| 1. |
- Bellone, Mauro, 1982, et al.
(författare)
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Extension of Trajectory Planning in Parameterized Spaces to Articulated Vehicles
- 2017
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - Piscataway : Institute of Electrical and Electronics Engineers (IEEE). - 1946-0740 .- 1946-0759. - 9781509065059 - 9781509065042 - 9781509065066
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Konferensbidrag (refereegranskat)
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| 2. |
- Corneo, Lorenzo, et al.
(författare)
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Service Level Agreements for Safe and Configurable Production Environments
- 2018
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - : IEEE. - 1946-0759 .- 1946-0740. ; 2018-September
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Konferensbidrag (refereegranskat)abstract
- This paper focuses on Service Level Agreements (SLAs) for industrial applications that aim to port some of the control functionalities to the cloud. In such applications, industrial requirements should be reflected in SLAs. In this paper, we present an approach to integrate safety-related aspects of an industrial application to SLAs. We also present the approach in a use case. This is an initial attempt to enrich SLAs for industrial settings to consider safety aspects, which has not been investigated thoroughly before.
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| 3. |
- Dahl, Martin, 1984, et al.
(författare)
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Control components for Collaborative and Intelligent Automation Systems
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; 2019-September, s. 378-384
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Konferensbidrag (refereegranskat)abstract
- Collaborative and intelligent automation systems need intelligent control systems. Some of this intelligence exist on a per-component basis in the form of vision, sensing, motion, and path planning algorithms. To fully take advantage of this intelligence, also the coordination of subsystems need to exhibit intelligence. While there exist middleware solutions that eases communication, development, and reuse of such subsystems, for example the Robot Operating System (ROS), good coordination also requires knowledge about how control is supposed to be performed, as well as expected behavior of the subsystems. This paper introduces lightweight components that wraps ROS2 nodes into composable control components from which an intelligent control system can be built. The ideas are implemented on a use case involving collaborative robots with on-line path planning, intelligent tools, and human operators.
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| 4. |
- Dahl, Martin, 1984, et al.
(författare)
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Virtual Reality Commissioning in Production Systems Preparation
- 2017
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0740 .- 1946-0759. - 9781509065059
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Konferensbidrag (refereegranskat)abstract
- Virtual commissioning (VC) is a method used to virtually visualize and test production systems, control logic and material flows. The focus of this paper is to further extend this concept using Virtual Reality (VR). The introduction of VR in VC enhances the concept by adding a more realistic visualization and movement tracking which extends the possibilities of its validation. The changes to the validation aspect are mainly due to the fact that it is now possible to interact with the running virtual production in a realistic and intuitive way. The interaction gives designers and operators a new possibility to go from being observers to actors in the design phase. They are now able to validate the production system, test security protocols and validate the human interaction with the system, using VR.
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| 5. |
- Danielsson, Jakob, et al.
(författare)
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Investigating execution-characteristics of feature-detection algorithms
- 2017
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Ingår i: IEEE Conference on Emerging Technologies and Factory Automation. - : Institute of Electrical and Electronics Engineers Inc.. - 1946-0740 .- 1946-0759. ; Part F134116, s. 1-4
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Tidskriftsartikel (refereegranskat)abstract
- We discuss how to obtain information of execution characteristics, such as parallelizability and memory utilization, with the final aim to improve the performance and predictability of feature and corner detection algorithms for use in e.g. robotics and autonomous machines. Our aim is to obtain a better understanding of how computer vision algorithms use hardware resources and how to improve the time predictability and execution time of such algorithms when executing on multi-core CPUs. We evaluate a fork-join model applicable to feature detection algorithms and present a method for measuring how well the algorithm performance correlates with hardware resource usage. We have applied our method to the Featured from Accelerated Segment Test (FAST) algorithm. Our characterization of FAST reveals that it is an algorithm with excellent parallelism opportunities, resulting in an almost linear speed-up per core. Our measurements also reveal that the performance of FAST correlates very little with the number number of misses in the L1 data cache, L1 instruction cache, data translation lookaside buffer and L2 cache. Thus, the FAST algorithm will not have a negative effect on the execution time when the input data fits in the L2 cache.
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| 6. |
- Ebrahimi, Amir Hossein, 1976, et al.
