Pub Date : 2015-10-26DOI: 10.1109/ETFA.2015.7301451
I. Yung, Carlos Vázquez, L. Freidovich
Due to some limitations of mechanical solution for automation of front end loaders, specifically self-leveling task, we investigate here the sensor-based solution. We present a model of front end loaders and the comparison of different controllers to realize this task. The best performance is observed from the controller comprising linear terms, compensation of input nonlinearity known as dead zone, and compensation of disturbances constructed from its estimation.
{"title":"Automation of front end loaders: Self leveling task","authors":"I. Yung, Carlos Vázquez, L. Freidovich","doi":"10.1109/ETFA.2015.7301451","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301451","url":null,"abstract":"Due to some limitations of mechanical solution for automation of front end loaders, specifically self-leveling task, we investigate here the sensor-based solution. We present a model of front end loaders and the comparison of different controllers to realize this task. The best performance is observed from the controller comprising linear terms, compensation of input nonlinearity known as dead zone, and compensation of disturbances constructed from its estimation.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"1 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85243027","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301401
Timo Blender, C. Schlegel
In this paper, a fast reactive obstacle avoidance approach for omnidirectional driving is presented. The method is based on the dynamic window approach, but uses a cuboid instead of a window to limit the 3-dimensional search space accordingly to the dynamic constraints of the robot. Besides the kinematics and dynamics, the presented approach also considers the shape of a robot. To cope with the effort of the time consuming distance calculations, the remaining distance values are precalculated in an offline part and provided by a lookup table. This procedure is based on the Curvature Distance Lookup (CDL) approach which is extensively used in several real world robotic applications but which was so far only implemented for 2-DOFs. During the online phase, the extended approach enables the selection of a motion command from a wide range of curvatures (3-DOFs) within the current dynamic cuboid. The distance values are queried from the corresponding lookup table entries depending on the occupancy grid determined by latest sensor information. The reduced computational effort of the control loop allows to consider obstacle information from corresponding sources to the full extent and without preprocessing. Furthermore, complex heuristics can be implemented to evaluate a high number of omni-drive velocity triples in such a way that the driving behavior of the robot is influenced accordingly.
{"title":"Motion control for omni-drive servicerobots under Kinematic, Dynamic And Shape Constraints","authors":"Timo Blender, C. Schlegel","doi":"10.1109/ETFA.2015.7301401","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301401","url":null,"abstract":"In this paper, a fast reactive obstacle avoidance approach for omnidirectional driving is presented. The method is based on the dynamic window approach, but uses a cuboid instead of a window to limit the 3-dimensional search space accordingly to the dynamic constraints of the robot. Besides the kinematics and dynamics, the presented approach also considers the shape of a robot. To cope with the effort of the time consuming distance calculations, the remaining distance values are precalculated in an offline part and provided by a lookup table. This procedure is based on the Curvature Distance Lookup (CDL) approach which is extensively used in several real world robotic applications but which was so far only implemented for 2-DOFs. During the online phase, the extended approach enables the selection of a motion command from a wide range of curvatures (3-DOFs) within the current dynamic cuboid. The distance values are queried from the corresponding lookup table entries depending on the occupancy grid determined by latest sensor information. The reduced computational effort of the control loop allows to consider obstacle information from corresponding sources to the full extent and without preprocessing. Furthermore, complex heuristics can be implemented to evaluate a high number of omni-drive velocity triples in such a way that the driving behavior of the robot is influenced accordingly.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"21 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85445841","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301460
Gaetano Patti, Giuliana Alderisi, L. L. Bello
The spread use of IEEE 802.11 networks in industrial automation raised the need to support multiple traffic classes with different requirements. This paper proposes a novel approach, called SchedWiFi, that provides flexible support to the scheduled traffic class, i.e., a high priority traffic class that is transmitted according to a fixed schedule, over IEEE 802.11 ad-hoc industrial networks. SchedWiFi operates on the IEEE 802.11n physical layer, thus providing high datarate, and supports multiple traffic classes with different priorities. SchedWiFi modifies the EDCA mechanism allowing to transmit scheduled traffic without requiring any predefined superframe structure, or timeslots, thus allowing for more flexible schedule of non-ST traffic.
