2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献_第7页

Contact force computation for bimanual grasps 双手抓取接触力计算

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247760

Abiud Rojas-de-Silva, R. Suárez

引用次数: 2

The role of the Industry 4.0 asset administration shell and the digital twin during the life cycle of a plant 工业4.0资产管理外壳和数字孪生在工厂生命周期中的作用

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247583

Constantin Wagner, Julian Grothoff, U. Epple, R. Drath, S. Malakuti, Sten Grüner, M. Hoffmeister, Patrick Zimmermann

引用次数: 125

Validation of a monthly quasi-steady-state simulation model for the energy use in buildings 建筑物能源使用每月准稳态模拟模型的验证

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247665

A. Moronis, C. Koulamas, A. Kalogeras

{"title":"Validation of a monthly quasi-steady-state simulation model for the energy use in buildings","authors":"A. Moronis, C. Koulamas, A. Kalogeras","doi":"10.1109/ETFA.2017.8247665","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247665","url":null,"abstract":"The evaluation of the energy consumption or the energy performance of buildings, from a complex engineering system point of view, is a multi-parametric problem where different static or dynamic methods are being used. Quantitative analysis is usually required, not only in the context of building regulations, but also as an important engineering tool for planning energy efficiency measures or interventions. In this paper a quasi-steady state model for the energy use in buildings is presented, which combines simplicity, minimum requirements for data input and adequate accuracy. This model is based on the methodologies described in the ISO 13790 standard. It combines a basic steady state physical model, where dynamic effects are also taken into account by introducing different correlation factors and reference parameters. It's main advantage over more complex dynamic models requiring detailed data and high expertise, is that it can be used not only from a small number of experts but also from engineers involved in energy management or energy efficiency projects. This model is validated according to the procedures of the EN 15265 standard, in order to investigate the dependence of the results on the different parameters used.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"35 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80657835","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: 6

Decomposition and distributed algorithms for home healthcare routing and scheduling problem 家庭医疗保健路由调度问题的分解与分布式算法

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247622

Sarmad Riazi, Oskar Wigström, Kristofer Bengtsson, B. Lennartson

{"title":"Decomposition and distributed algorithms for home healthcare routing and scheduling problem","authors":"Sarmad Riazi, Oskar Wigström, Kristofer Bengtsson, B. Lennartson","doi":"10.1109/ETFA.2017.8247622","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247622","url":null,"abstract":"Many people in need of care still live in their homes, requiring the caretakers to travel to them. Assigning the people to caretakers and generating their schedules can be formulated as a mixed integer linear programming problem (MILP) that inherits many features of the well-known vehicle routing problem with time windows (VRPTW). Currently, the most successful exact algorithms for VRPTW are based on branch and price framework, which combine column generation (CG) and branching. While these methods could be successful for Home Healthcare Routing and Scheduling Problem (HHCRSP) as well, fast approximate algorithms are appealing, especially for large problems. We recently employed a heuristic distributed gossip algorithm to solve HHCRSP. The method had the potential to provide approximate solutions for relatively large problem instances, but its effectiveness was limited to the performance of its local MILP solver. In this paper, we integrate the gossip algorithm with a local solver based on CG, which makes it an effective algorithm for larger problem instances. We also provide numerical experiments and complexity evaluations of the improved gossip algorithm (gossip-CG) with the standard gossip (gossip-MILP) and CG, and show that gossip-CG outperforms the pure CG in case of large problems.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"73 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80893631","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

Safety-critical human detection featuring time-of-flight environment perception 具有飞行时间环境感知的安全关键人类检测

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247647

N. Druml, Bernhard Rutte-Vas, Sandra Wilfling, C. Consani, M. Baumgart, T. Herndl, G. Holweg

{"title":"Safety-critical human detection featuring time-of-flight environment perception","authors":"N. Druml, Bernhard Rutte-Vas, Sandra Wilfling, C. Consani, M. Baumgart, T. Herndl, G. Holweg","doi":"10.1109/ETFA.2017.8247647","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247647","url":null,"abstract":"Industrie 4.0, Industrial IoT, and cyber-physical production systems in general introduce high levels of automation. Hence, at shop floor level, for example, the interfaces between human and machines are crucial. If a robot's environment perception is not robust and fail-safe, humans may not be detected properly, which may cause critical consequences. However, given the resource constraints of safety controllers typically used in critical application domains, the implementation of complex computer vision algorithms is often challenging. Here we explore the capabilities the indirect Time-of-Flight environment perception technology provides in order to speed up complex computer vision algorithms. In particular we are investigating the use-case of human detection in the domains of critical and resource-constrained applications, such as factory automation and automotive. We demonstrate that preprocessing based on Time-of-Flight 3D data can reduce computation time of typically used computer vision algorithms, such as Viola-Jones, by up to 50%. Furthermore, we showcase a human detection demonstrator case-study implemented on an AURIX processing system that represents a state-of-the-art safety controller. By exploiting the Time-of-Flight technology's depth and amplitude data in a clever way, safety-critical human detection is enabled on the AURIX platform. Compared to competing environment perception technologies, the outlined solution is hardly achievable with structured light or stereo visioning due to the safety controller's resource constraints.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"93 1","pages":"1-7"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82006099","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: 1