(författare)
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Formal analysis of product variability and the effects on assembly operations
- 2015
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. - 9781467379298 ; 2015-October
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Konferensbidrag (refereegranskat)abstract
- A challenge for highly configurable products, like vehicles, is that the product system has to support all possible variants that can be configured by a customer. The production system is often highly automated with software in robots, machines and programmable logic controllers that need to be prepared to handle all possible variants. The link between the product and the assembly system can be expressed through operations where each operation models how a part in the bill-of-material is assembled to the product to be built. Typically the operations have precedence constraints that express that certain parts have to be assembled before other parts might be assembled. Given only the precedence constraints a product can generally be assembled in many different ways and through line balancing the operations are assigned to different stations, machines, and/or assembly workers. For configurable products the bill-of-material might be different for each variant, consequently the necessary operations will be different. However, since the operations have precedence constraints we have to make sure that all possible variants can be successfully assembled while still satisfying all precedence constraints. The contribution in this paper is a fully automated novel method that can determine if all possible product variants can be successfully assembled while still satisfying precedence constraints between operations.
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| 7. |
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| 8. |
- Farooqui, Ashfaq Hussain, 1990, et al.
(författare)
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Error handling within highly automated automotive industry: Current practice and research needs
- 2016
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. - 9781509013142 ; 2016-November, s. Art no 7733628-
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Konferensbidrag (refereegranskat)abstract
- Fault tolerant systems, commonly found in literature, are implemented in various computer applications. Some of these methods have been studied and developed to aid manufacturing systems; however, they have rarely been integrated into the manufacturing process. Broadly, the problem seems to be integration of error handling procedures towards the end of physically building the manufacturing line, lack of a defined workflow, untested program logic and inadequately equipped personnel to name a few. To this end, a survey was conducted within the Swedish automotive industry to get an understanding of current error handling procedures and its shortcomings, and are presented here. Based on this data, and looking at the trends within the manufacturing industry, this paper also identifies research topics aimed towards defining methods to create next generation fault tolerant manufacturing systems.
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| 9. |
- Hanna, Atieh, et al.
(författare)
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Industrial Challenges when Planning and Preparing Collaborative and Intelligent Automation Systems for Final Assembly Stations
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9781728103037 ; 2019-September, s. 400-406
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Konferensbidrag (refereegranskat)abstract
- During the last five decades, automation and robotics have transformed the automotive industry by increasing efficiency and improving the product quality. However, future trucks that will be autonomous, electrical and connected will require a completely new type of flexibility and intelligence in the production systems, especially in the final assembly. To handle the increased complexity of the products, production processes and logistic systems, final assembly must be transformed into collaborative and intelligent automation systems. These systems will include collaborative and deliberative robots (cobots), advanced vision-based control, adaptive safety systems, online optimization and learning algorithms and connected and well-informed human operators. But it will be a huge undertaking to transform current trucks industry such that they can design, implement and maintain large scale collaborative and intelligent automation systems. This paper presents the challenges with current planning and preparation processes for final assembly as well as the requirement and possible solutions for the future processes. An industrial use case at Volvo Trucks based on Sequence Planner and ROS2 is used to evaluate the proposed planning and preparation processes.
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| 10. |
- Hovgard, Mattias, 1993, et al.
(författare)
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Energy-Optimal Timing of Robot Stations Subject to Gaussian Disturbances
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; 2019-September, s. 1441-1444
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an optimization model for optimizing the energy use of industrial robots in production systems affected by stochastic disturbances. In the model there are a number of operations that needs to be completed by the robots before a deadline. The operations are of two types, one type that can not be controlled and have stochastic execution times. The other type are robot movements, and by extending their execution times energy can be saved. The goal of the optimization is to find the optimal combination of execution times for the robot movements, while meeting the deadline with a given probability.
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| 11. |
- Khan, Adnan, 1984, et al.
(författare)
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On the Safe IOCOS relation for Testing Safety PLC Code
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; 2019-September, s. 1449-1452
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Konferensbidrag (refereegranskat)abstract
- In this paper, limitations of the IOCOS testing relation in regard to testing safety PLC code is examined and a modification of the current IOCOS relation, called safe-IOCOS is proposed. In the IOCOS testing relation, an implementation is IOCOS with respect to a specification, if it emits a subset of the specified outputs and a super-set of the specified inputs after the execution of each trace in the specification. However, for testing safety PLC code, the IOCOS relation is not detailed enough as the subset requirement on the respective inputs and outputs could allow some safety behaviors to go untested. These limitations of the IOCOS relation may thus pose threats to humans. So the notion of safe-IOCOS is defined, which strengthens IOCOS to require equality between the implementation and the specification in relation to the inputs and outputs, respectively. An example shows these shortcomings of IOCOS and how the proposed safe-IOCOS relation is better suited for testing safety PLC code.
