Pub Date : 2019-09-01DOI: 10.1109/ETFA.2019.8869301
Xie Zhen, Josh Chen Ye Seng, N. Somani
Many industry manufacturing processes require a lot of manpower to accomplish tasks manually, for example, manual polishing and masking. Industrial robot can be used to replace most of the tedious and repeated tasks. However, using robot program to generate the tool path for the manufacturing process might need programming skills and expertise. Besides, Computer Aided Design (CAD) files might not be available or accurate for the engineer to design the robot tool path. Hence, we propose an automatic way to generate the adaptive robot tool path for manufacturing process by using scan point cloud data of the target coupon. The core algorithm is based on point cloud projection on plane, tool path pattern design and reverse transform matrix to project the 2d tool path back to 3d point cloud. The algorithm is based on Point Cloud Library (PCL) and OpenCV libraries. After the toolpath is generated in the point cloud, Robot Operating System (ROS) is used to plan trajectory and check for collision. The automated tool path generation algorithm can be applied to multiple manufacturing process, such as masking, polishing and painting.
{"title":"Adaptive Automatic Robot Tool Path Generation Based on Point Cloud Projection Algorithm","authors":"Xie Zhen, Josh Chen Ye Seng, N. Somani","doi":"10.1109/ETFA.2019.8869301","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869301","url":null,"abstract":"Many industry manufacturing processes require a lot of manpower to accomplish tasks manually, for example, manual polishing and masking. Industrial robot can be used to replace most of the tedious and repeated tasks. However, using robot program to generate the tool path for the manufacturing process might need programming skills and expertise. Besides, Computer Aided Design (CAD) files might not be available or accurate for the engineer to design the robot tool path. Hence, we propose an automatic way to generate the adaptive robot tool path for manufacturing process by using scan point cloud data of the target coupon. The core algorithm is based on point cloud projection on plane, tool path pattern design and reverse transform matrix to project the 2d tool path back to 3d point cloud. The algorithm is based on Point Cloud Library (PCL) and OpenCV libraries. After the toolpath is generated in the point cloud, Robot Operating System (ROS) is used to plan trajectory and check for collision. The automated tool path generation algorithm can be applied to multiple manufacturing process, such as masking, polishing and painting.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"25 1","pages":"341-347"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80921944","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.2019.8869171
S. Azaiez, F. Tanguy, M. Engel
Semi-conductor industry have been handling for decades some of Industry 4.0 concepts mainly related to the remote control and the monitoring of the equipment and devices. In such industries, production jobs are launched on aggregated set of equipment responsible of the execution of the production process. Each equipment is controlled by a host. Such configurations allow the semi-conductor fabs to be highly flexible since jobs are not constrained to a single machine and a single machine can process several times the same product. SECS/GEM (SEMI Equipment Communications Standard/Generic Equipment Model) standards define the minimum specifications for the equipment/host interfaces. In this paper, we assess SECS/GEM standards against Industry 4.0 communication architecture OPC-UA. We show the complementarity between both standards and propose an approach to translate the specifications stacks of SECS/GEM standards towards OPC-UA information models. We first build UML models from which we generate services that must be exhibited by the host and the equipment interfaces and then we generate from these UML models specific OPC-UA address space model for SECS/GEM that will be deployed on OPC-UA servers and accessible by OPC-UA clients.
