Pub Date : 2019-09-01DOI: 10.1109/ETFA.2019.8869168
A. M. Campoy, F. Rodríguez-Ballester
Control flow monitoring using a watchdog processor is a well-known technique to increase the dependability of a microprocessor system. Most approaches embed reference signatures for the watchdog processor into the processor instruction stream. These signatures contain the information required to detect control flow errors during program execution by the main processor. This paper proposes an architecture that offers both fault-tolerance and dynamic cache locking combined. This combination is achieved taking advantage of the fact that watchdog processor signatures are inserted along the program code. Then cache locking information is incorporated into these signatures. And also the required circuitry to inform the cache controller whether to lock or not the instructions fetched by the main processor is added into the watchdog processor. With this approach both fault-tolerant and real-time features are supported by the same hardware, therefore saving room on the silicon die or FPGA size. Results from experiments show that in most cases this approach reaches the same performance than previous, hardware-costly proposals.
{"title":"Combining watchdog processor with instruction cache locking for a fault-tolerant, predictable architecture applied to fixed-priority, preemptive, multitasking real-time systems","authors":"A. M. Campoy, F. Rodríguez-Ballester","doi":"10.1109/ETFA.2019.8869168","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869168","url":null,"abstract":"Control flow monitoring using a watchdog processor is a well-known technique to increase the dependability of a microprocessor system. Most approaches embed reference signatures for the watchdog processor into the processor instruction stream. These signatures contain the information required to detect control flow errors during program execution by the main processor. This paper proposes an architecture that offers both fault-tolerance and dynamic cache locking combined. This combination is achieved taking advantage of the fact that watchdog processor signatures are inserted along the program code. Then cache locking information is incorporated into these signatures. And also the required circuitry to inform the cache controller whether to lock or not the instructions fetched by the main processor is added into the watchdog processor. With this approach both fault-tolerant and real-time features are supported by the same hardware, therefore saving room on the silicon die or FPGA size. Results from experiments show that in most cases this approach reaches the same performance than previous, hardware-costly proposals.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"415 1","pages":"259-265"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73928631","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869248
Bedir Halci, V. Gazi, Onur Cihan
In this article we develop an energy based model for the dynamics of a swarm of quadrotors using Lagrangian approach. Both the individual quadrotor dynamics and the interaction dynamics between the agents in the swarm are modeled within the framework. Artificial potential energy and the corresponding potential forces are utilized for modeling the interaction between the quadrotors. Various simulations are performed to illustrate the viability and effectiveness of the developed swarm model. The kinetic and potential energy of the swarm is also illustrated.
{"title":"Modelling and Coordination of a Swarm of Quadrotors Using Lagrange Dynamics and Potential Functions","authors":"Bedir Halci, V. Gazi, Onur Cihan","doi":"10.1109/ETFA.2019.8869248","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869248","url":null,"abstract":"In this article we develop an energy based model for the dynamics of a swarm of quadrotors using Lagrangian approach. Both the individual quadrotor dynamics and the interaction dynamics between the agents in the swarm are modeled within the framework. Artificial potential energy and the corresponding potential forces are utilized for modeling the interaction between the quadrotors. Various simulations are performed to illustrate the viability and effectiveness of the developed swarm model. The kinetic and potential energy of the swarm is also illustrated.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"56 1","pages":"963-970"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73647303","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869209
Yoann Solana, Héctor Herrero, A. García, Sergio Martínez Calvo, Urko Esnaola, D. Sallé, Juan Cortés
Nowadays, factories are required to increase production flexibility in order to manufacture small-lot variants, rapidly adapting to customer demands. Furthermore, manufacturing may involve complex manipulation tasks, usually performed by human workers. In such a context, traditional robotic systems are not competitive due to the huge costs of installation, maintenance and adaptation. A new generation of robots, equipped with multiple arms, is appearing as an attractive alternative because of their potential versatility and ability to execute intricate manipulation tasks. To facilitate the integration of these robots in a work-cell and a rapid adaptation to different tasks, easy-to-use programming interfaces and a high degree of autonomy are mandatory. Autonomous task and motion planning are particularly relevant in this context. In this paper, we present our recent progress in this direction. Hardware and software developments are explained in the context of a pilot dual-arm robot station that is being integrated in the production line of a big airplane manufacturer. First experimental results are also presented.