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| 12. |
- Li, Jason, 1993, et al.
(författare)
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Training Convolutional Neural Networks with Synthesized Data for Object Recognition in Industrial Manufacturing
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; 2019-September, s. 1544-1547
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Konferensbidrag (refereegranskat)abstract
- Visual tasks such as automated quality control or packaging require machines to be able to detect and identify objects automatically. In recent years object detection systems using deep learning have made significant advancements achieving better scores at a higher performance. However, these methods typically require large amounts of annotated images for training, which are costly and labor intensive to create. Therefore, it is an attractive alternative to generate the training data synthetically using computer-generated imagery (CGI). In this paper, we investigate how to add realistic texture to CAD objects to generate synthetic data for training of an instance segmentation network (Mask R-CNN) for recognition of manufacturing components. The results show that it is possible to create synthetic data with negligible human effort when using simple procedural materials.
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| 13. |
- Meivik, Jacob, et al.
(författare)
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Key Performance Indicators in Manufacturing Operations Management: A Case Study of the IS022400-Standard Applied at Volvo Cars
- 2018
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0740 .- 1946-0759. - 9781538671085 ; 2018-September
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Konferensbidrag (refereegranskat)abstract
- The ISO 22400 has defined a set of Key Performance Indicators (KPIs) to evaluate the performance of manufacturing operation. Though the calculation formulas and tendency analysis of KPIs are given in the standard, it is important to evaluate how the standard performs when implemented in an industrial setting. Based on analyzing the production process in Volvo car, an aggregation KPI evaluation system is proposed to evaluate the operation performance. Two failure KPIs defined in the ISO 22400, mean operation time between failure (MTBF) and mean time to failure (MTTF), are selected in the system. By calculating the failure KPIs in different levels and analyzing the working state of each station in two operating modes, the applicability and effectiveness of the proposed aggregation KPI evaluation system based on the standard is demonstrated.
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| 14. |
- Najdataei, Hannaneh, 1988, et al.
(författare)
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Adaptive Stream-based Shifting Bottleneck Detection in IoT-based Computing Architectures
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0740 .- 1946-0759. ; 2019-September, s. 993-1000
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Konferensbidrag (refereegranskat)abstract
- Cloud computing is revolutionizing the backbone of data analysis applications, including industrial ones. One of its main pillars is the separation of the logic with which data is accessed (e.g., to study the efficiency of a manufacturing system) from the actual hardware (e.g., server) that maintains and analyses the data. Large distributed cyber-physical systems enabled by, among other technologies, the Internet of Things (IoT), made nonetheless clear that 'what to do' with the data and 'where to do it' are not disjoint problems; i.e., cloud computing on its own is not enough. Fog and edge computing have emerged as complementary options, to distribute the analysis, helping with challenges by means of close-to-the-source data analysis.We show for a key problem for industrial processes, that of shifting bottleneck detection, how to take advantage of such multi-tier computing architectures, to perform continuous and configurable analysis of data from Manufacturing Execution Systems. We propose a processing framework, STRATUM, and an algorithm, AMBLE, for continuous, data stream processing. STRATUM seamlessly distributes and parallelizes the processing across the tiers and AMBLE guarantees consistent analysis in spite of timing fluctuations, which are commonly introduced due to e.g. the communication system; it also achieves efficiency through appropriate data structures for in-memory processing. The experimental study on a real-world dataset, taken from a production line over two years and including 8.5 million entries, shows the benefits of the proposed solution in enabling configurable and efficient analysis.
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| 15. |
- Noori-Hosseini, Mona, 1982, et al.
(författare)
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Incremental Abstraction for Diagnosability Verification of Modular Systems
- 2019
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. - 9781728103037 ; 2019-September, s. 393-399
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Konferensbidrag (refereegranskat)abstract
- In a diagnosability verifier with polynomial complexity, a non-diagnosable system generates uncertain loops. Such forbidden loops are in this paper transformed to forbidden states by simple detector automata. The forbidden state problem is trivially transformed to a nonblocking problem by considering all states except the forbidden ones as marked states. This transformation is combined with one of the most efficient abstractions for modular systems called conflict equivalence, where nonblocking properties are preserved. In the resulting abstraction, local events are hidden and more local events are achieved when subsystems are synchronized. This incremental abstraction is applied to a scalable production system, including parallel lines where buffers and machines in each line include some typical failures and feedback flows. For this modular system, the proposed diagnosability algorithm shows great results, where diagnosability of systems including millions of states is analyzed in less than a second.
