Pub Date : 2018-08-01DOI: 10.1109/COASE.2018.8560566
Tianyi Xiong, Z. Pu, J. Yi, Xinlong Tao
This paper investigates the time-varying formation control problem for multiple unmanned aerial vehicle (multi-DAV) systems with time-varying delays and jointly connected topologies. Firstly, a consensus based formation control law is proposed to realize and maintain the desired time-varying formation in presence of time-varying delays and jointly connected topologies. Then, a sufficient condition in terms of linear matrix inequalities (LMI) is derived for formation control and the stability of the close-loop system is analyzed by employing Lyapunov-Krasovskii function. Finally, two task-oriented formation transformation cases are simulated to verify the effectiveness of the proposed control law, where the first is to shape varying regular hexagon, and the second is to avoid multiple obstacles.
{"title":"Consensus Based Formation Control for Multi-UAV Systems with Time-varying Delays and Jointly Connected Topologies","authors":"Tianyi Xiong, Z. Pu, J. Yi, Xinlong Tao","doi":"10.1109/COASE.2018.8560566","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560566","url":null,"abstract":"This paper investigates the time-varying formation control problem for multiple unmanned aerial vehicle (multi-DAV) systems with time-varying delays and jointly connected topologies. Firstly, a consensus based formation control law is proposed to realize and maintain the desired time-varying formation in presence of time-varying delays and jointly connected topologies. Then, a sufficient condition in terms of linear matrix inequalities (LMI) is derived for formation control and the stability of the close-loop system is analyzed by employing Lyapunov-Krasovskii function. Finally, two task-oriented formation transformation cases are simulated to verify the effectiveness of the proposed control law, where the first is to shape varying regular hexagon, and the second is to avoid multiple obstacles.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"103 1","pages":"292-297"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80759755","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560483
Lei Yang, X. Guan, Jiang Wu, Shihao Dai
The diversity of power sources for electricity generation excites the current smart grid to evolve towards Cyber-Physical Energy System (CPES), which integrates with other systems, such as natural gas and heat. By advanced communication technologies, CPES can achieve effective energy fusion, real-time computation and precise control. With the increasing number of energy applications that bring large quantities of data, it calls for sufficient computing and storage resources with fast transmission and powerful processing to satisfy users' service level agreements (SLAs). This paper presents a multi-layered distributed cloud network (MDC) for CPES, with the design of the physical integration of energy systems, a distributed cloud architecture and a hierarchal information structure based on the fifth generation (5G). Furthermore, we present a two-level resource allocation model for cloud network, which aims to decide the location of deploying cloud facilities and dynamically adjust the number of virtual machines (VMs) to deal with the demand variation. We also simplify the model to only one level utilizing scalarization. The simulation shows the proposed model performs effectively compared to centralized solutions.
{"title":"A Multi-layered Distributed Cloud Network for Cyber-Physical Energy System","authors":"Lei Yang, X. Guan, Jiang Wu, Shihao Dai","doi":"10.1109/COASE.2018.8560483","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560483","url":null,"abstract":"The diversity of power sources for electricity generation excites the current smart grid to evolve towards Cyber-Physical Energy System (CPES), which integrates with other systems, such as natural gas and heat. By advanced communication technologies, CPES can achieve effective energy fusion, real-time computation and precise control. With the increasing number of energy applications that bring large quantities of data, it calls for sufficient computing and storage resources with fast transmission and powerful processing to satisfy users' service level agreements (SLAs). This paper presents a multi-layered distributed cloud network (MDC) for CPES, with the design of the physical integration of energy systems, a distributed cloud architecture and a hierarchal information structure based on the fifth generation (5G). Furthermore, we present a two-level resource allocation model for cloud network, which aims to decide the location of deploying cloud facilities and dynamically adjust the number of virtual machines (VMs) to deal with the demand variation. We also simplify the model to only one level utilizing scalarization. The simulation shows the proposed model performs effectively compared to centralized solutions.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"32 1","pages":"402-407"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81051211","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560602
Avinash Gupta, J. Cecil, M. Pirela-Cruz
This paper focuses on the design of a Next Generation Cyber Physical Framework involving the development of Virtual and Mixed Reality environments to support simulation based training of orthopedic surgery residents. The training simulators are the part of an advanced Internet of Medical Things (IoMT) based cyber physical framework. The training simulators are designed for an orthopedic surgical process called Condylar plating surgery which deals with the fractures of the femur bone. The first simulator is a VR training environment which has a fully immersive interface developed using the HTC Vive™ platform. The second is a Mixed Reality based training environment developed using unique greenscreen technology in which the users can interact with the virtual and the real world objects at the same time. Studies have been conducted which indicated that medical students and residents showed improvement in their understanding of the surgical process after interacting with the training simulators. Furthermore, the qualitative analysis presented in the paper shows that the simulators can be utilized as a useful tool in training students and residents in Condylar plating surgical process.