A proposal for an interactive roundtrip engineering system 交互式双向工程系统的设计方案

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247576

Julian Rahm, Markus Graube, L. Urbas

引用次数: 3

Analyzing the efficiency of sporadic reservations on ethernet with FTT-SE 用FTT-SE分析以太网中零星预约的效率

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247607

Z. Iqbal, L. Almeida, M. Ashjaei

{"title":"Analyzing the efficiency of sporadic reservations on ethernet with FTT-SE","authors":"Z. Iqbal, L. Almeida, M. Ashjaei","doi":"10.1109/ETFA.2017.8247607","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247607","url":null,"abstract":"Ethernet is a promising candidate for networking real-time embedded systems such as automobiles, and it is already used in several embedded scopes, such as airplanes and trains. Moreover, its higher bandwidth enables applications made of dispersed embedded systems that exchange large amounts of data through the so-called Internet-of-Things, such as wide-area video sensing. In this realm, network reservations are an important design element that favor composability in the time domain thereby supporting the design of complex systems. However, reservations may impact negatively on the network bandwidth efficiency due to over-specification, particularly when they are designed to meet worst-case delay constraints. In this work, we use a specific Ethernet protocol that provides real-time reservations, namely FTT-SE, and we assess through extensive simulations the efficiency of a worst-case network delay analysis for sporadic reservations associated to asynchronous messages. Essentially, we compare the analytical worst-case delay with the one observed in the simulations using two data sets comprising up to 20000 and 100000 message sets, respectively, and we change the system configuration, namely properties of the message sets and network and protocol configuration parameters. We find that the analysis is accurate, i.e. matches observations, for a significant percentage of messages in the message sets (up to 60% on average). Conversely, we found that a small percentage of message sets (below 6%) generated rather pessimistic analytic estimates exceeding the observations by 6 times, thus with a negative impact on efficiency. The results we present in the paper, particularly their distributions, inform system designers of how to tune their designs to improve network bandwidth efficiency under strict timing constraints.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"53 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78130945","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: 1

Task modeling for task-oriented robot programming 面向任务机器人编程的任务建模

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247650

S. Trapani, M. Indri

引用次数: 6

Motion planning with motion primitives for industrial bin picking 运动规划与运动原语工业料仓拣选

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247759

Vojtěch Vonásek, A. Vick, M. Saska

{"title":"Motion planning with motion primitives for industrial bin picking","authors":"Vojtěch Vonásek, A. Vick, M. Saska","doi":"10.1109/ETFA.2017.8247759","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247759","url":null,"abstract":"In the bin picking problem, the task is to automatically unload objects from a container using a robotic manipulator. The task is often approached by organizing the objects into a predictable pattern, e.g., a workpiece carrier, in order to simplify all integral subtasks like object recognition, motion planning and grasping. In such a case, motion planning can even be solved offline as it is ensured that the objects are always at the same positions at known times. However, there is a growing demand for non-structured bin picking, where the objects can be placed randomly in the bins. This arises from recent trends of transforming classical factories into smart production facilities allowing small lot sizes at the efficiency of mass production. The demand for fast and highly flexible handling and manipulation abilities of industrial robots requires to solve all the bin picking methods, including motion planning, online. In this paper, we propose a novel technique for fast sampling-based motion planning of robotic manipulators using motion primitives. Motion primitives are short trajectories that boost search of the configuration space and consequently speed up the planning phase. The proposed work has been verified in a simulation and on a prototype of a bin picking system.","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"55 1","pages":"1-4"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90594619","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: 7

Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt 传送带上未知旋转对称物体的跟踪、重建和抓取

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2017-09-01 DOI: 10.1109/ETFA.2017.8247651

Denis Stogl, Daniel Zumkeller, S. E. Navarro, Alexander Heilig, B. Hein

{"title":"Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt","authors":"Denis Stogl, Daniel Zumkeller, S. E. Navarro, Alexander Heilig, B. Hein","doi":"10.1109/ETFA.2017.8247651","DOIUrl":"https://doi.org/10.1109/ETFA.2017.8247651","url":null,"abstract":"Many manipulation applications in industrial settings using robots depend on reliable detection and grasping capabilities of stationary or moving objects. The latter demand an extended use of intrinsic and extrinsic sensors being in a closed control-loop with a robotic system. In this paper we present an approach for tracking, reconstruction and grasping of unknown objects from a moving conveyor belt using an external depth sensor and an industrial robot. The approach consists of an algorithm for the estimation of the position, velocity and form of an object, an algorithm for estimation of the conveyor's path and an algorithm for calculating an interception trajectory for the robot. The presented scheme is designed for tracking and reconstruction of unknown rotationally symmetrical objects. Nevertheless, the reconstruction algorithm is able to detect asymmetrical parts of an object and recognize if an object is hollow. This is further used for calculation of a feasible grasp. From the reconstruction data a mesh of the object is created. Finally, robots interception and grasping trajectory are calculated on-line for any arbitrary position on the conveyor. The objects are sucessfully grasped from moving conveyor up to the speed of more than 10 [cm/s].","PeriodicalId":6522,"journal":{"name":"2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"60 1","pages":"1-8"},"PeriodicalIF":0.0,"publicationDate":"2017-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87517132","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: 13