{"title":"SchedWiFi: An innovative approach to support scheduled traffic in ad-hoc industrial IEEE 802.11 networks","authors":"Gaetano Patti, Giuliana Alderisi, L. L. Bello","doi":"10.1109/ETFA.2015.7301460","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301460","url":null,"abstract":"The spread use of IEEE 802.11 networks in industrial automation raised the need to support multiple traffic classes with different requirements. This paper proposes a novel approach, called SchedWiFi, that provides flexible support to the scheduled traffic class, i.e., a high priority traffic class that is transmitted according to a fixed schedule, over IEEE 802.11 ad-hoc industrial networks. SchedWiFi operates on the IEEE 802.11n physical layer, thus providing high datarate, and supports multiple traffic classes with different priorities. SchedWiFi modifies the EDCA mechanism allowing to transmit scheduled traffic without requiring any predefined superframe structure, or timeslots, thus allowing for more flexible schedule of non-ST traffic.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"65 1","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79754060","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301502
G. Zhabelova, V. Vyatkin
The quality of the software has an increasing impact on the performance, operation and ultimately the cost of industrial automation systems. Software metrics are necessary to assess the quality and to identify modules that impact cost of testing and maintenance. There is a number of software metrics available within a software engineering domain. However, there is a gap when it comes to evaluating IEC 61499 automation software. It is a challenging task too. IEC 61499 architecture embraces several software development techniques such as imperative languages, state machines and object oriented programming. This paper proposes the method for calculating metrics for IEC 61499 function blocks. These metrics were used to analyze power system protection software. Metrics confirmed expected results and reasonably described quality of software modules. With further improvement and expansion of the proposed set of metrics, it will be possible to accurately analyze and therefore improve automation software design and reduce cost.
{"title":"Towards software metrics for evaluating quality of IEC 61499 automation software","authors":"G. Zhabelova, V. Vyatkin","doi":"10.1109/ETFA.2015.7301502","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301502","url":null,"abstract":"The quality of the software has an increasing impact on the performance, operation and ultimately the cost of industrial automation systems. Software metrics are necessary to assess the quality and to identify modules that impact cost of testing and maintenance. There is a number of software metrics available within a software engineering domain. However, there is a gap when it comes to evaluating IEC 61499 automation software. It is a challenging task too. IEC 61499 architecture embraces several software development techniques such as imperative languages, state machines and object oriented programming. This paper proposes the method for calculating metrics for IEC 61499 function blocks. These metrics were used to analyze power system protection software. Metrics confirmed expected results and reasonably described quality of software modules. With further improvement and expansion of the proposed set of metrics, it will be possible to accurately analyze and therefore improve automation software design and reduce cost.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"58 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85302392","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301504
A. Sánchez-Fernández, M. J. Fuente, G. Palmero
This paper proposes a distributed fault detection and diagnosis method based on Principal Component Analysis (PCA) in a whole plant monitoring scheme. The method is based on the decomposition of the plant into multiple blocks using plant topology. A local PCA based fault detection method is applied in each block and the results are sent to the central node to fuse the information and to detect and diagnose faults in the global plant. This method is compared with the centralized PCA method and some distributed principal component analysis (DPCA) methods in a wastewater treatment plant (WWTP). The objective is to check which of the distributed methods implemented is the best one in terms of detecting faults and minimizing the communication cost between the blocks. Empirical results on the WWTP show that the DPCA method based on local models has very good results.