{"title":"Towards building OPC-UA companions for semi-conductor domain","authors":"S. Azaiez, F. Tanguy, M. Engel","doi":"10.1109/ETFA.2019.8869171","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869171","url":null,"abstract":"Semi-conductor industry have been handling for decades some of Industry 4.0 concepts mainly related to the remote control and the monitoring of the equipment and devices. In such industries, production jobs are launched on aggregated set of equipment responsible of the execution of the production process. Each equipment is controlled by a host. Such configurations allow the semi-conductor fabs to be highly flexible since jobs are not constrained to a single machine and a single machine can process several times the same product. SECS/GEM (SEMI Equipment Communications Standard/Generic Equipment Model) standards define the minimum specifications for the equipment/host interfaces. In this paper, we assess SECS/GEM standards against Industry 4.0 communication architecture OPC-UA. We show the complementarity between both standards and propose an approach to translate the specifications stacks of SECS/GEM standards towards OPC-UA information models. We first build UML models from which we generate services that must be exhibited by the host and the equipment interfaces and then we generate from these UML models specific OPC-UA address space model for SECS/GEM that will be deployed on OPC-UA servers and accessible by OPC-UA clients.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"11 1","pages":"142-149"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78849247","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.2019.8869205
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.2019.8869013
{"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.2019.8869241
Xiaolin Jiang, Michele Luvisotto, Zhibo Pang, C. Fischione
An innovative feature of the 5th Generation mobile network (5G) is to consider industrial applications as use cases for which its new radio access, 5G New Radio, aims to provide ultra low latency and ultra high reliability performance. These requirements are fulfilled by minimizing standard performance indicators such as end-to-end latency and packet error rate. However, industrial control applications typically require periodic exchange of small data, where the ability of networks to support short and deterministic cycle times is the main key performance indicator. This paper proposes a methodology to evaluate the achievable cycle time of an industrial network deployed over the 5G New Radio specifications. Numerical results shows that 5G can achieve millisecond level cycle time with network size of several hundred, which is promising for many factory automation applications.
{"title":"Latency Performance of 5G New Radio for Critical Industrial Control Systems","authors":"Xiaolin Jiang, Michele Luvisotto, Zhibo Pang, C. Fischione","doi":"10.1109/ETFA.2019.8869241","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869241","url":null,"abstract":"An innovative feature of the 5th Generation mobile network (5G) is to consider industrial applications as use cases for which its new radio access, 5G New Radio, aims to provide ultra low latency and ultra high reliability performance. These requirements are fulfilled by minimizing standard performance indicators such as end-to-end latency and packet error rate. However, industrial control applications typically require periodic exchange of small data, where the ability of networks to support short and deterministic cycle times is the main key performance indicator. This paper proposes a methodology to evaluate the achievable cycle time of an industrial network deployed over the 5G New Radio specifications. Numerical results shows that 5G can achieve millisecond level cycle time with network size of several hundred, which is promising for many factory automation applications.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"69 1","pages":"1135-1142"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78744055","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.2019.8869168
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.2019.8869210
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.2019.8869433
A. Cryer, G. Kapellmann-Zafra, Samantha Abrego-Hernandez, H. Marin-Reyes, R. French
Human interventions in radioactive environments have high stakes. They are often time-sensitive and radiation exposure must be minimised for the safety of personnel. Existing sites were not developed with remote decommissioning in mind, therefore human intervention remains the preferred approach for dexterous manual labour over robotic systems.For ageing sites, knowledge transfer after retirement is an increasingly relevant problem for maintenance and decommissioning tasks, where new workers lack the in-depth “on the ground” experience of the installation.Virtual Reality provides workers the agency to explore an accurate representation of the area, enabling them to gain experience without undue radiation exposure.This paper explores and discusses the teaching and training applications of a Virtual Reality environment with integrated radiation dose maps, and looks at where the system may be developed further.
{"title":"Advantages of Virtual Reality in the Teaching and Training of Radiation Protection during Interventions in Harsh Environments","authors":"A. Cryer, G. Kapellmann-Zafra, Samantha Abrego-Hernandez, H. Marin-Reyes, R. French","doi":"10.1109/ETFA.2019.8869433","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869433","url":null,"abstract":"Human interventions in radioactive environments have high stakes. They are often time-sensitive and radiation exposure must be minimised for the safety of personnel. Existing sites were not developed with remote decommissioning in mind, therefore human intervention remains the preferred approach for dexterous manual labour over robotic systems.For ageing sites, knowledge transfer after retirement is an increasingly relevant problem for maintenance and decommissioning tasks, where new workers lack the in-depth “on the ground” experience of the installation.Virtual Reality provides workers the agency to explore an accurate representation of the area, enabling them to gain experience without undue radiation exposure.This paper explores and discusses the teaching and training applications of a Virtual Reality environment with integrated radiation dose maps, and looks at where the system may be developed further.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"31 1","pages":"784-789"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73877096","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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