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| 16. |
- Quach, T. X., et al.
(författare)
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Secrecy performance of cognitive cooperative industrial radio networks
- 2017
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Ingår i: IEEE Conference on Emerging Technologies and Factory Automation. - : Institute of Electrical and Electronics Engineers Inc.. - 1946-0740 .- 1946-0759. ; Part F134116, s. 1-8
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Tidskriftsartikel (refereegranskat)abstract
- Although cognitive radio networks (CRNs) were originally intended as a powerful solution to enhance spectrum utilization, it can also be used to improve reliability by avoiding interference in the 2.4 or 5 GHz band. Using multiple relay nodes in CRNs, the outage probability, i.e., the probability that the end-to-end signal-to-noise ratio drops below a predefined threshold, can be reduced significantly. This implies that the probability that a message is not delivered within a specific time frame, can be kept below a required threshold, even when there are constraints on energy efficiency in terms of peak transmit power. This is particularly useful for industrial networks with realtime constraints. However, using CRNs may also reveal secret information to eavesdroppers (EAVs). Therefore, guaranteeing secure and reliable communications in CRNs is still a challenging problem. To this end, the secrecy performance of a proactive decode-and-forward relaying scheme in a cognitive cooperative radio network is investigated. More specifically, analytical as well as approximate expressions for the secrecy outage probability and probability of non-zero secrecy capacity are derived to evaluate the system performance. Numerical results show that the approximation tightly match the analytical results and simulations, and thus it can be used to provide a fast evaluation of the security and reliability of communications using a considered assignment of relay nodes in a cognitive cooperative radio network (CCRN). Consequently, our results enable to secure the communication, and increasing the reliability, availability, robustness, and maintainability of wireless industrial network, subject to various constraints from the CRN.
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| 17. |
- Riazi, Sarmad, 1986, et al.
(författare)
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Decomposition and distributed algorithms for home healthcare routing and scheduling problem
- 2017
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. ; , s. 1-7
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Konferensbidrag (refereegranskat)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.
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| 18. |
- Rohmer, E., et al.
(författare)
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Laser based driving assistance for smart robotic wheelchairs
- 2015
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. - 9781467379298 ; 2015-October
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Konferensbidrag (refereegranskat)abstract
- This paper is presenting the ongoing work toward a novel driving assistance system of a robotic wheelchair, for people paralyzed from down the neck. The user's head posture is tracked, to accordingly project a colored spot on the ground ahead, with a pan-tilt mounted laser. The laser dot on the ground represents a potential close range destination the operator wants to reach autonomously. The wheelchair is equipped with a low cost depth-camera (Kinect sensor) that models a traversability map in order to define if the designated destination is reachable or not by the chair. If reachable, the red laser dot turns green, and the operator can validate the wheelchair destination via an Electromyogram (EMG) device, detecting a specific group of muscle's contraction. This validating action triggers the calculation of a path toward the laser pointed target, based on the traversability map. The wheelchair is then controlled to follow this path autonomously. In the future, the stream of 3D point cloud acquired during the process will be used to map and self localize the wheelchair in the environment, to be able to correct the estimate of the pose derived from the wheel's encoders.
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| 19. |
- Sundström, Nina, 1980, et al.
(författare)
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From time-optimal schedule to robust event-based control
- 2015
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Ingår i: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. - 1946-0759 .- 1946-0740. - 9781467379298 ; 2015-October
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Konferensbidrag (refereegranskat)abstract
- In this work in progress paper, we formulate performance robust event-based control strategies with respect to uncertainties in operation processing times. The proposed policies are based on a time-optimal schedule of operation sequences. A logical operation model is used to specify relations between operations. The control policies generate conditions ensuring to maintain the execution order given in the schedule. One of the strategies is less restrictive in order to avoid unnecessary delays due to uncertainties in execution times. In this case, the generated conditions are evaluated and, if possible, relaxed for operations without a logical connection. For non-nominal execution times, the makespan of the less restrictive control policy is proven to always be better or equal to the makespan of the more restrictive control strategy.
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