用于补偿多个时间延迟的内部矩阵维度。对两个工业多变量过程的每种实施模式进行了评估,提供了几个性能指标。仿真结果表明,选择适当的实现方式可以减少所需的计算负荷。
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引用次数: 1
Ecosystems in the manufacturing industry 制造业的生态系统
P. Kress, Alexander Pflaum, U. Löwen
The digitalization and its corresponding technologies have a fundamental impact on value creation strategies and business models of companies across different industries, including the manufacturing and automation industry. The emergence of complex and dynamic ecosystems is one of the expected impacts. The present research project will analyze the business models of ecosystems in the manufacturing industry in the upcoming project phase. To enable this analysis, we generated two intermediate products which will be presented in this article: A role model of the manufacturing industry and the identification of key digitalization technologies and their application. The role model consists of 25 roles and builds on the model of interlinked value creation processes for Industrie 4.0 by the German VDI/VDE societies. The research on the digitalization technologies revealed the key ten digitalization technologies and identified patterns in the application of those technologies in real use cases.
数字化及其相应的技术对包括制造业和自动化行业在内的不同行业的公司的价值创造战略和商业模式产生了根本性的影响。复杂和动态生态系统的出现是预期的影响之一。目前的研究项目将在下一个项目阶段分析制造业生态系统的商业模式。为了实现这一分析,我们生成了两个中间产品,将在本文中介绍:制造业的角色模型和关键数字化技术及其应用的识别。角色模型由25个角色组成,以德国VDI/VDE协会为工业4.0建立的相互关联的价值创造过程模型为基础。通过对数字化技术的研究,揭示了数字化的十大关键技术,并确定了这些技术在实际用例中的应用模式。
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引用次数: 4
A model based engineering tool for ROS component compositioning, configuration and generation of deployment information 用于ROS组件组合、配置和生成部署信息的基于模型的工程工具
M. Wenger, Waldemar Eisenmenger, G. Neugschwandtner, Ben Schneider, Alois Zoitl
Programming industrial robots requires experts -not only to create the robot applications, but also for changing them later due to different product requirements. Part of the reason for this is that all robot vendors provide their own robot programming language. Due to the language differences, robot applications cannot be reused for different robot types. Often, additional experts are required since one expert is trained only for a special robot type. This makes the use of robots uneconomical for small and medium sized enterprises. The ReApp project addresses this problem by providing a workbench based on ROS (Robot Operating System). A central part of this workbench is the skill and solution modeling tool, which allows the model-based design of robot applications composed of reusable components, and is described in this paper.
工业机器人编程需要专家——不仅要创建机器人应用程序,还要根据不同的产品需求对它们进行更改。部分原因是所有机器人供应商都提供了自己的机器人编程语言。由于语言的差异,机器人应用程序不能用于不同类型的机器人。通常需要额外的专家,因为一个专家只针对一种特殊的机器人类型进行培训。这使得中小型企业使用机器人不经济。ReApp项目通过提供一个基于ROS(机器人操作系统)的工作台来解决这个问题。该工作台的核心部分是技能和解决方案建模工具,该工具允许基于模型的设计由可重用组件组成的机器人应用程序,本文对此进行了描述。
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引用次数: 16
Anomaly detection on ATMs via time series motif discovery 基于时间序列基序发现的自动取款机异常检测
S. Torkamani, A. Dicks, V. Lohweg
Cash machines or automated teller machines (ATMs) are one of the typical ways to get cash around the world. Such machines are under a variety of criminal attacks. Most of the manipulations are performed through skimming. In 2014, such attacks led to a damage of approx. 280 million Euro within the EU. In this paper, we propose an approach to detect anomalies and attacks on ATMs via motif discovery. Motifs are frequently unknown occurring sequences or events in a time series signal. State of the ATM is captured by innovative piezoelectric sensor networks to analyse the occurring vibrations. The captured signals are inspected by the Complex Quad-Tree Wavelet Packet transform which provides broad frequency analysis of a signal in various scales. Next, features are extracted from the selected scale based on the information content, to detect motifs. Detected motifs provide the prototype patterns for anomaly detection or classification tasks.
