| 1. |
- Alvarez Vadillo, Ines, et al.
(author)
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Centralised Architecture for the Automatic Self-Configuration of Industrial Networks
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Novel production paradigms aim at increasing the efficiency and flexibility of production systems. Nonetheless, traditional industrial infrastructures lack the mechanisms needed to support these new paradigms. One of the main limiting factors is the architecture, which follows the automation pyramid in which subsystems are divided in layers depending on their functionalities. This allowed to meet the timing and dependability requirements of the production subsystems, however at the cost of limiting the exchange of information required to provide increased flexibility to the system. For this reason, in this paper we propose a new industrial architecture with a single network infrastructure to connect all the devices that conform to the industrial systems. On top of that, we design an Automatic Network Configurator to support the automatic configuration of the system. To assess the feasibility of our design and evaluate its performance, we implement the first instance of the architecture capable of supporting changes in the traffic requirements during run-time, i.e., without stopping or disrupting the system's operation. Furthermore, we use the implemented instance to measure the time required for reconfigurations.
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| 2. |
- Berisa, Aldin, et al.
(author)
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Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- This paper performs a comparative evaluation of various generations of Controller Area Network (CAN), including the classical CAN, CAN Flexible Data-Rate (FD), and CAN Extra Long (XL). We utilize response-time analysis for the evaluation. In this regard, we identify that the state of the art lacks the response-time analysis for CAN XL. Hence, we discuss the worst-case transmission times calculations for CAN XL frames and incorporate them to the existing analysis for CAN to support response-time analysis of CAN XL frames. Using the extended analysis, we perform a comparative evaluation of the three generations of CAN by analyzing an automotive industrial use case. In crux, we show that using CAN FD is more advantageous than the classical CAN and CAN XL when using frames with payloads of up to 8 bytes, despite the fact that CAN XL supports higher bit rates. For frames with 12-64 bytes payloads, CAN FD performs better than CAN XL when running at the same bit rate, but CAN XL performs better when running at a higher bit rate. Additionally, we discovered that CAN XL performs better than the classical CAN and CAN FD when the frame payload is over 64 bytes, even if it runs at the same or higher bit rates than CAN FD.
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| 3. |
- Bujosa Mateu, Daniel, et al.
(author)
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Introducing Guard Frames to Ensure Schedulability of All TSN Traffic Classes
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Offline scheduling of Scheduled Traffic (ST) in Time-Sensitive Networks (TSN) without taking into account the quality of service of non-ST traffic, e.g., time-sensitive traffic such as Audio-Video Bridging (AVB) traffic, can potentially cause deadline misses for non-ST traffic. In this paper, we report our ongoing work to propose a solution that, regardless of the ST scheduling algorithm being used, can ensure meeting timing requirements for non-ST traffic. To do this, we define a frame called Guard Frame (GF) that will be scheduled together with all ST frames. We show that a proper design for the GFs will leave necessary porosity in the ST schedules to ensure that all non-ST traffic will meet their timing requirements.
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| 4. |
- Desai, Nitin, 1986-, et al.
(author)
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A Topology-specific Tight Worst-case Analysis of Strict Priority Traffic in Real-time Systems
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Tight end-to-end worst-case delay bounds for periodic traffic streams are essential for time sensitive networks. In this paper, we provide an algorithm to compute a tight (and accurate) end-to-end worst-case bound by considering distinct topological patterns and the manner in which streams enter and leave switches. This refined analysis uses non-preemptive, strict-priority arbitration mechanism commonly deployed in Ethernet switches. Compared to the state-of-the-art that considers all higher and equal priority interference as contributing to the worst-case bound, we present an analytical approach for computing a tighter worst-case delay bound and prove through discrete event simulations that only a certain number of equal-priority interference streams can actually affect the worst-case case. Our results enable efficient resource allocation and have implications for online re-configuration mechanisms for time-sensitive factory communication systems.
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| 5. |
- Dust, Lukas, et al.
(author)
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Experimental Evaluation of Callback Behavior in ROS 2 Executors
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Robot operating system 2 (ROS 2) is increasingly popular both in research and commercial robotic systems. ROS 2 is designed to allow real-time execution and data communication, enabling rapid prototyping and deployment of robotic systems. In order to predict and calculate execution times in ROS 2, one needs to analyze its internal scheduler, called executor. The executor has been updated in various distributions of ROS 2, which is shown to impact significantly the periodic execution invoked by the underlying operating system's timers, potentially causing unexpected latencies. To expose the mentioned impact due to executor differences, in this paper, we present an experimental evaluation of the execution behavior of ROS 2's schedulable entities, namely callbacks, among the existing versions of the executor. We visualize the differences of callback execution order via simulation, and we create design-level scenarios that impact the execution of periodically scheduled callbacks, negatively. Moreover, we show how such negative impact can be mitigated by using multi-threaded executors. Finally, we illustrate the observed behavior on a real-world centralized multi-agent robot system. Our work aims to raise awareness within the ROS 2 developer community, regarding possible problems of timer blocking, and propose a mitigation solution of the latter.