{"title":"A Virtual Reality enhanced Cyber Physical Framework to support Simulation based Training of Orthopedic Surgical Procedures","authors":"Avinash Gupta, J. Cecil, M. Pirela-Cruz","doi":"10.1109/COASE.2018.8560602","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560602","url":null,"abstract":"This paper focuses on the design of a Next Generation Cyber Physical Framework involving the development of Virtual and Mixed Reality environments to support simulation based training of orthopedic surgery residents. The training simulators are the part of an advanced Internet of Medical Things (IoMT) based cyber physical framework. The training simulators are designed for an orthopedic surgical process called Condylar plating surgery which deals with the fractures of the femur bone. The first simulator is a VR training environment which has a fully immersive interface developed using the HTC Vive™ platform. The second is a Mixed Reality based training environment developed using unique greenscreen technology in which the users can interact with the virtual and the real world objects at the same time. Studies have been conducted which indicated that medical students and residents showed improvement in their understanding of the surgical process after interacting with the training simulators. Furthermore, the qualitative analysis presented in the paper shows that the simulators can be utilized as a useful tool in training students and residents in Condylar plating surgical process.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"1 1","pages":"433-438"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87318717","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560463
J. Zawisza, A. Lüder, Ronald Rosendahl
Within production systems. various control decisions have to be taken to ensure a proper system behavior in a distributed but consistent way. To take these control decisions and to ensure the necessary information exchange between them multi-agent systems can be considered for implementation. However. an agent-based control system for a complex production system cannot be implemented in one shot. To overcome this problem two approaches can be successfully applied. On the one hand. a stepwise engineering approach for multi-agent-based control systems solving special control problems and combining them in an appropriate way to a larger agent-based control system can be considered. On the other hand. existing design pattern can be applied to improve the development of the individual multi-agent systems. Within this paper. such a combination will be described.
{"title":"Application of design pattern within the engineering of agent-based control systems","authors":"J. Zawisza, A. Lüder, Ronald Rosendahl","doi":"10.1109/COASE.2018.8560463","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560463","url":null,"abstract":"Within production systems. various control decisions have to be taken to ensure a proper system behavior in a distributed but consistent way. To take these control decisions and to ensure the necessary information exchange between them multi-agent systems can be considered for implementation. However. an agent-based control system for a complex production system cannot be implemented in one shot. To overcome this problem two approaches can be successfully applied. On the one hand. a stepwise engineering approach for multi-agent-based control systems solving special control problems and combining them in an appropriate way to a larger agent-based control system can be considered. On the other hand. existing design pattern can be applied to improve the development of the individual multi-agent systems. Within this paper. such a combination will be described.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"250 1 1","pages":"181-186"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90787343","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560466
Indika B. Wijayasinghe, M. Saadatzi, Srikanth Peetha, D. Popa, Sven Cremer
The design of User Interfaces (UI) is a vital part of Human Machine Interaction (HMI), which affects the performance during collaboration or teleoperation. Ideally, UIs should be intuitive and easy to learn, but their design is challenging especially for complex tasks involving robots with many degrees of freedom. In this paper, we pose the UI design problem as a mapping between an interface device with M input degrees of freedom that generates commands for driving a robot with N output degrees of freedom. We describe a novel adaptive scheme that can learn the N to M input-output map, such that certain task-related performance measures are maximized. The resulting “Genetic Adaptive User Interface” (GAUI), is formulated and utilized to minimize a cost function related to the user teleoperation performance. This algorithm is an unsupervised learning scheme that does not require any knowledge about the robot, the user, or the environment. To validate our approach, we provide simulation and experimental results with a non-holonomic robot and two control interfaces; a joystick and a Myo gesture control armband. Results demonstrate that the adaptively trained map closely mimics the intuitive commands from the joystick interface, and also learns an easily controllable interface with the unintuitive gesture control armband. Abstract formulation of the method allows for easy modifications to the performance measure and application to other HMI tasks.
