Pub Date : 2017-09-01DOI: 10.1109/ETFA.2017.8247589
O. M. Duarte, R. Hametner
Programming parallel applications on replicated architectures in the safety-critical field is challenging due to the inherent non-determinism of the derived applications. This paper describes the concept of asynchronous programming with futures in C under a safety-critical platform used in the transport automation industry. A C language extension named Fresera and a Fresera-like runtime library implemented in C are presented. Our goal is to simplify the development of parallel applications with replica-deterministic guarantees. An overview of a transport automation platform in the railway control domain is given which relies on Triple Modular Redundancy (TMR) for fault tolerance. An example application written in a Fresera-like runtime library in C is used as a demonstration of the presented programming model. Early benchmarks of the runtime library exhibit an improved performance when using a lightweight tasks and a Work Stealing scheduler compared with a plain pthreads implementation.
{"title":"Asynchronous programming with futures in C on a safety-critical platform in the railway-control domain","authors":"O. M. Duarte, R. Hametner","doi":"10.1109/ETFA.2017.8247589","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247589","url":null,"abstract":"Programming parallel applications on replicated architectures in the safety-critical field is challenging due to the inherent non-determinism of the derived applications. This paper describes the concept of asynchronous programming with futures in C under a safety-critical platform used in the transport automation industry. A C language extension named Fresera and a Fresera-like runtime library implemented in C are presented. Our goal is to simplify the development of parallel applications with replica-deterministic guarantees. An overview of a transport automation platform in the railway control domain is given which relies on Triple Modular Redundancy (TMR) for fault tolerance. An example application written in a Fresera-like runtime library in C is used as a demonstration of the presented programming model. Early benchmarks of the runtime library exhibit an improved performance when using a lightweight tasks and a Work Stealing scheduler compared with a plain pthreads implementation.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"37 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91304171","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247620
D. Clavel, C. Mahulea, J. Albareda, M. Suárez
In this paper, the scheduling problem of elective patients in the Orthopedic Department of the “Lozano Blesa” Hospital in Zaragoza is considered. This problem takes into account two contradictory objectives: obtain a given occupation rate of the Operation Room (OR) and respect as much as possible the preference order of the patients in the waiting list. Three different mathematical models are discussed: 1) Quadratic Assignment Problem (QAP); 2) a Mixed Integer Linear Programing (MILP) model; and 3) Generalized Assignment Problem (GAP). These models solve combinatorial problems with a high computational cost; for this reason, heuristic methods have been used to solve large instances. In particular, 1) a meta-heuristic Genetic Algorithm (GA) for the QAP; 2) a heuristic Steepest Descent Multiplier Adjustment Method (SDMAM) for the GAP; and 3) a heuristic iterative method for MILP. Finally, the models and the heuristics are compared according to the occupation rate and the preference order criteria.
{"title":"Towards efficient algorithms for planning surgeries in operation rooms","authors":"D. Clavel, C. Mahulea, J. Albareda, M. Suárez","doi":"10.1109/ETFA.2017.8247620","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247620","url":null,"abstract":"In this paper, the scheduling problem of elective patients in the Orthopedic Department of the “Lozano Blesa” Hospital in Zaragoza is considered. This problem takes into account two contradictory objectives: obtain a given occupation rate of the Operation Room (OR) and respect as much as possible the preference order of the patients in the waiting list. Three different mathematical models are discussed: 1) Quadratic Assignment Problem (QAP); 2) a Mixed Integer Linear Programing (MILP) model; and 3) Generalized Assignment Problem (GAP). These models solve combinatorial problems with a high computational cost; for this reason, heuristic methods have been used to solve large instances. In particular, 1) a meta-heuristic Genetic Algorithm (GA) for the QAP; 2) a heuristic Steepest Descent Multiplier Adjustment Method (SDMAM) for the GAP; and 3) a heuristic iterative method for MILP. Finally, the models and the heuristics are compared according to the occupation rate and the preference order criteria.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"1 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91062456","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247593
Areej Althubaity, Huayi Ji, Tao Gong, M. Nixon, R. Ammar, Song Han
6TiSCH network architecture has recently been introduced to combine the high reliability and low-power consumption of the TSCH (Time-Slotted Channel Hopping) mode of IEEE 802.15.4e MAC with the ease of integration offered by the IP-enabled upper layer protocols. 6TiSCH network uses RPL (Routing Protocol for Low Power and Lossy Networks) as its routing protocol to manage the network layer functionalities. RPL however is vulnerable to internal routing attacks such as Rank attack where a malicious node multicasts a fake position (Rank) or a fake path cost toward the sink node to lure nearby nodes to forward their packets through it. In this paper, we propose a hybrid specification-based intrusion detection system (IDS) that consists of centralized and distributed modules installed on the sink and RPL nodes respectively to prevent nodes from selecting an intruder as their successors. The proposed method also eliminates intruders' chances of becoming a time source and disrupt the synchronization of 6TiSCH networks. The results from our extensive simulations show that compared with existing countermeasures, the proposed IDS can effectively protect RPL topologies while only incurring limited network management overhead.