{"title":"A case study of automated dual-arm manipulation in industrial applications","authors":"Yoann Solana, Héctor Herrero, A. García, Sergio Martínez Calvo, Urko Esnaola, D. Sallé, Juan Cortés","doi":"10.1109/ETFA.2019.8869209","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869209","url":null,"abstract":"Nowadays, factories are required to increase production flexibility in order to manufacture small-lot variants, rapidly adapting to customer demands. Furthermore, manufacturing may involve complex manipulation tasks, usually performed by human workers. In such a context, traditional robotic systems are not competitive due to the huge costs of installation, maintenance and adaptation. A new generation of robots, equipped with multiple arms, is appearing as an attractive alternative because of their potential versatility and ability to execute intricate manipulation tasks. To facilitate the integration of these robots in a work-cell and a rapid adaptation to different tasks, easy-to-use programming interfaces and a high degree of autonomy are mandatory. Autonomous task and motion planning are particularly relevant in this context. In this paper, we present our recent progress in this direction. Hardware and software developments are explained in the context of a pilot dual-arm robot station that is being integrated in the production line of a big airplane manufacturer. First experimental results are also presented.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"7 1","pages":"563-570"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73893208","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869210
Jonathan Thörn, Najda Vidimlic, A. Friebe, A. Papadopoulos, T. Nolte
In this paper we present our ongoing work towards a realistic probabilistic timing analysis of embedded software systems subject to timing requirements. In order to provide such an analysis that captures necessary and important behavioural features of the software system under analysis, including the underlying platform, we have implemented a real-time system running on a Rasberry Pi microcontroller on which we have performed a series of experiments and measurements. The results so far suggest a new model for analysis that captures more detailed behaviour and consequently provides a more accurate and correct probabilistic analysis.
{"title":"Probabilistic Timing Analysis of a Periodic Task on a Microcontroller","authors":"Jonathan Thörn, Najda Vidimlic, A. Friebe, A. Papadopoulos, T. Nolte","doi":"10.1109/ETFA.2019.8869210","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869210","url":null,"abstract":"In this paper we present our ongoing work towards a realistic probabilistic timing analysis of embedded software systems subject to timing requirements. In order to provide such an analysis that captures necessary and important behavioural features of the software system under analysis, including the underlying platform, we have implemented a real-time system running on a Rasberry Pi microcontroller on which we have performed a series of experiments and measurements. The results so far suggest a new model for analysis that captures more detailed behaviour and consequently provides a more accurate and correct probabilistic analysis.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"11 1","pages":"1419-1422"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75191416","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 : 2019-09-01DOI: 10.1109/etfa.2019.8869013
{"title":"Industrial Cyber-Physical Systems: New Trends in Computing and Communications [breaker page]","authors":"","doi":"10.1109/etfa.2019.8869013","DOIUrl":"https://doi.org/10.1109/etfa.2019.8869013","url":null,"abstract":"","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76543674","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869205
Stefan Profanter, Ari Breitkreuz, Markus Rickert, A. Knoll
The current trend to lot-size-one production requires reduced integration effort and easy reuse of available devices inside the production line. These devices have to offer a uniform interface to fulfill these requirements.This paper presents a hardware-agnostic skill model using the semantic modeling capabilities of OPC UA. The model provides a standardized interface to hardware or software functionality while offering an intuitive way of grouping multiple skills to a higher hierarchical abstraction.Our skill model is based on OPC UA Programs and modeled as an open source NodeSet. We hereby focus on the reusability of the skills for many different domains. The model is evaluated by controlling three different industrial robots and their tools through the same skill interface. The evaluation shows that our generic OPC UA skill model can be used as a standardized control interface for device and software components in industrial manufacturing. With our solution new components can easily be exchanged without changing the interface. This is not only true for industrial robots, but for any device which provides a controllable functionality.
{"title":"A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools","authors":"Stefan Profanter, Ari Breitkreuz, Markus Rickert, A. Knoll","doi":"10.1109/ETFA.2019.8869205","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869205","url":null,"abstract":"The current trend to lot-size-one production requires reduced integration effort and easy reuse of available devices inside the production line. These devices have to offer a uniform interface to fulfill these requirements.This paper presents a hardware-agnostic skill model using the semantic modeling capabilities of OPC UA. The model provides a standardized interface to hardware or software functionality while offering an intuitive way of grouping multiple skills to a higher hierarchical abstraction.Our skill model is based on OPC UA Programs and modeled as an open source NodeSet. We hereby focus on the reusability of the skills for many different domains. The model is evaluated by controlling three different industrial robots and their tools through the same skill interface. The evaluation shows that our generic OPC UA skill model can be used as a standardized control interface for device and software components in industrial manufacturing. With our solution new components can easily be exchanged without changing the interface. This is not only true for industrial robots, but for any device which provides a controllable functionality.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"36 1","pages":"1061-1068"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76171461","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 : 2019-09-01DOI: 10.1109/etfa.2019.8868999
{"title":"Women in Engineering [breaker page]","authors":"","doi":"10.1109/etfa.2019.8868999","DOIUrl":"https://doi.org/10.1109/etfa.2019.8868999","url":null,"abstract":"","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"105 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76061863","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869025
Luigi D’Alfonso, P. Muraca
In this paper a second-order model for a swarm of agents is proposed to face the team reference tracking problem. The described model is a double integrator where each agent dynamic is ruled by a control input formed by attractive parts to the reference position and speed, and by a repulsive part that rules the interactions among agents. It will be proved that following the proposed model, the swarm centroid will asymptotically reach the reference trajectory and the agents’ speeds will reach a consensus on the reference speed while their positions will be fixed in a reference frame that moves according to the reference trajectory. The main novelty of the proposed work is the interaction term among agents, the effect of which can be easily tuned by modifying an interaction matrix that modulates the effect of agents interactions on their various components. Properly choosing this matrix, aggregation properties can be modified to ensure that all the agents enter and remain in a defined zone around the reference trajectory, moving according to it.