{"title":"Adaptive Interface for Robot Teleoperation using a Genetic Algorithm","authors":"Indika B. Wijayasinghe, M. Saadatzi, Srikanth Peetha, D. Popa, Sven Cremer","doi":"10.1109/COASE.2018.8560466","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560466","url":null,"abstract":"The design of User Interfaces (UI) is a vital part of Human Machine Interaction (HMI), which affects the performance during collaboration or teleoperation. Ideally, UIs should be intuitive and easy to learn, but their design is challenging especially for complex tasks involving robots with many degrees of freedom. In this paper, we pose the UI design problem as a mapping between an interface device with M input degrees of freedom that generates commands for driving a robot with N output degrees of freedom. We describe a novel adaptive scheme that can learn the N to M input-output map, such that certain task-related performance measures are maximized. The resulting “Genetic Adaptive User Interface” (GAUI), is formulated and utilized to minimize a cost function related to the user teleoperation performance. This algorithm is an unsupervised learning scheme that does not require any knowledge about the robot, the user, or the environment. To validate our approach, we provide simulation and experimental results with a non-holonomic robot and two control interfaces; a joystick and a Myo gesture control armband. Results demonstrate that the adaptively trained map closely mimics the intuitive commands from the joystick interface, and also learns an easily controllable interface with the unintuitive gesture control armband. Abstract formulation of the method allows for easy modifications to the performance measure and application to other HMI tasks.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"46 1","pages":"50-56"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90855140","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560451
Ashfaq Farooqui, P. Falkman, Martin Fabian
Model-based techniques are, these days, being embraced by the manufacturing industry in their development frameworks. While model-based approaches allow for offline verification and validation before physical commissioning, and have other advantages over existing methods, they do have their own challenges. Firstly, models are typically created manually and hence are prone to errors. Secondly, once a model is created, tested, and put into use on the factory floor, there is an added effort required to maintain and update it. This paper is a preliminary study of the feasibility of automatically obtaining formal models from virtual simulations. We apply the foundational algorithm from the active automata learning community to study the requirements and enhancements needed to be able to derive discrete event models from virtual simulations. An abstract model in the form of operations is learned by applying this algorithm on a simulation model composed of discrete operations. While a major bottleneck to be solved is the generation of counterexamples, the results seem promising to apply model learning in practice.
{"title":"Towards Automatic Learning of Discrete-Event Models from Simulations","authors":"Ashfaq Farooqui, P. Falkman, Martin Fabian","doi":"10.1109/COASE.2018.8560451","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560451","url":null,"abstract":"Model-based techniques are, these days, being embraced by the manufacturing industry in their development frameworks. While model-based approaches allow for offline verification and validation before physical commissioning, and have other advantages over existing methods, they do have their own challenges. Firstly, models are typically created manually and hence are prone to errors. Secondly, once a model is created, tested, and put into use on the factory floor, there is an added effort required to maintain and update it. This paper is a preliminary study of the feasibility of automatically obtaining formal models from virtual simulations. We apply the foundational algorithm from the active automata learning community to study the requirements and enhancements needed to be able to derive discrete event models from virtual simulations. An abstract model in the form of operations is learned by applying this algorithm on a simulation model composed of discrete operations. While a major bottleneck to be solved is the generation of counterexamples, the results seem promising to apply model learning in practice.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"75 1","pages":"857-862"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90925889","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560444
Santeri Lampinen, Janne E. M. Koivumäki, J. Mattila
Teleoperated robotic manipulators can augment human capabilities to remotely operate environments which are hard to reach or too dangerous for humans. Furthermore, in teleoperated tasks where heavy objects are manipulated or great forces are needed, a hydraulic slave manipulator may be the only suitable option. Motivated by the recent advances in nonlinear model-based (NMB) control of hydraulic robotic manipulators, this study proposes a full-dynamics-based bilateral force-reflected teleoperation, which is designed between a multiple degrees-of-freedom (n-DOF) electrical master manipulator and an n-DOF hydraulic slave manipulator. Based on the authors' knowledge, this is the first time that such a system is designed for the teleoperation of hydraulic manipulators. The individual controllers for the master and slave manipulators are designed based on the virtual decomposition control (VDC) approach. Furthermore, a communication channel is designed to couple the two manipulators. Very importantly, this allows arbitrary motion and force scaling between the master and slave manipulators. The performance of the proposed method is demonstrated with a full-scale two-DOF hydraulic slave manipulator.
