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In this paper an approach for controlling overhead cranes by avoiding oscillations is proposed and experimentally tested. In particular, a dynamic inversion technique is applied to the overhead crane model to design suitable (position or velocity) set-point and torque feedforward signals. The inversion approach is further simplified in order to make the proposed methodology more industrial-oriented...
In this work, a practical evaluation of the filtering method for weighing system is provided. The analyzed system form a part of the horticultural fruits sorting machine, which requires a fast and reliable weight measurements. Dynamic weighing of moving objects requires fast and adaptive signal processing techniques in order to guaranty a timely response. Thus, applied signal filtration technique...
This paper describes a method for extrinsic sensor calibration for a 2D laser profile sensor on a robot arm used as a robot based 3D scanning system. In order to establish a relationship between the sensor measurements and the robot positions, the transformation between the robot flange and the sensor reference frame are determined. The developed calibration method is implemented as an automated self-calibration...
This paper focuses on the supplier selection problem and the subsequent order allocation, extending an approach originally proposed by some of the authors for supplier ranking under uncertainty. The novel method integrates the cross-efficiency Data Envelopment Analysis and the fuzzy set theory to obtain a ranking of suppliers under nondeterministic evaluation criteria. Subsequently, a fuzzy integer...
To ensure control, present lifts use the Controller Area Network (CAN) bus for transmitting commands between components. Although it is largely adopted in the industrial process, CAN is not able to guarantee a sufficient throughput to transmit multimedia data or to meet the requirements of some safety standards. In this paper, we present a transition case from electrical/electromechanical components...
Today, laser manufacturers investigate and invest in automated assembly approaches in order to meet the high demands on flexibility, autonomy and efficiency and to counter competitive pressure. In the project “DeLas”, a consortium of manufacturers of micro-optical components and manufacturers of assembly equipment for micro-optical components came together with researchers in automation and robotics...
In this paper, we present a comparison between several statistical discriminant analysis techniques applied to a plastic injection moulding process for monitoring quality of injected moulded parts. Comparison among different ways of training the system can provide useful conclusions about the behaviour of the different models in poor conditions. The goal of this paper is to establish a baseline for...
Wireless Sensor Networks (WSNs) have been widely considered as a promising solution to support different types of applications on industrial environments. Many of these applications impose strict dependability requirements, since a system failure may result in economic losses, or damage for human life or to the environment. The absence of an effective approach enabling the dependability evaluation...
The IEC 61499 standard provides an executable model for distributed control systems in terms of interacting function blocks. However, the current IEC 61499 standard lacks appropriate timing semantics for the specification of timing requirements, reasoning on timing properties at the model level, and for the timing verification of a specific deployment.
The fuel bed height sensor is a critical element in the control of the BioGrate boiler. A fault appearing in this sensor greatly affects the control performance in the sense that air distribution in the BioGrate boiler deviates from its nominal distribution. To address this problem, a fault tolerant model predictive control (FTMPC) has been developed to accommodate the fault in this fuel bed height...
3D model is normally designed by 3D-CAD software or animation software, but a 3D direct drawing method is still a developing research. In a previous study, we suggest a 3D direct drawing method for polygonal/curved surface model using Microsoft Kinect. In this study, some subjects performe the gesture expressing a solid, analyzed the gesture trajectory. And we construct the creating solid algorithm...
Modbus/TCP is a network protocol for industrial communications encapsulated in TCP/IP network packets. There is an increasing need to test existing Modbus protocol implementations for security vulnerabilities, as devices become accessible even from the Internet. Fuzz testing can be used to discover implementation bugs in a fast and economical way. We present the design and implementation of MTF, a...
In this paper, fault detection in piecewise stationary industrial processes is investigated. Such processes can be modeled as sequences of distinct system modes in which the respective expectation values and variances of process variables do not change. In particular, piecewise stationary processes with autonomous transitions between system modes are considered in this work, i.e. processes without...
Carbon fiber reinforced plastics are playing a key role for aircraft constructions nowadays as well as in the future because of the convenient ratio of strength to weight. Due to the growing requirements of this market, an automation of the production process is necessary. Because of the high unit volumes and accuracy required, the use of robots with increased work accuracy is essential. The German...
Cloud robotics is a new approach to robotics that exploits the internet as a resource for parallel computing and data sharing. Robots are no more considered as isolated devices but now they can add new functionalities, communicate with the environment and share knowledge base. Exploiting this new technology a robot can also take advantages by off-loading heavy computations to the cloud, thus reducing...
During the development of production plants, powerful tools (e.g. for CAD, CAE, or simulation) are used. The resulting engineering data represent the basis for the development of the corresponding HMI. However, this development is usually still performed manually to a great extent. Therefore, this paper describes a model-based approach for the integrated design of HMIs for production plants. Beginning...
Robots deployed in Search and Rescue missions are required to act autonomously, since in disaster scenarios even a remote control of the robots might not be possible anymore. Additionally it is desirable to use several of these robots at once, since the search for survivors is a time-critical task, and the time to find victims should in the best case scale with the number of robots. In order to achieve...
Industrie 4.0 requires intelligent self-aware adaptive machines and plants that know their abilities. In this paper, we propose different qualitative and quantitative measures to evaluate reconfiguration abilities of automated production systems in the context of Industrie 4.0. This paper presents first measures to quantify different reconfiguration abilities of automated production systems, using...
Industrial Internet and Industrial Internet of Things are emerging concepts that concern the use of Internet technologies on industrial environments. The main objective of such architectural visions is allowing a tight and seamless integration between all the functional units and layers that compose industrial processes, from the lowest levels (e.g. field-level devices such as sensors and actuators)...
In industrial plants, there is a mix of devices with different security features and capabilities. If there is a mix of devices with various degree of security levels, then this will create independent islands in a network with similar levels of security features. However, the industrial plant is interconnected for the purpose of reducing cost of monitoring with a centralized control center. Therefore,...
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