6TiSCH网络架构最近被引入，它将IEEE 802.15.4e MAC的TSCH(时隙信道跳频)模式的高可靠性和低功耗与支持ip的上层协议提供的易于集成相结合。6TiSCH网络使用RPL (Routing Protocol for Low Power and Lossy Networks)作为路由协议来管理网络层的功能。然而，RPL容易受到内部路由攻击，例如Rank攻击，恶意节点向汇聚节点组播虚假位置(Rank)或虚假路径成本，以诱使附近节点通过它转发数据包。本文提出了一种基于规范的混合入侵检测系统(IDS)，该系统由分别安装在汇聚节点和RPL节点上的集中式和分布式模块组成，以防止节点选择入侵者作为其继任者。所提出的方法还消除了入侵者成为时间源和破坏6TiSCH网络同步的机会。大量的仿真结果表明，与现有的防御措施相比，所提出的入侵防御措施可以有效地保护RPL拓扑，同时只产生有限的网络管理开销。
{"title":"ARM: A hybrid specification-based intrusion detection system for rank attacks in 6TiSCH networks","authors":"Areej Althubaity, Huayi Ji, Tao Gong, M. Nixon, R. Ammar, Song Han","doi":"10.1109/ETFA.2017.8247593","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247593","url":null,"abstract":"6TiSCH network architecture has recently been introduced to combine the high reliability and low-power consumption of the TSCH (Time-Slotted Channel Hopping) mode of IEEE 802.15.4e MAC with the ease of integration offered by the IP-enabled upper layer protocols. 6TiSCH network uses RPL (Routing Protocol for Low Power and Lossy Networks) as its routing protocol to manage the network layer functionalities. RPL however is vulnerable to internal routing attacks such as Rank attack where a malicious node multicasts a fake position (Rank) or a fake path cost toward the sink node to lure nearby nodes to forward their packets through it. In this paper, we propose a hybrid specification-based intrusion detection system (IDS) that consists of centralized and distributed modules installed on the sink and RPL nodes respectively to prevent nodes from selecting an intruder as their successors. The proposed method also eliminates intruders' chances of becoming a time source and disrupt the synchronization of 6TiSCH networks. The results from our extensive simulations show that compared with existing countermeasures, the proposed IDS can effectively protect RPL topologies while only incurring limited network management overhead.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"155 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89237180","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247678
T. Hu, I. Bertolotti, N. Navet
The ever-growing complexity of present-day software systems raises new and more stringent requirements on their availability, pushing designers to make use of sophisticated fault tolerance techniques far beyond the areas they were traditionally conceived for, and bringing new challenges to both the modelling and implementation phases. In this paper, we propose a design pattern to model in a domain-specific language one of the prominent fault-tolerant techniques, namely the N-version programming. It can be integrated seamlessly into existing applications to enhance their functional correctness, while still preserving the timing characteristics, in particular the sampling times. Besides, it is also designed in a way to ease the automatic code generation. A counterpart of the same framework is also implemented in a lower-level programming language, for use when direct model execution is impractical, like in severely resource-limited embedded targets.