{"title":"Full-Dynamics-Based Bilateral Teleoperation of Hydraulic Robotic Manipulators","authors":"Santeri Lampinen, Janne E. M. Koivumäki, J. Mattila","doi":"10.1109/COASE.2018.8560444","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560444","url":null,"abstract":"Teleoperated robotic manipulators can augment human capabilities to remotely operate environments which are hard to reach or too dangerous for humans. Furthermore, in teleoperated tasks where heavy objects are manipulated or great forces are needed, a hydraulic slave manipulator may be the only suitable option. Motivated by the recent advances in nonlinear model-based (NMB) control of hydraulic robotic manipulators, this study proposes a full-dynamics-based bilateral force-reflected teleoperation, which is designed between a multiple degrees-of-freedom (n-DOF) electrical master manipulator and an n-DOF hydraulic slave manipulator. Based on the authors' knowledge, this is the first time that such a system is designed for the teleoperation of hydraulic manipulators. The individual controllers for the master and slave manipulators are designed based on the virtual decomposition control (VDC) approach. Furthermore, a communication channel is designed to couple the two manipulators. Very importantly, this allows arbitrary motion and force scaling between the master and slave manipulators. The performance of the proposed method is demonstrated with a full-scale two-DOF hydraulic slave manipulator.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"4 1","pages":"1343-1350"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79267306","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560360
S. Das, Indika B. Wijayasinghe, M. Saadatzi, D. Popa
Conventional methods to detect collisions or physical interaction between robots and human users and/or the environment consist of torque sensing at joints. In the case of non-collaborative robots, collision detection can be accomplished by wrist Force-Torque sensing at the end-effector, or covering the robot with pressure sensitive skin sensors. In this paper we present a novel approach to detect whole-body collisions with a robot manipulator equipped with a base force-torque sensor (BFTS), instead of a wrist force-torque sensor (WFTS). Our approach is summarized in the Base-sensor Assisted Physical Interaction (BAPI) controller described here. Although several other studies have investigated the advantages of this sensing configuration in conjunction with classical model-based computed torque controllers, here we make use of a Neuro-Adaptive controller (NAC) that can estimate the robot dynamic parameters on-line, for high performance interaction. The NAC requires no prior physical knowledge of the robot model parameters, and it offers Lyapunov stability and tracking performance guarantees. We offer the theoretical basis of the BAPI control algorithm and present experimental results with a 6 degrees of freedom (DOF) robot arm demonstrating the effectiveness of our approach.
{"title":"Whole Body Human-Robot Collision Detection Using Base-sensor Neuroadaptive Interaction","authors":"S. Das, Indika B. Wijayasinghe, M. Saadatzi, D. Popa","doi":"10.1109/COASE.2018.8560360","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560360","url":null,"abstract":"Conventional methods to detect collisions or physical interaction between robots and human users and/or the environment consist of torque sensing at joints. In the case of non-collaborative robots, collision detection can be accomplished by wrist Force-Torque sensing at the end-effector, or covering the robot with pressure sensitive skin sensors. In this paper we present a novel approach to detect whole-body collisions with a robot manipulator equipped with a base force-torque sensor (BFTS), instead of a wrist force-torque sensor (WFTS). Our approach is summarized in the Base-sensor Assisted Physical Interaction (BAPI) controller described here. Although several other studies have investigated the advantages of this sensing configuration in conjunction with classical model-based computed torque controllers, here we make use of a Neuro-Adaptive controller (NAC) that can estimate the robot dynamic parameters on-line, for high performance interaction. The NAC requires no prior physical knowledge of the robot model parameters, and it offers Lyapunov stability and tracking performance guarantees. We offer the theoretical basis of the BAPI control algorithm and present experimental results with a 6 degrees of freedom (DOF) robot arm demonstrating the effectiveness of our approach.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"69 1","pages":"278-283"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84788527","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560461
Fajun Yang, N. Wu, R. Su, Yan Qiao
In semiconductor manufacturing, a cleaning operation that takes significant time is required for eliminating the chemical residual in a chamber after a wafer being processed and removed from it. Such a cleaning operation makes a traditional backward strategy inefficient. In the existing work, it is shown that the productivity can be improved if some of chambers at a step are kept empty. With this idea, an extended backward strategy is proposed by deciding the optimal number of empty chambers. Based on such a strategy, this work studies the challenging problem for scheduling a single-arm cluster tool with both chamber cleaning operations and wafer residency time constraint for the first time. By building timed Petri net model for the system, two linear programs are proposed to determine the minimal cycle time and test the existence of a feasible schedule. At last, an industrial example is used to demonstrate the obtained results.
