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Model-driven embedded systems design environment for the industrial automation sector

Model-driven embedded systems design environment for the ind...

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IEEE international conference on Industrial informatics (INDIN)

作者： thomas Strasser Christoph Sunder Antonio Valentini Robotics and Adaptive Systems PROFACTOR GmbH Austria Automation and Control Institute (ACIN) Vienna University of Technology Vienna Austria 03NEIDA Europe ASBL Rue de L'Eglise 42 Belgium

the aim of this paper is to describe a model-driven embedded systems design approach which is applied to Industrial automation and control Systems (IACS). therefore, an overview on existing model-driven approaches is given and their applicability for IACS is discussed. the special requirements of the industrial automation sector are taken into account by a novel architecture, utilizing existing model-driven techniques. this approach is the basis for the FP7 research project MEDEIA.

关键词： Unified modeling language automation Computer architecture Software Object oriented modeling Embedded systems Real-time systems

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control Program Design of Autonomous Vehicle Robot Using Grammatical Evolution

Control Program Design of Autonomous Vehicle Robot Using Gra...

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international conference on robotics and automation Engineering (ICRAE)

作者： Syuya Yamada Ryoma Sato Tatsuhiro Tamaki Eisuke Kita Graduate School of Informatics Nagoya University Nagoya Japan Graduate School of Information Science Nagoya University Nagoya Japan National Institute of Technology Okinawa College Nago Japan

ISBN: (纸本)9781665406987

the automatic design of the control program of the vehicle robot is presented in this study. LEGO MINDSTORM EV3 and RVW Level Builder are used for this study. the control program of EV3 is designed automatically by using Grammatical Evolution (GE), which is one of the evolutionary algorithms. the generated program is applied for controlling EV3. the results show that the robot behavior in the experiment of EV3 was roughly equivalent to it in simulator. therefore, the proposed algorithm based on GE can generate the control program of robot automatically.

关键词： automation Robot control Evolutionary computation Germanium Robots Autonomous vehicles Convergence

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A morphing wing used shape memory alloy actuators new control technique with Bi-positional and PI laws optimum combination - Part 2: Experimental validation

A morphing wing used shape memory alloy actuators new contro...

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作者： Grigorie, Teodor Lucian Popov, Andrei Vladimir Botez, Ruxandra Mihaela Mamou, Mahmoud Mébarki, Youssef École de Technologie Supérieure Montréal QC H3C 1K3 Canada National Research Council Ottawa ON K1A 0R6 Canada

ISBN: (纸本)9789898425003

the paper represents the second part of a study related to the development of an actuators control system for a morphing wing application, and describes the experimental validation of the control designed in the first part. After a short presentation of the finally adopted control architecture, the physical implementation of the control is done. To implement the controller on the physical model two Programmable Switching Power Supplies AMREL SPS 100-33 and a Quanser Q8 data acquisition card, were used. the inputs of the data acquisition were two signals from Linear Variable Differential Transformer potentiometers, indicating the positions of the actuators, and six signals from thermocouples installed on the SMA wires. the acquisition board outputs channels were used to control power supplies in order to obtain the desired skin deflections. the control validation was made in two experimental ways: bench test and wind tunnel test. All 35 optimized airfoil cases, used in the design phase, were converted into actuators vertical displacements which were used as inputs reference for the controller. In the wind tunnel tests a comparative study was realized around of the transition point position for the reference airfoil and for each optimized airfoil.

关键词： controllers

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Planning of maintenance operations for a motorway operator based upon multicriteria evaluations over a finite scale and sensitivity analyses

Planning of maintenance operations for a motorway operator b...

引用

international conference on informatics in control automation and robotics, icinco 2007

作者： Sanchez, Cline Montmain, Jacky Vinches, Marc Mahieu, Brigitte Service Structure Viabilit Scurit Socít des Autoroutes Estrel Côtes d'Azur Provence Alpes avenue de cannes 06211 Mandelieu Cedex France Ecole des Mines d'Alès 6 avenue de Clavières 30319 Alès Cedex France

ISBN: (纸本)9783540856399

the Escota Company aims at the formalization and improvement of the decisional process for preventive maintenance in a multi criteria (MC) environment. According to available pieces of knowledge on the infrastructure condition, operations are to be evaluated with regards to (w.r.t.) technical but also to conformity, security and financial criteria. this MC evaluation is modelled as the aggregation of partial scores attributed to an operation w.r.t. a given set of n criteria. the scores are expressed over a finite scale which can cause some troubles when no attention is paid to the aggregation procedure. this paper deals with the consistency of the evaluation process, where scores are expressed as labels by Escota's experts, whereas the aggregation model is supposed to deal with numerical values and cardinal scales. We try to analyse this curious but common apparent paradox in MC evaluation when engineering contexts are concerned. A robustness study of the evaluation process concludes this paper.