自动提款机或自动柜员机(atm)是在世界各地取现的典型方式之一。这些机器受到各种犯罪分子的攻击。大多数操作都是通过略读来完成的。2014年,这类袭击造成了大约800万美元的损失。2.8亿欧元在欧盟内部。在本文中,我们提出了一种通过motif发现来检测atm异常和攻击的方法。基序是时间序列信号中经常出现的未知序列或事件。自动取款机的状态由创新的压电传感器网络捕获,以分析发生的振动。捕获的信号通过复四叉树小波包变换进行检查,该变换提供了不同尺度下信号的宽频率分析。然后,根据信息内容从所选择的尺度中提取特征,检测出图案。检测到的主题为异常检测或分类任务提供原型模式。
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引用次数: 2
Exploring tactile surface sensors as a gesture input device for intuitive robot programming 探索触觉表面传感器作为直观机器人编程的手势输入设备
Arne Muxfeldt, Jan Niklas Haus, Jingyuan Cheng, Daniel Kubus
The lack of efficient and intuitive programming paradigms for industrial manipulators stands in the way of increasing the degree of automation in various industrial manufacturing environments. We approach this lack by exploring tactile surface sensors (TSS) enclosing the links of a manipulator as a gesture input device for intuitive robot programming. First, our low-cost tactile surface sensor is briefly presented. Subsequently, a preliminary gesture set is introduced and feature-based approaches for gesture recognition are addressed. Furthermore, the extraction of relevant parameters from the gestures as well as the integration of gesture input into our skill-based robot control architecture are outlined. Quantitative performance results based on a user study with 12 subjects and a set of 7 gestures show that even with a comparatively low spatial resolution of the sensor (20mm) average accuracies of over 90% can be obtained.
工业机械臂缺乏高效、直观的编程范式,阻碍了各种工业制造环境中自动化程度的提高。我们通过探索触觉表面传感器(TSS)来解决这一不足,该传感器将机械手的链接封装为直观机器人编程的手势输入设备。首先,简要介绍了我们的低成本触觉表面传感器。随后,介绍了一个初步的手势集,并讨论了基于特征的手势识别方法。此外,概述了从手势中提取相关参数以及将手势输入集成到基于技能的机器人控制体系结构中的方法。基于12名受试者和7种手势的用户研究的定量性能结果表明,即使传感器的空间分辨率较低(20mm),平均精度也可以达到90%以上。
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引用次数: 13
A novel approach towards model-driven reliability analysis of Simulink models Simulink模型驱动可靠性分析的一种新方法
Padma Iyenghar, Stephanus Wessels, Arne Noyer, E. Pulvermüller, C. Westerkamp
In the recent decade, many formalisms and tools have emerged for model-driven Non-Functional Property (NFP) specification and assessment. In this direction, model-driven reliability and safety assessment of engineering systems developed using Matlab/Simulink is an emerging research challenge. However, a generic mechanism for NFP specification in the Simulink design model is not yet supported. Further, a completely automated model-based workflow for synthesis of a NFP analysis model and its subsequent analysis in a NFP analysis tool is missing. In this context, this paper proposes a novel approach and a fully automated workflow towards model-driven reliability analysis of Simulink models. An approach to annotate the Simulink design models with reliability attributes and subsequent synthesis of fault trees from the annotated design model is described. A prototype and initial experimental results are discussed.
