2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)最新文献_第8页

Combining watchdog processor with instruction cache locking for a fault-tolerant, predictable architecture applied to fixed-priority, preemptive, multitasking real-time systems 将看门狗处理器与指令缓存锁定相结合，用于固定优先级、抢占式、多任务实时系统的容错、可预测架构

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869168

A. M. Campoy, F. Rodríguez-Ballester

{"title":"Combining watchdog processor with instruction cache locking for a fault-tolerant, predictable architecture applied to fixed-priority, preemptive, multitasking real-time systems","authors":"A. M. Campoy, F. Rodríguez-Ballester","doi":"10.1109/ETFA.2019.8869168","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869168","url":null,"abstract":"Control flow monitoring using a watchdog processor is a well-known technique to increase the dependability of a microprocessor system. Most approaches embed reference signatures for the watchdog processor into the processor instruction stream. These signatures contain the information required to detect control flow errors during program execution by the main processor. This paper proposes an architecture that offers both fault-tolerance and dynamic cache locking combined. This combination is achieved taking advantage of the fact that watchdog processor signatures are inserted along the program code. Then cache locking information is incorporated into these signatures. And also the required circuitry to inform the cache controller whether to lock or not the instructions fetched by the main processor is added into the watchdog processor. With this approach both fault-tolerant and real-time features are supported by the same hardware, therefore saving room on the silicon die or FPGA size. Results from experiments show that in most cases this approach reaches the same performance than previous, hardware-costly proposals.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"415 1","pages":"259-265"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73928631","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

Modelling and Coordination of a Swarm of Quadrotors Using Lagrange Dynamics and Potential Functions 基于拉格朗日动力学和势函数的四旋翼飞行器群建模与协调

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869248

Bedir Halci, V. Gazi, Onur Cihan

引用次数: 2

A case study of automated dual-arm manipulation in industrial applications 自动化双臂操作在工业应用中的案例研究

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869209

Yoann Solana, Héctor Herrero, A. García, Sergio Martínez Calvo, Urko Esnaola, D. Sallé, Juan Cortés

{"title":"A case study of automated dual-arm manipulation in industrial applications","authors":"Yoann Solana, Héctor Herrero, A. García, Sergio Martínez Calvo, Urko Esnaola, D. Sallé, Juan Cortés","doi":"10.1109/ETFA.2019.8869209","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869209","url":null,"abstract":"Nowadays, factories are required to increase production flexibility in order to manufacture small-lot variants, rapidly adapting to customer demands. Furthermore, manufacturing may involve complex manipulation tasks, usually performed by human workers. In such a context, traditional robotic systems are not competitive due to the huge costs of installation, maintenance and adaptation. A new generation of robots, equipped with multiple arms, is appearing as an attractive alternative because of their potential versatility and ability to execute intricate manipulation tasks. To facilitate the integration of these robots in a work-cell and a rapid adaptation to different tasks, easy-to-use programming interfaces and a high degree of autonomy are mandatory. Autonomous task and motion planning are particularly relevant in this context. In this paper, we present our recent progress in this direction. Hardware and software developments are explained in the context of a pilot dual-arm robot station that is being integrated in the production line of a big airplane manufacturer. First experimental results are also presented.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"7 1","pages":"563-570"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73893208","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

Probabilistic Timing Analysis of a Periodic Task on a Microcontroller 微控制器上周期任务的概率时序分析

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869210

Jonathan Thörn, Najda Vidimlic, A. Friebe, A. Papadopoulos, T. Nolte

引用次数: 1

Industrial Cyber-Physical Systems: New Trends in Computing and Communications [breaker page] 工业信息物理系统:计算和通信的新趋势

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/etfa.2019.8869013

引用次数: 0

A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools 一种与硬件无关的机器人操作手和工具OPC UA技能模型

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869205

Stefan Profanter, Ari Breitkreuz, Markus Rickert, A. Knoll

{"title":"A Hardware-Agnostic OPC UA Skill Model for Robot Manipulators and Tools","authors":"Stefan Profanter, Ari Breitkreuz, Markus Rickert, A. Knoll","doi":"10.1109/ETFA.2019.8869205","DOIUrl":"https://doi.org/10.1109/ETFA.2019.8869205","url":null,"abstract":"The current trend to lot-size-one production requires reduced integration effort and easy reuse of available devices inside the production line. These devices have to offer a uniform interface to fulfill these requirements.This paper presents a hardware-agnostic skill model using the semantic modeling capabilities of OPC UA. The model provides a standardized interface to hardware or software functionality while offering an intuitive way of grouping multiple skills to a higher hierarchical abstraction.Our skill model is based on OPC UA Programs and modeled as an open source NodeSet. We hereby focus on the reusability of the skills for many different domains. The model is evaluated by controlling three different industrial robots and their tools through the same skill interface. The evaluation shows that our generic OPC UA skill model can be used as a standardized control interface for device and software components in industrial manufacturing. With our solution new components can easily be exchanged without changing the interface. This is not only true for industrial robots, but for any device which provides a controllable functionality.","PeriodicalId":6682,"journal":{"name":"2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)","volume":"36 1","pages":"1061-1068"},"PeriodicalIF":0.0,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76171461","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

Women in Engineering [breaker page] 工程领域的女性

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/etfa.2019.8868999

引用次数: 0

Speed Consensus and Reference Tracking for a Swarm of Second-order Agents 二阶智能体群的速度一致性与参考跟踪

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869025

Luigi D’Alfonso, P. Muraca

引用次数: 0

A Design Pattern for Systems Composed from Intelligent Mechatronic Modules with Wireless Communication 具有无线通信功能的智能机电模块组成系统的设计模式

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869303

Udayanto Dwi Atmojo, V. Vyatkin

引用次数: 3

An APMonitor Temperature Lab PID Control Experiment for Undergraduate Students 基于APMonitor温度实验室的大学生PID控制实验

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) Pub Date : 2019-09-01 DOI: 10.1109/ETFA.2019.8869247

Paulo Moura Oliveira, J. Hedengren

引用次数: 23