| 1. |
- Bouguerra, Abdelbaki, 1974-, et al.
(författare)
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An autonomous robotic system for load transportation
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009). - New York : IEEE conference proceedings. - 9781424427277 - 9781424427284 ; , s. 1563-1566
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Konferensbidrag (refereegranskat)abstract
- This paper presents an overview of an autonomous robotic material handling system. The goal of the system is to extend the functionalities of traditional AGVs to operate in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our system, such infrastructure is difficult to setup in an efficient way. Additionally, the location of objects to handle are unknown, which requires that the system be able to detect and track object positions at runtime. Another requirement of the system is to be able to generate trajectories dynamically, which is uncommon in industrial AGV systems.
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| 2. |
- Nemati, Farhang, Senior Lecturer, 1975-, et al.
(författare)
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Efficiently Migrating Real-Time Systems to Multi-Cores
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation. - : IEEE. - 9781424427284 - 9781424427277 ; , s. 1205-1212
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Konferensbidrag (refereegranskat)abstract
- Power consumption and thermal problems limit a further increase of speed in single-core processors. Multi-core architectures have therefore received significant interest. However, a shift to multi-core processors is a big challenge for developers of embedded real-time systems, especially considering existing “legacy” systems which have been developed with uniprocessor assumptions. These systems have been developed and maintained by many developers over many years, and cannot easily be replaced due to the huge development investments they represent. An important issue while migrating to multi-cores is how to distribute tasks among cores to increase performance offered by the multi-core platform. In this paper we propose a partitioning algorithm to efficiently distribute legacy system tasks along with newly developed ones onto different cores. The target of the partitioning is increasing system performance while ensuring correctness.
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| 3. |
- Nemati, Farhang, Senior Lecturer, 1975-, et al.
(författare)
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Investigation of Implementing a Synchronization Protocol under Multiprocessors Hierarchical Scheduling
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation. - : IEEE. - 9781424427277 - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- In the multi-core and multiprocessor domain, there has been considerable work done on scheduling techniques assuming that real-time tasks are independent. In practice a typical real-time system usually share logical resources among tasks. However, synchronization in the multiprocessor area has not received enough attention.In this paper we investigate the possibilities of extending multiprocessor hierarchical scheduling to support an existing synchronization protocol (FMLP) in multiprocessor systems. We discuss problems regarding implementation of the synchronization protocol under the multiprocessor hierarchical scheduling.
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| 4. |
- Svensson, Bo, 1959-, et al.
(författare)
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Simulation based optimization of a sheet-metal press line
- 2009
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Ingår i: IEEE Conference on Emerging Technologies & Factory Automation, ETFA 2009. - 9781424427277 - 9781424427284 ; , s. 1-8
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Konferensbidrag (refereegranskat)abstract
- An off-line optimization of a sheet-metal press line is performed with improved production performances, both in terms of increased production rate and smoother robot motions. Smooth motions prevent the sheet-metal to slide out of position or even fall out, thereby causing lengthy down times. The simulation based method use a process optimizer connected to a time synchronized virtual manufacturing model including real industrial control systems, e.g. PLC. The key benefit herein is that all tuned control system parameters can be directly downloaded to the real press line without any post-processing or transformations. The challenge to find suitable optimization algorithms for a press line that handle highly nonlinear, discontinuous functions; considerable number of parameters; and long evaluation times is reached.
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| 5. |
- Uhlemann, Elisabeth, 1971-, et al.
(författare)
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Scheduling relay nodes for reliable wireless real-time communications
- 2009
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Ingår i: IEEE Conference on Emerging Technologies & Factory Automation, 2009. ETFA 2009. - Piscataway, NJ : IEEE Press. - 9781424427277 - 9781424427284 ; , s. 1-3
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Konferensbidrag (refereegranskat)abstract
- We consider wireless relay networks for use in industrial applications with strict requirements on both timely and reliable communications. Frequently, more than one suitable relay node is available for retransmitting an erroneous packet. However, if commercially available transceivers are to be used; concurrent transmissions will result in collisions. Further, in a typical industrial network, there may be several data packets that need to travel from source to destination during the same time period. Consequently, relay nodes need to be scheduled to data packets and time instances such that as many packets as possible can be received at their destinations with as high reliability as possible before their respective deadlines. Our goal is thus to increase the data reliability in industrial wireless networks, while respecting real-time deadlines.