在最近十年中,出现了许多用于模型驱动的非功能属性(NFP)规范和评估的形式化方法和工具。在这个方向上,使用Matlab/Simulink开发的工程系统的模型驱动可靠性和安全性评估是一个新兴的研究挑战。然而,在Simulink设计模型中还不支持NFP规范的通用机制。此外,一个完全自动化的基于模型的工作流,用于合成NFP分析模型及其在NFP分析工具中的后续分析,是缺失的。在此背景下,本文提出了一种基于Simulink模型驱动可靠性分析的新方法和全自动化工作流程。介绍了一种用可靠性属性对Simulink设计模型进行注释的方法,并从注释后的设计模型中合成故障树。讨论了样机和初步实验结果。
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引用次数: 5
Extended mapping algorithm based on modularity from synchronous block diagrams to AUTOSAR runnables 基于模块化的从同步方框图到AUTOSAR可运行程序的扩展映射算法
Shun Hori, Takuya Azumi
Model-based development (MBD) has become important in the automobile domain. Automobile control systems consist of various software applications, and with MATLAB/Simulink, developers can design such applications using synchronous reactive models represented by synchronous block diagrams (SBD). The automotive open system architecture (AUTOSAR), a global development partnership formed to create open and standardized software architecture for automotive electronic control units (ECU), can provide highly reusable middleware. In this case, developers must map blocks of the SBD to AUTOSAR runnables, i.e., ECU processing units, and then assign the runnables to the ECUs. Most sample models are single-rate models. However, multi-rate control models will become essential due to the increasing complexity and scale of such automotive systems. This paper proposes top-down mapping algorithms from multi-rate control SBDs to runnables in consideration of schedulability, modularity, and code size. Note that proposed algorithms do not consider reusability. Evaluation results demonstrate that algorithms provide runnable sets with superior modularity than an existing algorithm.
基于模型的开发(MBD)在汽车领域已经变得非常重要。汽车控制系统由各种软件应用程序组成,通过MATLAB/Simulink,开发人员可以使用由同步方框图(SBD)表示的同步反应模型来设计这些应用程序。汽车开放系统架构(AUTOSAR)是一个全球开发伙伴关系,旨在为汽车电子控制单元(ECU)创建开放和标准化的软件架构,可以提供高度可重用的中间件。在这种情况下,开发人员必须将SBD的块映射到AUTOSAR可运行程序,即ECU处理单元,然后将可运行程序分配给ECU。大多数样本模型是单速率模型。然而,由于这种汽车系统的复杂性和规模的增加,多速率控制模型将变得必不可少。本文在考虑可调度性、模块化和代码大小的情况下,提出了从多速率控制sdd到可运行文件的自顶向下映射算法。注意,建议的算法不考虑可重用性。评估结果表明,该算法提供的可运行集具有比现有算法更好的模块化。
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引用次数: 0
Generic framework enabling secure and efficient automotive wireless SW updates 通用框架,支持安全高效的汽车无线软件更新
Marco Steger, Michael Karner, J. Hillebrand, W. Rom, C. Boano, K. Römer
Future vehicles will be wirelessly connected to nearby vehicles, to the road infrastructure and to the Internet in order to enable new comfort features, safety functions and a number of new vehicle-specific services. The latter will include a fast, secure, and reliable way to remotely diagnose and reconfigure a vehicle as well as to install new software on the electronic control units integrated in a vehicle. Such wireless software updates are beneficial for both automotive OEMs and customers, as they allow to enable new features of the vehicle remotely and to fix software bugs by installing a new software version over the air. Wireless diagnostics and software updates are required in several stages of a vehicle's lifetime: from the manufacturing stage on the assembly line and the maintenance in a workshop to the remote download of up-to-date software directly by the car owner. To support this process over a whole vehicle's lifetime, a generic framework is needed. In this paper we propose a generic framework enabling secure and efficient wireless automotive SW updates and hence supporting a vehicle's whole lifetime. We describe the IEEE 802.11s network used as wireless medium to interconnect vehicles and diagnostic devices in a reliable, trustworthy and fast way and propose a dedicated cross-layer security concept applying strong authentication as well as encryption mechanisms.