{"title":"Towards seamless integration of N-version programming in model-based design","authors":"T. Hu, I. Bertolotti, N. Navet","doi":"10.1109/ETFA.2017.8247678","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247678","url":null,"abstract":"The ever-growing complexity of present-day software systems raises new and more stringent requirements on their availability, pushing designers to make use of sophisticated fault tolerance techniques far beyond the areas they were traditionally conceived for, and bringing new challenges to both the modelling and implementation phases. In this paper, we propose a design pattern to model in a domain-specific language one of the prominent fault-tolerant techniques, namely the N-version programming. It can be integrated seamlessly into existing applications to enhance their functional correctness, while still preserving the timing characteristics, in particular the sampling times. Besides, it is also designed in a way to ease the automatic code generation. A counterpart of the same framework is also implemented in a lower-level programming language, for use when direct model execution is impractical, like in severely resource-limited embedded targets.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"401 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84851585","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247733
Jeronimo Mitaroff-Szecsenyi, P. Priller, T. Sauter
For distributed measurements to be consistently aligned a global notion of time within the network is necessary. Clock synchronization performance is hampered by delays and jitter accumulated not only in the network, but also in the timestamping procedures of the devices being synchronized. The resources available on such sensors are often constrained, both by cost and power consumption. Software solutions on single processor systems are common. While the synchronization process is critical, it usually has a supporting role and therefore cannot be assumed to have the highest priority. This paper analyzes the influence of periodic, non-interruptable tasks (e.g. measurements) on the timestamping process, presents mathematical models for simulation and a modified median filter to efficiently deal with these errors.
{"title":"Compensating software timestamping interference from periodic non-interruptable tasks","authors":"Jeronimo Mitaroff-Szecsenyi, P. Priller, T. Sauter","doi":"10.1109/ETFA.2017.8247733","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247733","url":null,"abstract":"For distributed measurements to be consistently aligned a global notion of time within the network is necessary. Clock synchronization performance is hampered by delays and jitter accumulated not only in the network, but also in the timestamping procedures of the devices being synchronized. The resources available on such sensors are often constrained, both by cost and power consumption. Software solutions on single processor systems are common. While the synchronization process is critical, it usually has a supporting role and therefore cannot be assumed to have the highest priority. This paper analyzes the influence of periodic, non-interruptable tasks (e.g. measurements) on the timestamping process, presents mathematical models for simulation and a modified median filter to efficiently deal with these errors.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"132 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76611770","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247623
D. Lefebvre
This paper concerns the fault diagnosis of stochastic discrete event systems that behave with non-Markovian dynamics. Partially observed Petri nets are used to model the system structure and the sensors. Stochastic processes with arbitrary probability density functions and various time semantics are used to model the dynamics including the failure processes. From the proposed modelling and the collected timed measurements, the probabilities of consistent trajectories are computed with a numerical scheme. The advantage of the proposed scheme is that it can be used for arbitrary probability density functions of the firing durations. It works for race or preselection choice policies. Diagnosis in terms of faults probability is established as a consequence. An example is presented to illustrate the method.
{"title":"Fault diagnosis for non-Markovian timed stochastic discrete event systems","authors":"D. Lefebvre","doi":"10.1109/ETFA.2017.8247623","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247623","url":null,"abstract":"This paper concerns the fault diagnosis of stochastic discrete event systems that behave with non-Markovian dynamics. Partially observed Petri nets are used to model the system structure and the sensors. Stochastic processes with arbitrary probability density functions and various time semantics are used to model the dynamics including the failure processes. From the proposed modelling and the collected timed measurements, the probabilities of consistent trajectories are computed with a numerical scheme. The advantage of the proposed scheme is that it can be used for arbitrary probability density functions of the firing durations. It works for race or preselection choice policies. Diagnosis in terms of faults probability is established as a consequence. An example is presented to illustrate the method.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"731 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76782982","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247568
A. Ismail, W. Kastner
Coordination is an important aspect of large scale distributed systems. The Open Platform Communications Unified Architecture (OPC UA) standard series presents an important challenge for coordination in its specifications for server redundancy. This paper discerns the coordination needs of OPC UA server redundancy and presents a solution based on the integration of OPC UA and ZooKeeper. A detailed description of the architecture, data model, and components of the resulting system is given. This is accompanied by a discussion of an implementation based on the open source ZooKeeper and open62541 libraries. The resulting system is shown to be capable of meeting the coordination needs of OPC UA redundancy.