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| 6. |
- Åsberg, Mikael, et al.
(författare)
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Towards Hierarchical Scheduling in AUTOSAR
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation. - : IEEE. - 9781424427284 - 9781424427277
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Konferensbidrag (refereegranskat)abstract
- AUTOSAR [17] is a partnership between automotive manufactures and suppliers. It aims at standardizing the automotive software architecture and separating software and hardware. This approach makes software more independent, maintainable, reuseable, etc. Still there is much work to do in order for this standard to be usable. This paper focus on automotive software integration in AUTOSAR, with the use of hierarchical scheduling as an enabling technology. At this point, AUTOSARcomponents do not have any timing relation with its tasks [19, 20]. This causes an unpredictive runtime behavior which can only be analyzed and verified after integration phase. We will discuss how integration can be done in AUTOSAR, with runtime temporal isolation of components. This will enable schedulability analysis at the level of components rather than at the level of tasks.
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| 7. |
- Akan, Batu, et al.
(författare)
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Object Selection using a Spatial Language for Flexible Assembly
- 2009
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Ingår i: 14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009). - Mallorca, Spain. - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a new simplified natural language that makes use of spatial relations between the objects in scene to navigate an industrial robot for simple pick and place applications. Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs are far higher than installation costs. In order to hide the complexities of robot programming we propose a natural language where the use can control and jog the robot based on reference objects in the scene. We used Gaussian kernels to represent spatial regions, such as left or above. Finally we present some dialogues between the user and robot to demonstrate the usefulness of the proposed system.
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| 8. |
- Behnam, Moris, et al.
(författare)
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Improved SIRAP analysis for synchronization in hierarchical scheduled real-time systems
- 2009
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Ingår i: Proceedings of 14th IEEE International Conference on Emerging Techonologies and Factory (ETFA'09). - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- We present our ongoing work on synchronization in hierarchical scheduled real-time systems, where tasks are scheduled using fixed-priority pre-emptive scheduling. In this paper, we show that the original local schedulability analysis of the synchronization protocol SIRAP is very pessimistic when tasks of a subsystem access many global shared resources. The analysis therefore suggests that a subsystem requires more CPU resources than necessary. A new way to perform the schedulability analysis is presented which can make the SIRAP protocol more efficient in terms of calculated CPU resource needs.
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| 9. |
- Hellström, Daniel, et al.
(författare)
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Exploring an open-loop RFID implementation in the automotive industry
- 2009
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Ingår i: [Host publication title missing]. - 1946-0759 .- 1946-0740. - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- This paper explores and describes the impact of radio frequency identification (RFID) technology on inventory accuracy within a production and assembly plant, and proposes a model for assessing the impact of the technology on inventory accuracy. The empirical investigation, based on case study research, focuses on a RFID implementation at a supplier of bumper and spoiler systems to the automotive industry. The results indicate that RFID ensures that inventory inaccuracy will be kept at minimum, providing practitioners with the opportunity to further eliminate waste and improve factory performance.
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| 10. |
- Hjertström, Andreas, 1972-, et al.
(författare)
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A Data-Entity Approach for Component-Based Real-TimeEmbedded Systems Development
- 2009
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Ingår i: 14th IEEE International Conference on Emerging Technology and Factory Automation. - 9781424427284
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Konferensbidrag (refereegranskat)abstract
- In this paper the data-entity approach for efficientdesign-time management of run-time data in componentbasedreal-time embedded systems is presented. The approachformalizes the concept of a data entity which enabledesign-time modeling, management, documentationand analysis of run-time data items. Previous studies ondata management for embedded real-time systems showthat current data management techniques are not adequate,and therefore impose unnecessary costs and quality problemsduring system development. It is our conclusion thatdata management needs to be incorporated as an integralpart of the development of the entire system architecture.Therefore, we propose an approach where run-time datais acknowledged as first class objects during developmentwith proper documentation and where properties such asusage, validity and dependency can be modeled. In thisway we can increase the knowledge and understanding ofthe system. The approach also allows analysis of data dependencies,type matching, and redundancy early in the developmentphase as well as in existing systems.
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