未来的车辆将与附近的车辆、道路基础设施和互联网进行无线连接,以实现新的舒适功能、安全功能和一系列新的车辆专用服务。后者将包括一种快速、安全、可靠的远程诊断和重新配置车辆的方式,以及在集成在车辆中的电子控制单元上安装新软件。这种无线软件更新对汽车oem和客户都是有益的,因为它们允许远程启用车辆的新功能,并通过无线安装新软件版本来修复软件错误。在汽车生命周期的几个阶段都需要无线诊断和软件更新:从装配线上的制造阶段和车间的维护阶段,到车主直接远程下载最新软件。为了在整个车辆的生命周期内支持这个过程,需要一个通用框架。在本文中,我们提出了一个通用框架,实现安全高效的无线汽车软件更新,从而支持车辆的整个生命周期。我们描述了IEEE 802.11s网络作为无线媒介,以可靠、可信和快速的方式连接车辆和诊断设备,并提出了一个专用的跨层安全概念,应用强认证和加密机制。
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引用次数: 18
A symbolic distributed event detection scheme for Wireless Sensor Networks 一种无线传感器网络符号分布式事件检测方案
S. Gaglio, G. Re, Gloria Martorella, D. Peri
Due to the possibility of extensive and pervasive deployment of many tiny sensor devices in the area of interest, Wireless Sensor Networks (WSNs) result particularly suitable to detect significant events and to react accordingly in industrial and home scenarios. In this context, fuzzy inference systems for event detection in WSNs have proved to be accurate enough in treating imprecise sensory readings to decrease the number of false alarms. Besides reacting to event occurrences, the whole network may infer more information to enrich the event semantics resulting from reasoning processes carried out on the individual nodes. Contextual knowledge, including spatial and temporal relationships, as well as neighborhood confidence levels, can be used to improve the detection accuracy, but requires to extend the number of variables involved in the reasoning process.
由于在感兴趣的领域广泛和普遍部署许多微型传感器设备的可能性,无线传感器网络(wsn)特别适合于检测重大事件并在工业和家庭场景中做出相应的反应。在这种情况下,用于wsn事件检测的模糊推理系统已被证明在处理不精确的感官读数以减少假警报数量方面足够准确。除了对事件发生作出反应外,整个网络还可以推断出更多的信息,以丰富在单个节点上进行推理过程所产生的事件语义。上下文知识,包括空间和时间关系,以及邻域置信水平,可用于提高检测精度,但需要扩展推理过程中涉及的变量数量。
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引用次数: 2
Detection of commercial offset printing using an adaptive software architecture for the DFT 商业胶印的检测使用自适应软件架构的DFT
Anton Pfeifer, V. Lohweg
The way how we interact with banknotes is changing. This raises questions on how we interact with electronic payment systems. The general idea is to design low-cost electronics for cash handling systems. We establish a prototypical demonstrator which allows a consistent image capture quality and is able to handle complex algorithms for banknote authentication on cost-effective hardware. Therefore, tasks regarding reducing the evaluation time, without diminishing the reliability of the algorithms have to be considered. In this contribution we focus on the re-design of an authentication module for detection of commercial offset printing. This module analyses images in view to periodic printing patterns by means of the Discrete Fourier Transform (DFT). We propose to implement two concepts: an adaptive software architecture for DFT and parallel image processing. The re-design reduces evaluation time, without compromising the reliability of the authentication algorithm.
我们与纸币互动的方式正在发生变化。这就提出了我们如何与电子支付系统互动的问题。总的想法是为现金处理系统设计低成本的电子产品。我们建立了一个原型演示器,它允许一致的图像捕获质量,并能够在经济高效的硬件上处理复杂的钞票认证算法。因此,必须考虑在不降低算法可靠性的情况下减少评估时间的任务。在这个贡献中,我们专注于重新设计一个用于检测商业胶印的认证模块。本模块利用离散傅立叶变换(DFT)对周期性印刷图案的图像进行分析。我们提出实现两个概念:用于DFT的自适应软件架构和并行图像处理。重新设计减少了评估时间,但不影响认证算法的可靠性。
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引用次数: 3
期刊
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)
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