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A modular configuration and management framework for distributed real-time applications based on converged networks using TSN

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Procedia CIRP 2023年 118卷 38-43页

作者： Stefan Oechsle Florian Frick Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Seidenstr. 36 70174 Stuttgart Germany

Industrial control systems are distributed real-time applications deployed on field and controller devices, connected by fieldbuses. Their lack of interoperability, mutually and towards IT-systems, is a major obstacle for the digitalization. Converged networks are considered as the solution across industries with Time-Sensitive Networking (TSN) as the enabling technology. To ease the adoption of TSN for industrial automation, a modular framework was developed for future engineering tools. The core of the framework consists of a module management including interfaces and a YANG-based datastore, maintaining a system-wide data model. Modules are provided for network configuration implementing CUC-functions, monitoring and container-based application and deployment.

关键词： Time-Sensitive Networking distributed real-time applications engineering framework

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Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation 19

Deep Learning-Based Instance Segmentation for Feature Extrac...

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19th IEEE International Conference on Automation Science and engineering, CASE 2023

作者： Zürn, Manuel Kienzlen, Annika Klingel, Lars Lechler, Armin Verl, Alexander Ren, Shiyi Xu, Weiliang Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Seidenstr. 36 Stuttgart70174 Germany The University of Auckland Department of Mechanical and Mechatronics Engineering 20 Symonds St. Auckland1001 New Zealand

ISBN: (纸本)9798350320695

Branched deformable linear objects, like wire harnesses, are vastly used in the electrical industry to interconnect multiple electronic components while allowing small relative motions. Their deformable nature gives them an infinite-dimensional configuration space, which is challenging for robotic manipulation and requires sensor feedback about the actual configuration. Cameras have been used before in automation attempts as sensor feedback of branched deformable linear objects. However, image processing is sensible to occlusions and unstructured environments. This paper presents a method of using deep learning-based instance segmentation networks to extract topological features like connectors, clips, branch points and overlapping points on the branched deformable linear object. The topological features originate from features that can be used for matching a stretched representation of the branched deformable linear object to its sensor representation. Our results show that the network is capable of extracting the features for different datasets with high accuracy. Furthermore, this paper evaluates the use of preliminary results in the training process to facilitate annotation by predicting the labels. For now, this paper only uses 2D images of the branched deformable linear objects. Future work will also use depth images, such that individual deformable linear object features, such as length or radius, can be extracted from the images. We anticipate the usage of wire harness automation with robotic manipulation, augmented reality support of the worker or quality control of wire harnesses. © 2023 IEEE.

关键词： Feature extraction

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Requirements and Challenges in the Configuration of a Real-Time Node for OPC UA Publish-Subscribe Communication

Requirements and Challenges in the Configuration of a Real-T...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Rebekka Neumann Christian von Arnim Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Factory automation is evolving from a hierarchical structure towards an interconnected architecture in which systems at different levels can communicate seamlessly with each other. This requires an appropriate replacement of proprietary fieldbus systems in the automation sector. A promising solution to implement cross-plane end-to-end real-time capable communication between computing nodes is proposed in literature. The usage of Open Platform Communication Unified Architecture (OPC UA) as the information model with the Publish-Subscribe (PubSub) communication mechanism in combination with Time Sensitive Networking (TSN) is presented to fulfill the requirements for message transmission. In contrast to the state of the art of configuring fieldbus systems, the configuration of such a real-time communication node has to be done manually. This process is complex, as deep knowledge in different domains is required. In this work we elaborate the requirements for such a communication node and present the resulting implementation challenges, which can be used as the basis for a configuration tool.

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Reflection-based Prototyping Framework for OPC UA Servers for Companion Specifications

Reflection-based Prototyping Framework for OPC UA Servers fo...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Moritz Walker Christian von Arnim Michael Neubauer Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Domain-specific Companion Specifications (CS) define OPC UA information models for specific use cases, devices, or industries and define how to use OPC UA in specific environments. A sample OPC UA server is required to evaluate an OPC UA CS and develop clients. Such a server needs to be easily changed on updates of the CS and must ensure that all instances comply with the specified OPC UA types. This paper introduces an OPC UA server prototyping framework that maps OPC UA instances to $\mathbf{C++}$ data types using reflection. Using OPC UA types for instantiation, all created instances comply with the CS. The mapping to $\mathbf{C++}$ data structures provides a simplified API for handling sample instances by enabling users with limited knowledge about OPC UA to build CS-conformant servers. Four use cases show the usefulness of the approach: OPC UA Events, OPC UA PubSub and creating CS compliant servers.

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Recurrent Neural Network for Modelling a Contractive Soft Actuator 56

Recurrent Neural Network for Modelling a Contractive Soft Ac...

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56th International Symposium on Robotics, ISR Europe 2023

作者： Kienzlen, Annika Zürn, Manuel Kazemi, Shahab Xu, Weiliang Cheng, Leo K. Strommel, Martin Verl, Alexander Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Germany Department of Mechanical & Mechatronics Engineering University of Auckland New Zealand Auckland Bioengineering Institute University of Auckland New Zealand Department of Electrical & Electronic Engineering University of Auckland New Zealand

ISBN: (纸本)9783800761418

Robotic stomach simulators are designed and employed to model stomach motility and gain insights into the digestive process. These simulators consist of multiple nonlinear soft actuators. Their modelling enhances the controllability and optimisation possibilities and shows their geometry variations and deformations. By leveraging a dynamic model, it becomes possible to design time-efficient model-based controllers that handle the nonlinearities of the soft robot. However, the modelling of soft actuators is challenging due to their infinite number of degrees of freedom. In this paper, we propose a novel approach that maps the dynamics of a contractive soft actuator to a neural network. The short calculation time of neural networks combined with their ability to model complex relationships make them a promising approach for controlling soft actuators. Since the contractive behaviour of the soft actuator is difficult to capture, training data can be generated using a physical simulation model. The results demonstrate that a simple recurrent neural network can model similar dynamics to a physical simulation model with significantly reduced calculation times. Since a fast and precise computer model is necessary to capture the complex dynamics of the soft actuators accurately for control purposes, the recurrent neural network is promising. © VDE VERLAG GMBH Berlin Offenbach.

