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2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献

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Optimal control based approach for autonomous driving 基于最优控制的自动驾驶方法
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733718
R. Dariani, S. Schmidt, R. Kasper
{"title":"Optimal control based approach for autonomous driving","authors":"R. Dariani, S. Schmidt, R. Kasper","doi":"10.1109/ETFA.2016.7733718","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733718","url":null,"abstract":"In this paper based on vehicle single track model an optimal control strategy for autonomous driving is developed. The reference control values which lead the vehicle alongside a calculated optimal path by satisfying optimization objective criteria such as comfort and safety are generated by real-time path optimization level. In this level to avoid any collision and obstacle, one dimensional potential field obstacle avoiding approach based on the distance between vehicle and obstacle is used. In a prior level, which is called path planning the initial solution of the system which is the input of path optimization level is found. In this paper each level and the effect of initial solution on path optimization level is explained.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81991516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Task planning using physics-based heuristics on manipulation actions 在操作动作上使用基于物理的启发式的任务规划
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733599
Akbari Aliakbar, Muhayyuddin, J. Rosell
{"title":"Task planning using physics-based heuristics on manipulation actions","authors":"Akbari Aliakbar, Muhayyuddin, J. Rosell","doi":"10.1109/ETFA.2016.7733599","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733599","url":null,"abstract":"In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a modified version of the Fast-Forward task planner that is guided by physics-based knowledge. The proposal uses manipulation knowledge for reasoning on symbolic literals (both in offline and online modes) taking into account geometric information in order to evaluate the applicability as well as feasibility of actions while evaluating the heuristic cost. It results in an efficient search of the state space and in the obtention of low-cost physically-feasible plans. The proposal has been implemented and is illustrated with a manipulation problem consisting of a mobile robot and some fixed and manipulatable objects.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79842284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 21
Extending SOSJ framework for large-scale dynamic manufacturing systems 大规模动态制造系统中SOSJ框架的扩展
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733512
Udayanto Dwi Atmojo, Z. Salcic, K. Wang
{"title":"Extending SOSJ framework for large-scale dynamic manufacturing systems","authors":"Udayanto Dwi Atmojo, Z. Salcic, K. Wang","doi":"10.1109/ETFA.2016.7733512","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733512","url":null,"abstract":"This paper presents new changes and improvements in the architecture of a programming paradigm Service Oriented SystemJ (SOSJ) to tackle large distributed systems. The programming paradigm makes use of the synergy of two programming concepts of Service Oriented Architecture (SOA) suitable for dynamic system composition and formal GALS (Globally Asynchronous Locally Synchronous) language SystemJ amenable for designing safe static concurrent distributed systems. The use of SOSJ framework based on the new architecture is demonstrated in an industrial manufacturing example and initial benchmarks that evaluate the framework's performance in large distributed systems are shown.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88567470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Collaborative transmission schemes in industrial Wireless Sensor Networks 工业无线传感器网络中的协同传输方案
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733527
Nguyen Trong Tuan, Dong-Seong Kim
{"title":"Collaborative transmission schemes in industrial Wireless Sensor Networks","authors":"Nguyen Trong Tuan, Dong-Seong Kim","doi":"10.1109/ETFA.2016.7733527","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733527","url":null,"abstract":"This paper analyzes the outage probability, energy efficiency, energy efficiency-spectral efficiency trade-off, through-put performance, energy efficiency-throughput gain trade-off and derives the optimal transmission power of Single-hop, Multi-hop, Decode-and-Forward (DF) and Incremental Decode-and-Forward (IDF) schemes in order to find out what extent collaborative communication can save energy consumption for successful transmission. Based on the Nakagami-m fading channel, this paper provides a generalized impact of energy saving in both Line-of-Sight (LOS) and Non line-of-sight (NLOS) environments. Simulation results show that IDF protocol, allowing assistant node help relay information, achieves better performance than the other techniques.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87607673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
DoTHa - a Double-Threshold Hand-off algorithm for managing mobility in wireless mesh networks DoTHa -一种管理无线网状网络移动性的双阈值切换算法
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733511
J. Aísa, H. Fotouhi, L. Almeida, J. L. Villarroel
{"title":"DoTHa - a Double-Threshold Hand-off algorithm for managing mobility in wireless mesh networks","authors":"J. Aísa, H. Fotouhi, L. Almeida, J. L. Villarroel","doi":"10.1109/ETFA.2016.7733511","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733511","url":null,"abstract":"Wireless communication will play an increasingly important role in future factory automation and process control, where the presence of mobile autonomous devices is expected to grow. However, wireless links are prone to errors due to shadowing and multi-path fading, which is even more severe in dynamic environments. These problems can be attenuated by using a mesh backbone to which mobile node connect to, using a hand-off algorithm. This solution is particularly important under real-time requirements typically found in factory automation. In this paper, we devise the Double-Threshold Hand-off (DoTHa) algorithm, a novel hand-off mechanism that triggers a hand-off in various environmental conditions. As a case study, we carry out the tele-operation of a mobile robot through a wireless mesh network in an indoor setting, using a wireless chain network protocol (WICKPro-SRT) that supports soft real-time traffic. We empirically compared DoTHa with two existing hand-off algorithms based on single and double hysteresis margin. The results revealed that DoTHa achieves Data Delivery Ratio (DDR) close to 100% whereas the single hysteresis-based hand-off suffers from frequent disconnections, dropping DDR to 88%. The double hysteresis-based hand-off shows higher ping-pong effect than DoTHa, doubling the number of hand-offs in some scenarios.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87853176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
A framework for communication and provisioning in an intelligent secondary substation 智能二次变电站的通信与供应框架
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733591
S. Cejka, A. Hanzlik, A. Plank