{"title":"Speed Consensus and Reference Tracking for a Swarm of Second-order Agents","authors":"Luigi D’Alfonso, P. Muraca","doi":"10.1109/ETFA.2019.8869025","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869025","url":null,"abstract":"In this paper a second-order model for a swarm of agents is proposed to face the team reference tracking problem. The described model is a double integrator where each agent dynamic is ruled by a control input formed by attractive parts to the reference position and speed, and by a repulsive part that rules the interactions among agents. It will be proved that following the proposed model, the swarm centroid will asymptotically reach the reference trajectory and the agents’ speeds will reach a consensus on the reference speed while their positions will be fixed in a reference frame that moves according to the reference trajectory. The main novelty of the proposed work is the interaction term among agents, the effect of which can be easily tuned by modifying an interaction matrix that modulates the effect of agents interactions on their various components. Properly choosing this matrix, aggregation properties can be modified to ensure that all the agents enter and remain in a defined zone around the reference trajectory, moving according to it.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"14 1","pages":"971-976"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76801276","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869303
Udayanto Dwi Atmojo, V. Vyatkin
This paper presents a software design pattern for systems composed from distributed intelligent mechatronic modules which communicate with each other via wireless interface. The design pattern is formed by integrating the reliable communication mechanism called channel, which comes from a system-level programming language SystemJ. The paper demonstrates how the design pattern can be applied in an industrial automation example.
{"title":"A Design Pattern for Systems Composed from Intelligent Mechatronic Modules with Wireless Communication","authors":"Udayanto Dwi Atmojo, V. Vyatkin","doi":"10.1109/ETFA.2019.8869303","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869303","url":null,"abstract":"This paper presents a software design pattern for systems composed from distributed intelligent mechatronic modules which communicate with each other via wireless interface. The design pattern is formed by integrating the reliable communication mechanism called channel, which comes from a system-level programming language SystemJ. The paper demonstrates how the design pattern can be applied in an industrial automation example.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"1 1","pages":"41-48"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79999623","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 : 2019-09-01DOI: 10.1109/ETFA.2019.8869247
Paulo Moura Oliveira, J. Hedengren
Students born in a digital era require adjusted teaching and learning methodologies incorporating new technologies. A common difficulty found by students is how to test their controller designs in a real system. Thus, the development of affordable, portable and easy to use feedback control kits is highly desirable. The idea is that both lecturers and students can perform simple practical experiments anytime and anywhere. The APMonitor temperature control lab is an Arduino based control kit which fulfils these requirements. Proportional, integrative and derivative control is in operation in the vast majority of industrial process control loops. Thus, it is a mandatory topic in most undergraduate introductory feedback control courses. A teaching/learning PID control experiment for undergraduate Biomedical Engineering student’s based on the temperature control lab is reported here. Results received from students are presented.
{"title":"An APMonitor Temperature Lab PID Control Experiment for Undergraduate Students","authors":"Paulo Moura Oliveira, J. Hedengren","doi":"10.1109/ETFA.2019.8869247","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869247","url":null,"abstract":"Students born in a digital era require adjusted teaching and learning methodologies incorporating new technologies. A common difficulty found by students is how to test their controller designs in a real system. Thus, the development of affordable, portable and easy to use feedback control kits is highly desirable. The idea is that both lecturers and students can perform simple practical experiments anytime and anywhere. The APMonitor temperature control lab is an Arduino based control kit which fulfils these requirements. Proportional, integrative and derivative control is in operation in the vast majority of industrial process control loops. Thus, it is a mandatory topic in most undergraduate introductory feedback control courses. A teaching/learning PID control experiment for undergraduate Biomedical Engineering student’s based on the temperature control lab is reported here. Results received from students are presented.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"85 1","pages":"790-797"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82871592","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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