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| 6. |
- Ebrahimi, E., et al.
(author)
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Model Checking of Hyperledger Fabric Smart Contracts
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Conducting interactions between shared-purpose organizations that are not entirely trustworthy of each other without centralized oversight is an idea that emerged with the advent of private blockchains such as Hyperledger Fabric and its smart contracts. It is critical to check contracts to ensure their proper functionality, as organizations may collaborate with competitors. Due to the new architecture of Hyperledger Fabric, tools in this area are limited. To formally verify the source code of contracts, we mapped Fabric contract concepts into the Rebeca modeling language. Rebeca is an actor-based language that enables the modeling of concurrent and distributed systems and is supported by a model checking tool, Afra. We have identified vulnerabilities such as deadlock and starvation by examining the desired properties. Using the model checking approach, we could debug the code and hence benefit from speeding up the transactions, creating fewer extra blocks, requiring less storage space to store the ledger, and avoiding wasting computing resources.
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| 7. |
- Friesen, Maxim, et al.
(author)
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Network Digital Twins : A Key-Enabler for Zero-Touch Management in Industrial Communication Systems
- 2023
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In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA). - : IEEE conference proceedings. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Current industrial communication systems (ICS) are undergoing a transformation, leveraging a multitude of technologies to meet the specific needs of the manufacturing and automation industries. The convergence of these networks into edge, fog, and cloud architectures has enhanced their scalability and facilitated the deployment of advanced data-driven approaches, such as machine learning for optimizing production processes. However, ensuring proper provisioning of network and computation resources, along with delivering quality of service, is increasingly challenging in these complex communication systems. Zero-Touch Management (ZTM) frameworks promise to reduce complexity and minimize dependence on manual configuration by human experts. Successful deployment of such frameworks requires an accurate Network Digital Twin (NDT) of relevant network elements, as autonomous decision-making heavily relies on the quantity and quality of historical and real-time node and link state information provided by the NDT. However, the use of NDTs for ICS and ZTM in particular is still an emerging research topic. This paper therefore proposes a theoretical use-case for an NDT-based ZTM framework to improve resource utilization in cloud-centered networks. It presents a state-of-the-art analysis of recent NDT advances enabling the deployment of related ZTM approaches and discusses associated challenges and future research directions.
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| 8. |
- Hariharan, Sheela, et al.
(author)
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Towards a holistic approach to security validation of construction machinery through HIL systems
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- The construction industry is increasingly equipping its machinery with sophisticated embedded systems and modern connectivity. Technology advancements in connected safety-critical systems are complex, with cyber-security becoming a more critical factor. Due to interdependencies and network connectivity, attack surfaces and vulnerabilities have increased significantly. Consequently, it is imperative to perform a risk assessment and implement robust security testing methods in order to prevent cyber-attacks on machinery segments. This paper presents a method for identifying potential security threats that also affect machine functional safety, facilitated by identifying threats in the threat modeling process and analyzing safety-security synergies. By identifying such risks, attack scenarios are created to simulate cyber-attacks and create test cases for validation. This approach integrates security testing into the current testing process by using penetration testing tools and utilizing a Hardware-in-the-Loop(HIL) test setup and it is verified with a simulated Denial of Service attack over a CAN network.
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| 9. |
- Johansson, B., et al.
(author)
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Consistency before Availability : Network Reference Point based Failure Detection for Controller Redundancy
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Distributed control systems constitute the automation solution backbone in domains where downtime is costly. Redundancy reduces the risk of faults leading to unplanned downtime. The Industry 4.0 appetite to utilize the device-to-cloud continuum increases the interest in network-based hardware-agnostic controller software. Functionality, such as controller redundancy, must adhere to the new ground rules of pure network dependency. In a standby controller redundancy, only one controller is the active primary. When the primary fails, the backup takes over. A typical network-based failure detection uses a cyclic message with a known interval, a.k.a. a heartbeat. Such a failure detection interprets heartbeat absences as a failure of the supervisee; consequently, a network partitioning could be indistinguishable from a node failure. Hence, in a network partitioning situation, a conventional heartbeat-based failure detection causes more than one active controller in the redundancy set, resulting in inconsistent outputs. We present a failure detection algorithm that uses network reference points to prevent network partitioning from leading to dual primary controllers. In other words, a failure detection that prioritizes consistency before availability.
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| 10. |
- Khabbazi, Mahmood Reza, et al.