{"title":"Fault detection in wastewater treatment plants using distributed PCA methods","authors":"A. Sánchez-Fernández, M. J. Fuente, G. Palmero","doi":"10.1109/ETFA.2015.7301504","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301504","url":null,"abstract":"This paper proposes a distributed fault detection and diagnosis method based on Principal Component Analysis (PCA) in a whole plant monitoring scheme. The method is based on the decomposition of the plant into multiple blocks using plant topology. A local PCA based fault detection method is applied in each block and the results are sent to the central node to fuse the information and to detect and diagnose faults in the global plant. This method is compared with the centralized PCA method and some distributed principal component analysis (DPCA) methods in a wastewater treatment plant (WWTP). The objective is to check which of the distributed methods implemented is the best one in terms of detecting faults and minimizing the communication cost between the blocks. Empirical results on the WWTP show that the DPCA method based on local models has very good results.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"9 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80699426","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301614
Woonggy Kim, Minyoung Sung
This paper presents the design of a scalable multi-axis control system that incorporates efficient data sharing using EtherCAT multicast over a set of homogeneous motion controllers. By associating each shared variable with a global clock-based timestamp and a dirty flag and by ensuring total order of distributed writes, the proposed system enables a cluster-architecture motion control environment for increased flexibility and scalability. Two types of data update schemes, i.e., synchronous update using clock events and asynchronous update using frame events, are described. The results from a preliminary experiment indicate that the design of an efficient frame relay is required in the EtherCAT master for the minimized cycle time and data inconsistency period.
{"title":"Scalable motion control system using EtherCAT-based shared variables","authors":"Woonggy Kim, Minyoung Sung","doi":"10.1109/ETFA.2015.7301614","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301614","url":null,"abstract":"This paper presents the design of a scalable multi-axis control system that incorporates efficient data sharing using EtherCAT multicast over a set of homogeneous motion controllers. By associating each shared variable with a global clock-based timestamp and a dirty flag and by ensuring total order of distributed writes, the proposed system enables a cluster-architecture motion control environment for increased flexibility and scalability. Two types of data update schemes, i.e., synchronous update using clock events and asynchronous update using frame events, are described. The results from a preliminary experiment indicate that the design of an efficient frame relay is required in the EtherCAT master for the minimized cycle time and data inconsistency period.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"52 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82508051","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301541
A. Vodencarevic, T. Fett
Data analytics plays one of the key roles in building intelligent systems, which bring automation to the new level of safety, reliability and efficiency, at the same time lowering the perceived complexity for the user. In this paper, we present the goals of data analytics in manufacturing and illustrate several application scenarios we have successfully worked on at Reifenhäuser REICOFIL GmbH & Co. KG. These include process monitoring and anomaly detection using virtual sensors, root cause analysis, plant simulation and optimization, assessing trade-offs between product quality criteria and extracting knowledge from data. Furthermore, we list a number of challenges that data analytics typically faces in manufacturing environments, demonstrating them on several concrete examples.
{"title":"Data analytics for manufacturing systems","authors":"A. Vodencarevic, T. Fett","doi":"10.1109/ETFA.2015.7301541","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301541","url":null,"abstract":"Data analytics plays one of the key roles in building intelligent systems, which bring automation to the new level of safety, reliability and efficiency, at the same time lowering the perceived complexity for the user. In this paper, we present the goals of data analytics in manufacturing and illustrate several application scenarios we have successfully worked on at Reifenhäuser REICOFIL GmbH & Co. KG. These include process monitoring and anomaly detection using virtual sensors, root cause analysis, plant simulation and optimization, assessing trade-offs between product quality criteria and extracting knowledge from data. Furthermore, we list a number of challenges that data analytics typically faces in manufacturing environments, demonstrating them on several concrete examples.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"7 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89508579","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301472
Hassan H. Halawa, R. Daoud, H. Amer, G. Alkady, Ali AbdelKader
Fault-tolerance is becoming an essential feature in the design of Networked Control Systems (NCSs). Furthermore, Sensor-to-Actuator (S2A) architectures have shown some advantages over conventional In-Loop architectures. This paper focuses on fault-tolerant controllers in the context of S2A systems. It proposes the use of Triple Modular Redundancy at the controller level. The fault-tolerant controller will be hosted in an FPGA that has a spare location. The voter in this TMR scheme is fault-secure to guarantee that the controllers never produce an undetected incorrect control action. Finally, system reliability is calculated using Markov models to quantitatively show, via case studies, the advantage of the proposed technique in terms of extended lifetime.