{"title":"Coordinating redundant OPC UA servers","authors":"A. Ismail, W. Kastner","doi":"10.1109/ETFA.2017.8247568","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247568","url":null,"abstract":"Coordination is an important aspect of large scale distributed systems. The Open Platform Communications Unified Architecture (OPC UA) standard series presents an important challenge for coordination in its specifications for server redundancy. This paper discerns the coordination needs of OPC UA server redundancy and presents a solution based on the integration of OPC UA and ZooKeeper. A detailed description of the architecture, data model, and components of the resulting system is given. This is accompanied by a discussion of an implementation based on the open source ZooKeeper and open62541 libraries. The resulting system is shown to be capable of meeting the coordination needs of OPC UA redundancy.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"26 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75111786","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247630
Pau Martinez, M. Serra, R. Costa-Castelló
In this work the dynamic model of a domestic heating system is described. The heating system is based on a High Temperature PEM Fuel Cell. The model corresponds to a home placed in the city of Barcelona. The set of equations describing its behavior, the implementation in MATLAB/Simulink and some preliminary results for the control system are described.
{"title":"Modeling and control of HTPEMFC based combined heat and power for confort control","authors":"Pau Martinez, M. Serra, R. Costa-Castelló","doi":"10.1109/ETFA.2017.8247630","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247630","url":null,"abstract":"In this work the dynamic model of a domestic heating system is described. The heating system is based on a High Temperature PEM Fuel Cell. The model corresponds to a home placed in the city of Barcelona. The set of equations describing its behavior, the implementation in MATLAB/Simulink and some preliminary results for the control system are described.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"2012 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72766282","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247658
A. R. Khan, H. Schiøler, M. Kulahci, T. Knudsen
Today, in modern factories, each step in manufacturing produces a bulk of valuable as well as highly precise information. This provides a great opportunity for understanding the hidden statistical dependencies in the process. Systematic analysis and utilization of advanced analytical methods can lead towards more informed decisions. In this article we discuss some of the challenges related to big data analysis in manufacturing and relevant solutions to some of these challenges.
{"title":"Big data analytics for industrial process control","authors":"A. R. Khan, H. Schiøler, M. Kulahci, T. Knudsen","doi":"10.1109/ETFA.2017.8247658","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247658","url":null,"abstract":"Today, in modern factories, each step in manufacturing produces a bulk of valuable as well as highly precise information. This provides a great opportunity for understanding the hidden statistical dependencies in the process. Systematic analysis and utilization of advanced analytical methods can lead towards more informed decisions. In this article we discuss some of the challenges related to big data analysis in manufacturing and relevant solutions to some of these challenges.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"100 6","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72631241","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 : 2017-09-01DOI: 10.1109/ETFA.2017.8247588
Fernando Arévalo, Tin Nguyen, Andreas Schwung
Industrial companies are constantly looking for methods to maintain a certain process efficiency and steady performance of their machines. Assistance systems support users in different applications such as driving, industrial expert systems, and physician assistance to achieve these objectives. This paper proposes an assistance system, which can support an operator by means of using the accumulated knowledge of process experts, and thus providing recommendations for improving the process performance. An architecture based on information fusion and rule-based programming is presented. The information fusion considers the Dempster-Shafer rule of combination, in order to fuse the process knowledge of different experts into a consolidated expertise. A rule-based approach serves as a way to combine the process knowledge with the machine data. The technical implementation considers an industrial communication protocol OPC-UA, which enables a data interface between the assistance system and the automation platform. This paper presents an application case to illustrate how the assistance system interacts with the process experts, as well as the assessment to the operator.
{"title":"Assistance system for a bulk good system based on information fusion","authors":"Fernando Arévalo, Tin Nguyen, Andreas Schwung","doi":"10.1109/ETFA.2017.8247588","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247588","url":null,"abstract":"Industrial companies are constantly looking for methods to maintain a certain process efficiency and steady performance of their machines. Assistance systems support users in different applications such as driving, industrial expert systems, and physician assistance to achieve these objectives. This paper proposes an assistance system, which can support an operator by means of using the accumulated knowledge of process experts, and thus providing recommendations for improving the process performance. An architecture based on information fusion and rule-based programming is presented. The information fusion considers the Dempster-Shafer rule of combination, in order to fuse the process knowledge of different experts into a consolidated expertise. A rule-based approach serves as a way to combine the process knowledge with the machine data. The technical implementation considers an industrial communication protocol OPC-UA, which enables a data interface between the assistance system and the automation platform. This paper presents an application case to illustrate how the assistance system interacts with the process experts, as well as the assessment to the operator.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"17 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85048346","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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