关键词： contractive actuation deep learning recurrent neural network soft robotics

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Isolating Shared Resources for Time-Triggered Networking of Containerized Applications

Isolating Shared Resources for Time-Triggered Networking of ...

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International Conference on Mechatronics and machine Vision in Practice (M2VIP)

作者： Christian von Arnim Moritz Walker Armin Lechler Oliver Riedel Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Multiple real-time applications can share a real-time network using the Time Division Multiple Access (TDMA) scheme. For TDMA to be effective, each real-time application respects or is forced to respect its assigned network access slots. Container-based virtualization is one way of using common hardware for real-time applications. However, while methods for time isolation of computing resources such as CPU, memory bandwidth, and cache are available, there is still a lack of mechanisms for node-level network access isolation of multiple containers sharing a TDMA-based real-time network. This work qualitatively and quantitatively compares five approaches for achieving shared network resources for time-triggered real-time applications using prototypical implementations. Approaches compared include mandatory access control, proxying, iptables, extended Berkeley packet filtering, and virtualized process sand-boxing.

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Evaluation of Isolation and Communication Mechanisms for Real-Time Containers

Evaluation of Isolation and Communication Mechanisms for Rea...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Moritz Walker Marc Fischer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

The use of lightweight methods for virtualization has potential for control technology, such as increased update rates and an extension of control systems with value-added services. A programmable logic controller (PLC) is no longer a closed system but extensively offers interfaces to the outside. The trends towards decentralization, highly flexible systems, and a flattening of the automation pyramid create new requirements that classic control architectures need to meet. In this context, a high degree of integration between components with simultaneous temporal and spatial isolation is crucial. This paper addresses the conception of an isolation mechanism for the extension of the control functionality by value-added services. The basis for this is a combination of a partitioning hypervisor and software containers, which was chosen based on an evaluation of current isolation mechanisms for container solutions. Different messaging-based approaches with a common API for communication between components are developed and evaluated.

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Safeguarded Continuous Deployment of control Containers through Real-Time Simulation

Safeguarded Continuous Deployment of Control Containers thro...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Moritz Walker Lars Klingel Stefan Oechsle Michael Neubauer Armin Lechler Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

Static configurations and slow adaption to changing requirements characterize today’s production systems. In order to cope with variable external influences, these systems need to become more flexible. One building block towards meeting this requirement from the software perspective is employing quality-preserving processes to develop and update automation applications. While this condition applies to classical automation applications, it is increased if Software-defined manufacturing (SDM) is applied. Containers can be used to deploy software through orchestration. Orchestration covers initial deployment and the roll-out of new software versions. This makes it in theory possible to deploy automation applications, such as computerized numerical control (CNC) software. However, available tools from information technology cannot be used to orchestrate and update automation applications, as real-time requirements must be considered. This work presents an approach that supports orchestration, specifically the deployment and update process, of real-time containers safeguarded by real-time capable simulation coupled with the control system during the operation phase. It shows how to achieve the right timing for real-time software updates and how to prevent causing damage by observation and safeguarding through information obtained from the real-time simulation. Using real-time simulation in the operating phase, container-based control and real-time orchestration become safer and more applicable in industrial manufacturing systems.

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Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems

Simulation-Based Predictive Real-Time Collision Avoidance fo...

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IEEE International Conference on Automation Science and engineering (CASE)

作者： Lars Klingel Alexander Heine Steven Acher Niklas Dausend Alexander Verl Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW) University of Stuttgart Stuttgart Germany

The usage of simulation technology is deeply established in the development and commissioning of automated production systems. Impending collisions of moving kinematics, such as robots, can therefore already be detected with the help of simulations before the production system goes into operation. However, changes in the control software of production systems that occur in the operating phase are often not secured, which entails risk, especially in the age of cyber-physical and adaptive production systems. This work presents a predictive simulation-based approach for the online collision avoidance of automated production systems by enabling virtual commissioning simulations for the application in the operating phase. This allows a cost-efficient way to achieve the safe operation of production systems without the need of additional configurations and sensors.

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Ambiguity tolerant commissioning ontology: Targeting client communication

Ambiguity tolerant commissioning ontology: Targeting client ...

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2021 IEEE International Conference on engineering, Technology and Innovation, ICE/ITMC 2021

作者： Ellwein, Carsten Krimstein, Viktor Riedel, Oliver Institute for Control Engineering of Machine Tools and Manufacturing Units University of Stuttgart Stuttgart Germany

ISBN: (纸本)9781665449632

There are various standards for the description of geometrical data, in terms of computer-aided design, as well as for the description of manufacturing processes. However, there is a lack in a data model that allows a product to be described partly by its geometry and partly by the description of the manufacturing process;whereby both forms of description are to be regarded as equivalent. Such a model would greatly facilitate communication in contract and job order manufacturing, especially in the computer-aided outsourcing of orders according to the cloud manufacturing paradigm. In this paper, this kind of data model is further justified and one ontological description, in compliance with existing standards, is introduced. © 2021 IEEE.

关键词： Ontology

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