关键词： Decision support systems

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Scene transition nets simulator for multi-aspect modeling of discrete-continuous hybrid systems

Scene transition nets simulator for multi-aspect modeling of...

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作者： Tateyama, Takeshi Kawata, Seiichi Shimomura, Yoshiki Watanabe, Kentaro Chiba, Ryosuke Graduate School of System Design Tokyo Metropolitan University Asahigaoka 6-6 Hino-shi Tokyo Japan Advanced Institute of Industrial Technology Higashi-Ohi 1-10-40 Shinagawa-ku Tokyo Japan

ISBN: (纸本)9789898425751

Scene Transition Nets (STN) are graphical modeling tools and simulators for discrete-continuous hybrid systems. Designers have previously built complex STN models of large-scale systems on the basis of a single aspect. However, many large-scale systems consist of several sub-systems designed for different purposes and based on different aspects. In addition, these subsystems are complexly intertwined with each one another. For verifying the behavior of such complex systems in simulations, it is necessary to construct multiple STN models of the subsystems, integrate them by taking into account the relationships among the subsystems, and simulate them in parallel. Kawata has proposed "multi-aspect modelingh using STNs in order to realize above-mentioned modeling concepts. However, the interaction of the sub-STN models with other models is difficult according to the basic STN concepts. this shortcoming interferes with the practical implementation of multi-aspect modeling. the authors overcome this shortcoming by enabling the sharing of the state variables of the actors (actors correspond to tokens in Petri nets). Called "actor-link", the simple concept enables to construct complex layered and parallel structures of STNs and perform multi-aspect modeling. the experimental results for the modeling and simulation of certain complex industrial systems demonstrate the effectiveness of the proposed method and simulation tool.

关键词： Hybrid systems

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Modelling robot dynamics with masses and pulleys

Modelling robot dynamics with masses and pulleys

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international conference on informatics in control automation and robotics, icinco 2007

作者： Stocco, Leo J. Yedlin, Matt J. The Department of Electrical and Computer Engineering University of British Columbia 2332 Main Mall Vancouver V6T 1Z4 BC Canada

ISBN: (纸本)9783540856399

the well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, stiffness and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulate a capacitor in the general case. this new MP model is used to model the off-diagonal elements of a mass matrix so that devices whose effective mass is coupled between more than one actuator can be represented by a mechanical system diagram that is topographically parallel to its equivalent electric circuit model. Specific examples of this technique are presented to demonstrate how a mechanical model can be derived for both a serial and a parallel robot with both two and three degrees of freedom. the technique, however, is extensible to any number of degrees of freedom.

关键词： Mechanical actuators

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Automatic Detection of Tulip Breaking Virus (TBV) Using a Deep Convolutional Neural Network 6th

Automatic Detection of Tulip Breaking Virus (TBV) Using a De...

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6th international-Federation-of-Automatic-control (IFAC) conference on Sensing, control and automation Technologies for Agriculture (AGRIcontrol)

作者： Polder, Gerrit van de Westeringh, Nick Kool, Janne Khan, Haris Ahmad Kootstra, Gert Nieuwenhuizen, Ard Wageningen Univ & Res POB 644 NL-6700 AP Wageningen Netherlands

Tulip crop production in the Netherlands suffers from severe economic losses caused by virus diseases such as the Tulip Breaking Virus (TBV). Infected plants which can spread the disease by aphids must be removed from the field as soon as possible. As the availability of human experts for visual inspection in the field is limited, there is an urgent need for a rapid, automated and objective method of screening. From 2009-2012, we developed an automatic machine vision based system, using classical machine learning algorithms. In 2012, the experiment conducted a tulip field planted at production density of 100 and 125 plants per square meter, resulting in images with overlapping plants. Experiments based on multispectral images resulted in scores that approached results obtained by experienced crop experts. the method, however, needed to be tuned specifically for each of the data trails, and a NIR band was needed for background segmentation. Recent developments in artificial intelligence and specifically in the area of convolutional neural networks, allow the development of more generic solutions for the detection of TBV. In this study, a Faster R-CNN network is applied on part of the data from the 2012 experiment. the outcomes show that the results are almost the same compared to the previous method using only RGB data. (C) 2019, IFAC (international Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Instrumentation and Sensing robotics and Mechatronics for Agricultural automation Precision Agriculture Convolutional Neural Networks Deep Learning Machine Vision

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Design and Development of a Dexterous Teleoperation Setup for Nuclear Waste Remote Manipulation 18th

Design and Development of a Dexterous Teleoperation Setup fo...