{"title":"FPGA-based reliable TMR controller design for S2A architectures","authors":"Hassan H. Halawa, R. Daoud, H. Amer, G. Alkady, Ali AbdelKader","doi":"10.1109/ETFA.2015.7301472","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301472","url":null,"abstract":"Fault-tolerance is becoming an essential feature in the design of Networked Control Systems (NCSs). Furthermore, Sensor-to-Actuator (S2A) architectures have shown some advantages over conventional In-Loop architectures. This paper focuses on fault-tolerant controllers in the context of S2A systems. It proposes the use of Triple Modular Redundancy at the controller level. The fault-tolerant controller will be hosted in an FPGA that has a spare location. The voter in this TMR scheme is fault-secure to guarantee that the controllers never produce an undetected incorrect control action. Finally, system reliability is calculated using Markov models to quantitatively show, via case studies, the advantage of the proposed technique in terms of extended lifetime.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"56 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85760580","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301408
A. Bihlmaier, H. Wörn
Most computer vision applications are built from a combination of basic computer vision algorithms, such as filters, descriptors and matchers. The functionality of this computer vision toolbox is well understood and solid implementations exist. One of the leading and most often used implementations is the Open Source Computer Vision Library (OpenCV), which implements more than 500 computer vision algorithms. However, most of these algorithms have multiple parameters that have to be tuned to the specific vision application. Therefore, during development of new vision applications, some human-in-the-loop iteration cannot be avoided. The problem is that OpenCV lacks support for this phase of development. This usually leads to a situation where each developer creates his own static ad-hoc debug solutions that output intermediate results in a printf-debugging manner. To remedy this situation, we developed reusable general-purpose interactive tools for visual debugging and development of OpenCV-based computer vision applications.
{"title":"CVVisual: Interactive visual debugging of computer vision programs","authors":"A. Bihlmaier, H. Wörn","doi":"10.1109/ETFA.2015.7301408","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301408","url":null,"abstract":"Most computer vision applications are built from a combination of basic computer vision algorithms, such as filters, descriptors and matchers. The functionality of this computer vision toolbox is well understood and solid implementations exist. One of the leading and most often used implementations is the Open Source Computer Vision Library (OpenCV), which implements more than 500 computer vision algorithms. However, most of these algorithms have multiple parameters that have to be tuned to the specific vision application. Therefore, during development of new vision applications, some human-in-the-loop iteration cannot be avoided. The problem is that OpenCV lacks support for this phase of development. This usually leads to a situation where each developer creates his own static ad-hoc debug solutions that output intermediate results in a printf-debugging manner. To remedy this situation, we developed reusable general-purpose interactive tools for visual debugging and development of OpenCV-based computer vision applications.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"7 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79169126","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 : 2015-10-26DOI: 10.1109/ETFA.2015.7301549
H. S. Lee, J. Oh, Beomhee Lee
This paper presents the problem of robot deployment for a number of scattered tasks. We aim to minimize the duration it takes for all robots to reach their assigned task locations. In previous work, we have proposed a team composed of one carrier robot (CR) and several servant robots to accomplish the mission. Then we have suggested an algorithm that determines a path of the CR for an efficient deployment under a few constraints, which is verified by simulations. Assuming that the servant robots are unmanned aerial vehicles (UAVs), the present paper extends the discussion to a real robot experiment. We design and implement a deployment system in intelligent space. The feasibility of the study is demonstrated through an experiment.
{"title":"Design and implementation for multiple-robot deployment in intelligent space","authors":"H. S. Lee, J. Oh, Beomhee Lee","doi":"10.1109/ETFA.2015.7301549","DOIUrl":"https://doi.org/10.1109/ETFA.2015.7301549","url":null,"abstract":"This paper presents the problem of robot deployment for a number of scattered tasks. We aim to minimize the duration it takes for all robots to reach their assigned task locations. In previous work, we have proposed a team composed of one carrier robot (CR) and several servant robots to accomplish the mission. Then we have suggested an algorithm that determines a path of the CR for an efficient deployment under a few constraints, which is verified by simulations. Assuming that the servant robots are unmanned aerial vehicles (UAVs), the present paper extends the discussion to a real robot experiment. We design and implement a deployment system in intelligent space. The feasibility of the study is demonstrated through an experiment.","PeriodicalId":6862,"journal":{"name":"2015 IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA)","volume":"18 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2015-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83495122","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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