{"title":"Cyclic Scheduling Analysis of Single-arm Cluster Tools with Wafer Residency Time Constraint and Chamber Cleaning Operations","authors":"Fajun Yang, N. Wu, R. Su, Yan Qiao","doi":"10.1109/COASE.2018.8560461","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560461","url":null,"abstract":"In semiconductor manufacturing, a cleaning operation that takes significant time is required for eliminating the chemical residual in a chamber after a wafer being processed and removed from it. Such a cleaning operation makes a traditional backward strategy inefficient. In the existing work, it is shown that the productivity can be improved if some of chambers at a step are kept empty. With this idea, an extended backward strategy is proposed by deciding the optimal number of empty chambers. Based on such a strategy, this work studies the challenging problem for scheduling a single-arm cluster tool with both chamber cleaning operations and wafer residency time constraint for the first time. By building timed Petri net model for the system, two linear programs are proposed to determine the minimal cycle time and test the existence of a feasible schedule. At last, an industrial example is used to demonstrate the obtained results.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"17 1","pages":"241-246"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82178707","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 : 2018-08-01DOI: 10.1109/COASE.2018.8560563
F. Kästner, Dirk Kuschnerus, C. Spiegel, Benedikt Janßen, M. Hübner
Current industrial plants are typically equipped with Programmable Logic Controllers (PLCs) in fixed hierarchical structures. A key paradigm in Industrial Internet of Things (IIoT) is the design of distributed smart embedded systems replacing PLCs and extending their capability to enable energy-efficient, scalable systems offering performance and self-adaptivity to changing economical, environmental and process conditions. To be applicable in industrial contexts, these Cyber-Physical Production Systems (CPPS) have to satisfy strict realtime requirements while providing cost-efficiency and user-friendliness. In addition, the intellectual property of the system stakeholders like business logic and control algorithms must be protected against manipulation and theft within the distributed system. In this paper, we analyze communication approaches and provide a CPPS architecture fulfilling these requirements.
{"title":"Design of an efficient Communication Architecture for Cyber-Physical Production Systems","authors":"F. Kästner, Dirk Kuschnerus, C. Spiegel, Benedikt Janßen, M. Hübner","doi":"10.1109/COASE.2018.8560563","DOIUrl":"https://doi.org/10.1109/COASE.2018.8560563","url":null,"abstract":"Current industrial plants are typically equipped with Programmable Logic Controllers (PLCs) in fixed hierarchical structures. A key paradigm in Industrial Internet of Things (IIoT) is the design of distributed smart embedded systems replacing PLCs and extending their capability to enable energy-efficient, scalable systems offering performance and self-adaptivity to changing economical, environmental and process conditions. To be applicable in industrial contexts, these Cyber-Physical Production Systems (CPPS) have to satisfy strict realtime requirements while providing cost-efficiency and user-friendliness. In addition, the intellectual property of the system stakeholders like business logic and control algorithms must be protected against manipulation and theft within the distributed system. In this paper, we analyze communication approaches and provide a CPPS architecture fulfilling these requirements.","PeriodicalId":6518,"journal":{"name":"2018 IEEE 14th International Conference on Automation Science and Engineering (CASE)","volume":"5 1","pages":"829-835"},"PeriodicalIF":0.0,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79520556","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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