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18th international conference on informatics in control, automation and robotics, icinco 2021

作者： Gosselin, Florian Grossard, Mathieu Université Paris-Saclay CEA LIST Palaiseau91120 France

ISBN: (纸本)9783031264733

Teleoperation is entering a new era. Despite still in use today in the nuclear industry, simple purely mechanical or robotic 6 degrees of freedom (DoF) master-slave systems equipped with bi-digital grippers on the slave side and simple handles on the master side are not able to answer the challenge of remote manipulation at scale. these historical remotely controlled robotic solutions, inherited from mechanical master slave systems developed decades ago for research activities performed in gloveboxes and hot cells, allow operators an efficient and safe access to dangerous materials at distance. they are adapted when the variety of the to-be-manipulated objects remains limited, especially when these objects can be adapted for remote manipulation. they are however no more sufficient when one has to handle a much higher quantity of much more diverse objects, as it is typically the case when processing nuclear waste accumulated in huge quantities over time and/or produced at the occasion of nuclear power plants’ dismantling operations. the quantity and diversity of nuclear waste require more efficient and versatile systems. To answer this challenge and increase the operators’ productivity, we developed a complete bimanual teleoperation setup able to perform remote dexterous manipulation tasks. this article describes the hardware and software architecture of this platform, which is notably composed of a novel dexterous master-slave system combining a tri-digital master glove and a remotely controlled three fingers gripper. Both make use of highly backdrivable actuators and transmissions, and the proposed coupling schemes allow intuitive control of various grasp types. As a result, the proposed setup enables dexterous and force-sensitive control, and it is well-suited for high fidelity force-reflection tele-presence. © 2023, the Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Remote control

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Fish-Inspired Swimming Simulation and Robotic Implementation

Fish-Inspired Swimming Simulation and Robotic Implementation

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Joint international symposium on robotics

作者： Junzhi Yu Min Tan Jianwei Zhang Lab of COMPSYS Institute of Automation Chinese Academy of Sciences Group TAMS Dept of Informatics University of Hamburg

ISBN: (纸本)9783800732739

this paper describes our efforts to develop a Digital Fish Simulator (DFS), particularly aiming at creating a controlled kinematic centered environment to further shed light on how to design and control artificial fish robots. Compared to a 3D simulator for autonomous robotic fish by Liu and Hu, an improved body wave equation capable of multimodal swimming motions is adopted in our simulator and artificial swimming data can be further imported enabling various fictive swimming patterns. Furthermore, the swimming data generated from the simulator can directly be fed into the fish robots for verification, and vice versa. Finally, a series of fishlike robots with different mechanical design have been built to validate our well-formed ideas and to reach a new level of performance close to actual fish for real applications.

关键词： simulator Swimming Level of Performance Robot Fishes Verification

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Automatic Domain Extension and Optimization Based on Set-theory 17th

Automatic Domain Extension and Optimization Based on Set-T...

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17th international conference on informatics in control, automation and robotics, icinco 2020

作者： Kast, Bernd Dietrich, Vincent Albrecht, Sebastian von Wichert, Georg Feiten, Wendelin Zhang, Jianwei Siemens AG Corporate Technology Otto-Hahn-Ring 6 Munich81739 Germany Faculty of Mathematics Informatics and Natural Sciences University of Hamburg Vogt-Kölln-Str. 30 Hamburg22527 Germany

ISBN: (纸本)9783030924416

Autonomous machines promise more flexibility and robustness changes in their environment compared to manually programmed solutions in industrial applications. However, the autonomous planning of actions involves discrete as well as continuous properties, which results in a np-hard planning problem. Especially for multiple machines and long planning horizons the design of domains requires a lot of fine tuning and thus manual effort. Modularization and reuse of existing domain knowledge with formalized models is one solution to this issue. However, the models of different projects tend to be misaligned, in particular when several parties contributed to the project, which deteriorates the performance. In this paper, we present two domain optimization and extension algorithms, which adapt the models to facilitate planning. the first algorithm handles inconsistent units, or even misaligned pieces of sub-information. It automatically generates conversions and allows to call operations with a wider range of input types. the second algorithm aligns models from different sources with varying modeling views. After this reformulation, we can compose models more efficiently to a larger domain. For both optimizations, we rely on the formal set-based models that we also use in our previously presented hierarchical planning algorithm. Our hierarchical approach allows an almost linear scalability with the length of the plan. However, it comes with non-optimality effects due to the imposed intermediate goals that depend on the quality of the model. the optimization algorithms of this paper allow to adapt and extend the model so that valid shortcuts reduce these suboptimalities. We conduct experiments on a task and motion assembly problem, demonstrating scalability for up to 62 parts and plans with over 1000 steps, which either result in discrete state or high-level position changes, with planning times of less than 15 min. Our experiments also include the successful plan execution o

关键词： Scalability

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