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2025 International Conference on Control, Automation, and Instrumentation, IC2AI 2025

作者： Haydar, Georgio Abou Telawi, Samer Borcsok, Josef Architecture and System Programming University of Kassel Department of Computer Kassel Germany

ISBN: (纸本)9798331529604

Ensuring the safety of human workers collaborating with industrial robots is paramount. This research work presents a novel approach by developing a safety-related intruder detection system for the operational zones of industrial robots, following the IEC 61508 standard and adopting the related redundant architecture. The hardware integrates light curtains and radar sensors in a dual-layer configuration, while the software utilizes a safety system-on-chip to implement real-time diagnostics and fault tolerance. Protecting employees and ensuring a smooth and safe work environment are significant concerns for all companies. As a result, numerous standards and regulations have been established to provide safe collaboration between humans and machines. However, despite these measures, accidents continue to occur, resulting in varying degrees of injuries. The proposed system is depicted through a comprehensive schematic, emphasizing the integration of safety measures within the robotic environment. The detailed prototype demonstrates practical application, show-casing the system's ability to detect intrusions, initiate emergency responses, and transition to fail-safe states during component failures. This research work advances safety protocols in human-robot collaboration within industrial settings, fostering a safe working environment through a well-defined safety framework. © 2025 IEEE.

关键词： Industrial robots

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Implementation of Safety-Related Intrusion Detection for an Industrial Robotic Arm

Implementation of Safety-Related Intrusion Detection for an ...

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Control, Automation, and Instrumentation (IC2AI), International Conference on

作者： Georgio Abou Haydar Samer Telawi Josef Börcsök Department of Computer Architecture and System Programming University of Kassel Kassel Germany

ISBN: (数字)9798331529604

ISBN: (纸本)9798331529611

关键词： Service robots Intrusion detection Prototypes Human-robot interaction Industrial robots Manipulators Safety system-on-chip IEC Standards Standards

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Software development for safety-related systems

Software development for safety-related systems

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2nd International Conference on systems, ICONS 2007

作者： Börcsök, Josef Schaefer, Sebastian Department of Computer Architecture and System Programming University of Kassel

ISBN: (纸本)0769528074

Safety-related systems mostly comprise hardware and software solutions. Due to the increasing application of complex hardware and software systems, the software systems have to be considered regarding safety as well as hardware systems. The development of a safety-related software system is similar to the development of a safety-related hardware systems. But there are still no generally accepted methods for developing safety-critical software. One has to use the methods, which fit best to the actual requirements. However, the calculation of reliability and availability for safety-related software systems is far more complex. © 2007 IEEE.

关键词： Safety engineering

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Calculation of safety parameters

Calculation of safety parameters

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23rd International Congress on Condition Monitoring and Diagnostic Engineering Management, COMADEM 2010

作者： Börcsök, J. Department of Computer Architecture and System Programming University of Kassel Germany

ISBN: (纸本)9784883254194

The standard IEC/EN 61508 defines the requirements for safety systems to be applied to industrial plant safety independently of the application. It is not only intended as a basis for the development of future application orientated standards, but also as a basis of all safety related electrical, electronic and programmable electronic systems, in order to apply it to safety critical applications. The purpose of this paper is to describe the SILCas tool which enables the user to determine the Safety Integrity Level (SIL) and the probability of failure on demand (PFD) for entire SIFs (consisting of sensor, signal processing, actuator) and for different system architectures.

关键词： Accident prevention

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A partially automated HiL test environment for model-based development using Simulink® and OPC technology

A partially automated HiL test environment for model-based d...

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2011 23rd International Symposium on Information, Communication and Automation Technologies, ICAT 2011

作者： Chaaban, W. Schwarz, M. Batchuluun, B. Sheng, H. Börcsök, J. Department of Computer Architecture and System Programming University of Kassel Kassel Germany

ISBN: (纸本)9781457707469

This paper is concerned with the design procedures of an automated testing tool, developed in Matlab®/Simulink® environment, that performs software verification during runtime on a PLC (Programmable Logic Controller) or so called HiL test (Hardware-in-the-Loop) for model-based development of control applications. In addition to checking the "semantic" or "functional" correctness of the automatically generated C++ - Code with RTW (Real Time Workshop®) for algorithms designed and developed in Simulink® on hardware targets, the tool compares results obtained from the HiL test with the results of the MiL test (Model-in-the-Loop) performed in early stage of development for the same developed application. The main purpose behind this work is to develop reliable software that fulfil system requirements and to test its behaviour during realtime hardware simulation, in order to achieve the validation step which represents the terminating - step of almost all projects. © 2011 IEEE.

关键词： Simulink

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Model Based Development Methodology in Compliance with ISO 26262 for Safe Automotive ECU

Model Based Development Methodology in Compliance with ISO 2...

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2023 IEEE International Conference on Electrical, computer and Energy Technologies, ICECET 2023

作者： Hafiz, Muhammad Ikram University of Kassel Department of Computer Architecture and System Programming Kassel Germany

ISBN: (纸本)9798350327816

This work presents a practical approach of designing a functionally safe ECU for automotive application by implementing the Model Based Development (MBD) methodology. Functional safety (FuSa) in automotive can be achieved by strictly following the processes of electrical and electronic systems development as given in the ISO 26262. The scope of FuSa encompasses the risks emerging from systematic failures and random hardware failures. One approach to mitigate these failures is the Model Based Development (MBD) on which the ISO 26262 provides guidance. This approach enables to model an ECU and accelerates an IP creation by automatic RTL code generation for rapid prototyping on an FPGA level. In this work the MBD is implemented in accordance to the ISO 26262 to design and test a hardware model of an embedded ECU. The embedded Design under Test (DUT) is simulated and its output verified in Matlab/Simulink. Upon successful results, the RTL codes of the DUT are generated for a target FPGA. The RTL codes are simulated and the functionality of the DUT is verified at the FPGA level. © 2023 IEEE.