{"title":"A framework for communication and provisioning in an intelligent secondary substation","authors":"S. Cejka, A. Hanzlik, A. Plank","doi":"10.1109/ETFA.2016.7733591","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733591","url":null,"abstract":"Gridlink provides a communication infrastructure for the implementation of distributed control systems in Java. It is a completely decentralized solution where the communication partners dynamically form a cluster of known instances during execution. Gridlink uses a distributed event bus based on an asynchronous communication model. A typical Gridlink system is built from a set of modules that execute a distributed application and that communicate with each other by exchanging messages. We present a smart grid use case dealing with the detection and handling of voltage band violations in low voltage networks deployed in secondary substation nodes.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86427925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Evaluation of operator relief for an effective design of HRC workcells 对HRC工作单元有效设计的操作人员救济进行评估
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733526
F. Pini, Matteo Ansaloni, F. Leali
{"title":"Evaluation of operator relief for an effective design of HRC workcells","authors":"F. Pini, Matteo Ansaloni, F. Leali","doi":"10.1109/ETFA.2016.7733526","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733526","url":null,"abstract":"In recent years, Human Robot Cooperation (HRC) has found an increasing adoption in manufacturing, especially to help humans in the execution of manual assembly tasks. An effective employment of HRC encompasses human relief from exhausting operations. Therefore, the design of cooperative solutions should be developed accordingly to ergonomic aspects. The present work proposes an approach to support the integration of ergonomic evaluation of manual operations in the design of HRC solution, based on modelling and simulation of the human body along the manufacturing tasks. The proposed modified model integrates the ergonomic metrics and returns a fatigue level along the working shift scheduling. A real manual assembly of biomedical products has been selected to validate the proposed approach. As a result, the suggested fatigue model provides an objective ergonomic evaluation of manual operations which verifies the impact of the HRC solution on the production goals.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86604588","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
Optimal power distribution for decentralized electric energy network with electric vehicles 带有电动汽车的分散式电力网络的最优配电
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733626
Katsuhiro Sakato, Ittetsu Taniguchi, K. Sakakibara, Takuya Matsumoto, H. Tamaki, M. Fukui
{"title":"Optimal power distribution for decentralized electric energy network with electric vehicles","authors":"Katsuhiro Sakato, Ittetsu Taniguchi, K. Sakakibara, Takuya Matsumoto, H. Tamaki, M. Fukui","doi":"10.1109/ETFA.2016.7733626","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733626","url":null,"abstract":"This paper proposes MIP (Mixed-Integer Programming)-based power distribution optimization method for decentralized energy network with electric vehicles (EVs). Decentralized energy network is a new grid systems toward independence from existing power grid, and renewable energy is main energy source for the decentralized energy network. EVs are expected to take an important role of future mobility and energy network. Because the latest EV usually include large battery for long cruising distance, now EVs can be regarded as “moving battery.” Proposed method utilizes both battery in house and EV's battery to minimize total purchased energy and wasted energy. This method brings an opportunity to charge the surplus energy at house to EV's battery, and the total purchased energy may be reduced. Experimental results demonstrated the interconnection between the energy network with rich connectivity and EV reduced the purchased energy by more than half.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80509221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A measurement study on virtualization overhead for applications of industrial automation systems 工业自动化系统应用虚拟化开销的测量研究
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733507
Y. Kaneko, Toshio Ito, T. Hara
{"title":"A measurement study on virtualization overhead for applications of industrial automation systems","authors":"Y. Kaneko, Toshio Ito, T. Hara","doi":"10.1109/ETFA.2016.7733507","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733507","url":null,"abstract":"In a remote building management system (BMS) that manages facilities of buildings or factories, there is an application called a crawler that collects statuses of facilities via a network. By running a crawler on a Virtual Machine (VM) for each building owner, operators of the remote BMS can limit influence of a failure of one crawler and can reduce the number of physical machines in the remote BMS. However, performance of the crawler running on a VM could be degraded owing to overhead of virtualization, inappropriate resource allocation, and interference among VMs coexisting on the same physical machine. In addition, the crawler needs to meet its performance requirements with high probability, 99.999%, and therefore it is important to clarify the characteristics of the performance degradation. In this paper, we evaluate performance of the crawler run on a VM with various resource allocation patterns and multiple VMs. From this evaluation, we find out that 1) CPU usage measurement with millisecond granularity is important for appropriate CPU allocation and 2) CPU contention among VMs is one of the main factors of the performance degradation.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82152494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
Robust scheduling for manufacturing with energy consumption limits 具有能耗限制的制造业鲁棒调度
2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2016-09-01 DOI: 10.1109/ETFA.2016.7733513
I. Módos, P. Šůcha, Z. Hanzálek
{"title":"Robust scheduling for manufacturing with energy consumption limits","authors":"I. Módos, P. Šůcha, Z. Hanzálek","doi":"10.1109/ETFA.2016.7733513","DOIUrl":"https://doi.org/10.1109/ETFA.2016.7733513","url":null,"abstract":"Our work considers a scheduling problem in which manufacturing companies with large energy demand are obligated to comply with total energy consumption limits in specified time intervals, e.g. 15 minutes. Moreover, the problem is complicated by the fact that in reality the production schedules are not executed exactly as planned due to unexpected disturbances such as machine breakdowns or material unavailability. Therefore, the goal is to find a robust schedule which guarantees that the energy consumption limits are not violated if the start times of operations are arbitrary delayed within a given limit. To circumvent the problem of an exponential number of constraints in the mixed integer linear programming formulation, we propose an exact algorithm based on a decomposition approach. The decomposition approach exploits the fact that the robustness of a given schedule can be checked in a pseudo-polynomial time. We evaluated the proposed algorithm on instances with varying bound of the start times delays.","PeriodicalId":6483,"journal":{"name":"2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2016-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75647450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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