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Energy consumption is one of the most crucial design issues in wireless sensor networks (WSN) and largely depends on energy-efficient communication protocols. In order to improve the lifetime of a WSN, the cross-layer optimization technique can potentially be used to jointly optimize the power consumption behavior between various layers of the protocol stack. In this paper we propose a finite state...
This paper studies the impact of severe ISM noise interference in IEEE 802.15.4 based location systems, in particular the LOPES project. The architecture and operation of the location system are presented as well as the underneath physical mechanisms supporting the IEEE 802.15.4 noise immunity. A test-bed is proposed and the assessment scenario is described by focusing on the trial parameters. Results...
Most of the existing sensor network deployments are convergecast data collection applications that transmit data from multiple sources to a sink. In this paper, we present CoReDac, a self-organizing, collision-free convergecast protocol. In contrast to previous solutions, CoReDac consists not only of a data collection phase but also an efficient and collision-free command phase. This way, the protocol...
Enterprise applications support business activities in companies, so that they can manage complexity and be more effective. The service oriented architecture (SOA) concepts empower modern enterprises and provide them with flexibility and agility. These concepts nowadays expand towards the shop-floor activities, down to the device level. By implementing web services on the devices natively, we are...
In this paper, we study the problem of scheduling a set of control tasks. We distinguish three different situations of states of controlled plants: not activated, steady state situation and transient situation. The infinite-horizon and finite-horizon cost functions are respectively used to represent the performance of each control task in last two situations. We propose a scheduling architecture in...
The transport of baggage through airports by means of individual vehicles imposes severe challenges on a central control system. In this paper, a decentralized control concept is described, which can overcome the deficiencies of central control systems. The decentralized concept consists of (a) a market-based strategy for the assignment of transportation tasks to vehicles and (b) a vehicle routing...
Distributed real-time applications implement distributed applications with timeliness requirements. Such systems require a deterministic communication medium with bounded communication delays. Ethernet is a widely used commodity network with a large number of appliances and network components and represents a natural fit for real-time application; unfortunately, standard Ethernet provides no bounded...
RFIDs are used to identify products in factory automation applications; multi agent systems are a possibility to introduce flexibility into production processes. This article introduces a platform that allows to combine both technologies, to run a software agent on an active RFID device, and as a result to gain increased flexibility and control. The main goal of the introduced RFID agent environment...
Automatic identification (auto-ID) procedures exist to provide information about people, animals, goods and products in transit. The RFID technology is one of the newest and mostly emerging implementations of the auto-ID concept. Most of the current applications of the RFID technology pair the unique ID (UID) stored in RFID tags attached to an item with information about it, which is located in information...
RFID, in its different forms, but especially following EPCglobal standards, has become a key enabling technology for many applications. An essential component to develop track and trace applications in a complex multi-vendor scenario are the Discovery Services. Although they are already envisaged as part of the EPCglobal network architecture, the functional definition and standardization of the discovery...
This paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator. The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in object pascal with its dynamics based on the ODE (open dynamics engine),...
This paper describes a joint trajectory optimized controller for a humanoid robot simulator following the real robot characteristics. As simulation is a powerful tool for speeding up the control software development, the proposed accurate simulator allows to fulfil this goal. The simulator, based on the open dynamics engine and GLScene graphics library, provides instant visual feedback. The proposed...
This paper addresses synchronization between master and slaves in a force measurement system using EtherCAT. One property of the system is that the operation of the measurement controller is strictly bound to the operation of the measurement nodes and not vice verse. The measurement nodes generate data in a cyclic fashion and the controller must fetch the data in each cycle. Two issues arise here...
Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological...
This paper describes how a wireless sensor network (WSN) was deployed at the Gullfaks offshore Oil & Gas facility in the North Sea. At the Gullfaks field, decline in flow line pressure occasionally causes loss of flow from wells. This is not readily detected, and leads to large financial losses. The installation and maintenance of a traditional detection system is costly, complex and requires...
The reactivity of Networked Automation Systems (NAS) has direct influence on safety and quality aspects. It can be determined by a response time analysis, which itself can be calculated using probabilistic model checking (PMC). The analysis of a NAS has to account for several coupled components, each of them exhibiting its own behavior. Consequently, in this article the influences of (1) the controllerpsilas...
This paper evaluates the performance of IEEE 802.15.4 for industrial wireless sensor networks. The IEEE 802.15.4 protocol has got the ability to provide real time data transmission in wireless sensor networks using guaranteed time slots (GTS) as medium access control mechanism. According to the standard, a maximum of 7 GTSs can be allocated in one superframe. All GTSs are exclusively dedicated to...
In this paper we address the problem of visual navigation of a mobile robot which simultaneously obtains metric localization and scene reconstruction using homographies. Initially, the robot is guided by a human and some scenes during the trip are stored from known reference locations. The interest of this paper consist in the possibility of getting real and precise data of the robot motion and the...
This paper is a continuation of a previous work by the same authors concerning the use of automated high-level synthesis tools for obtaining high-performance FPGA implementations of industrial automation and control algorithms coded as PLC programs. The proposed method is mainly targeting demanding applications requiring lots of numerical computations. High-level synthesis is based on powerful, commercial...
This contribution presents the basic architecture of the neutral data format AutomationML developed by the companies Daimler, ABB, Siemens, Rockwell, Kuka, Zuhlke, netAllied and the universities of Magdeburg and Karlsruhe. AutomationML serves for the data exchange between manufacturing engineering tools and therefore supports the interoperability between them. It covers information about the plant...
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