关键词： FPGA Functional Safety HDL code generation ISO 26262 Model Based Development systematic failures

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Development of a Safe Charging Infrastructure system: Requirements, Design, Verification and Validation 10th

Development of a Safe Charging Infrastructure System: Requ...

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10th International Conference on Smart Cities and Green ICT systems, SMARTGREENS 2021, and 7th International Conference on Vehicle Technology and Intelligent Transport systems, VEHITS 2021

作者： Kivelä, Tommi Sperling, Marvin Abdelawwad, Mohamed Drabesch, Malte Schwarz, Michael Börcsök, Josef Furmans, Kai Karlsruhe Germany Department of Computer Architecture and System Programming University of Kassel Kassel Germany

ISBN: (纸本)9783031170973

With the ongoing shift from fossil fuels towards electric mobility, there’s an increasing need for charging infrastructure for electric vehicles, both private and public. With this increasing role of charging infrastructure in day-to-day life, safety and security should be guaranteed for these systems. In this work we report on the development of an integrated electronic charging infrastructure system. The development was based on both current functional safety and charging infrastructure standards. The whole development process is presented, including requirements analysis, overall system design, safety hardware and software design, as well as the verification & validation of the safety system against the requirements set in the beginning. The presented work can be used as a basis and reference for the functional safety aspects when developing next generation charging infrastructure systems. © 2022, Springer Nature Switzerland AG.

关键词： systems analysis

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Reliable Code Generation and Test Environment demonstrated on a PI-Controller Design

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IFAC-PapersOnLine 2016年第3期49卷 465-470页

作者： Schwarz, M.H. Sheng, H. Üstoglu, I. Chabaan, W. Börcsök, J. Safety Computer Technology University of Kassel Germany Control and Automation Engineering Department Yildiz Technical University Istanbul Turkey Computer Architecture and System Programming University of Kassel Germany

This paper focuses on the latest version of a tool developed within the department to guide developer through the various steps of requirements, test-procedures and documentations to finally download the derived algorithm on a safety programmable logic controller (PLC). Requirements on how to develop and how to test software are steadily increasing due to international standards, which have to be obeyed in industries in general, and in the process- and automation industries in particular. A simple model is derived to be used to develop a PI controller that has to pass several steps to be qualified for execution on a PLC. The paper explains the different steps and describes the various problems that might occur. © 2016

关键词： Controllers Accident prevention Reliability Software testing Automated code generation Automation industry International standards P i controller designs PI control Programmable Logic Controller (PLC) Simple modeling Test Environment

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A filtered tuning method for a GPC controller

A filtered tuning method for a GPC controller

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IET Irish Signals and systems Conference, ISSC 2010

作者： Schwarz, M.H. Cox, C.S. Börcsök, J. Department of Computer Architecture and System Programming Safety Computer Technology University of Kassel Kassel Germany Control Systems Centre University of Sunderland Sunderland United Kingdom Department of Computer Architecture and System Programming University of Kassel Kassel Germany

ISBN: (纸本)9781849192521

This paper presents a new tuning method based on model parameters identified in closed-loop. For classical controllers such as PI(D) controllers a large number of simple tuning methods for various application areas exist. However, when it comes to designing a generalised predictive controller (GPC) four parameters have to be specified. To choose those parameters is not a trivial task since they are not directly related to control or regulation performance. The presented tuning method exploits model-parameters to select suitable controller parameters. Additionally, a Rhinehart filter is incorporated in the design to decrease the impact of noise, therefore, a fifth parameter has to be optimised. The proposed method has been tested in simulation and on a real system.

关键词： Controllers

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A stochastic approach to the probability of failure on demand (PFD) with regard to the standard IEC 61508

A stochastic approach to the probability of failure on deman...

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11th International Probabilistic Safety Assessment and Management Conference and the Annual European Safety and Reliability Conference 2012, PSAM11 ESREL 2012

作者： Wacker, H.D. Ugljesa, E. Boercsoek, J. Department of Computer Architecture and System Programming Faculty of Electrical Engineering /Computer Science University Kassel Wilhelmshöher Allee 71 Germany

ISBN: (纸本)9781622764365

Let there be given a safety related electronic system suffering from random failures or errors. The standard IEC 61508 contains simplified equations for the probability of failure on demand PFDavg for special system architectures, mostly without proof. In various publications PFDavg is defined by several different equations, e.g. as a Laplacian probability, as an integral mean, or by means of the average failure rate of the system. The aim of the paper is to determine PFDavgby stochastic methods and to bring together the different definitions. A formula for PFDavg is given that is valid for most universal electronic systems. The equivalence of 2 different definitions of PFDavgis shown. The special case of a koon-system is investigated, and the resulting equations improve those known so far. The basic idea is to randomize the time to failure, the down time of the system, as well as the repair time, and then, by means of the Stieltjes-Integral, determine the mean or average time as the expectation of the respective random variable.

关键词： Stochastic systems

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