(author)
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Model-based Plug & Produce in Assembly Automation
- 2023
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In: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA). - : IEEE. - 9798350339918 - 9798350339901 - 9798350339925
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Conference paper (peer-reviewed)abstract
- Manual assembly systems are featured with high flexibility but with the risk of lower quality, higher cycle time, inefficient resource employment, and affecting sustainability goals in comparison to fully automated ones. Conventional automated assembly is challenged by the desired level of flexibility when compared to what automation through Plug & Produce system represents. Plug and Produce, during the last few decades aimed at addressing highly flexible automation systems handling rapid changes and adaptations as one dominant solution. Multi-agent System (MAS) as a tool to handle different areas of manufacturing control systems can be used in Plug & Produce representing every physical control entity (e.g., parts, resources) as agents. This article aims to describe a model-based configurable multi-agent design in Plug and Produce system together with a prototype implementation of the actual automated assembly use case of a kitting operation highlighting flexibility and reconfigurability and the model functionality. A model-based approach with a few models using UML standards describes the structure and behavior of the system. Model instantiation is introduced and followed by real prototype use case implementation. The use case study of advanced automated kitting operation in the assembly automation domain has been selected. Agent-based operation control systems have been applied during the assembly process. The evaluation was accomplished by testing several scenarios on Plug & Produce for kitting operation. To conclude, several desirable functionality features of the framework during the demonstration such as rapid instantiation and adaptation, and in particular, the flexibility features have been examined and evaluated with several failure-handling testing scenarios. © 2023 IEEE.
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| 11. |
- Leander, Björn, 1978-, et al.
(author)
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Dependability and Security Aspects of Network-Centric Control
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Industrial automation and control systems are responsible for running our most important infrastructures, providing electricity and clean water, producing medicine and food, along with many other services and products we take for granted. The safe and secure operation of these systems is therefore of great importance.One of the emerging trends in industrial automation systems is the transition from static hierarchical controller-centric systems to flexible network-centric systems. This transition has a great impact on the characteristics of industrial automation systems. In this article we describe the network-centric design strategy for industrial automation systems and describe the impact on dependability and security aspects that this strategy brings, looking at both challenges and possibilities.
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| 12. |
- Miloradović, Branko, 1987-, et al.
(author)
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Challenges in the Automated Disassembly Process of Electric Vehicle Battery Packs
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- The surge in the development and adoption of Electric Vehicles (EVs) globally is a trend many countries are paying close attention to. This inevitably means that a significant number of EV batteries will soon reach their End-of-Life (EoL). This looming issue reveals a notable challenge: there's currently a lack of sustainable strategies for managing Lithium-ion Batteries (LiBs) when they reach their EoL stage. The process of disassembling these battery packs is challenging due to their intricate design, involving several different materials and components integrated tightly for performance and safety. Consequently, effective disassembly and subsequent recycling procedures require highly specialized methods and equipment, and involve significant safety and health risks. Moreover, existing recycling technologies often fail to recover all valuable and potentially hazardous materials, leading to both economic and environmental loss. This paper provides an overview and analysis of possible challenges arising in the domain of automated battery disassembly and recycling of EV batteries that reached their EoL. We provide insight into the disassembly process as well as optimization of the disassembly sequence with the goal of minimizing the overall cost and environmental footprint.
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| 13. |
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| 14. |
- Salman Shaik, Mohammad, et al.
(author)
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Dispatching Deadline Constrained Jobs in Edge Computing Systems
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- The edge computing paradigm extends the architectural space of real-time systems by bringing the capabilities of the cloud to the edge. Unlike cloud-native systems designed for mean response times, real-time industrial embedded systems are designed to control a single physical system, such as a manipulator arm or a mobile robot, that requires temporal predictability. We consider the problem of dispatching and scheduling of jobs with deadlines that can be offloaded to the edge and propose DAL, a deadline-aware load balancing and scheduling framework that leverages the availability of on-demand computing resources along with an on-arrival dispatching scheme to manage temporal requirements of such offloaded applications. The evaluation indicates that DAL can achieve reasonably good performance even when execution times, arrival times, and deadlines vary.
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| 15. |
- Satka, Zenepe, 1997-, et al.
(author)
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Experimental Analysis of Wireless TSN Networks for Real-time Applications
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
-
Conference paper (peer-reviewed)abstract
- Wireless Time-Sensitive Networks (TSN) are needed to fulfill the requirements of real-time applications in areas where wired connections are not feasible. Wireless TSN combines the real-time capabilities of TSN with the flexibility of wireless connectivity opening a path for new use cases while providing determinism to time-critical scenarios such as autonomous vehicles. Industrial automation is integrating TSN with various wireless technologies such as WiFi, 4G, and 5G. This paper presents an ongoing work which aim is to experimentally analyze the performance of TSN when integrated with 4G, 5G, and WiFi in real-world scenarios. This will help both the researchers and industries to have a clear view of the network performance regarding the end-to-end latency requirements when designing their applications and use cases.
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| 16. |
- Struhar, Vaclav, et al.
(author)
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Resource Adaptation for Real-Time Containers Considering Quality of Control
- 2023
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In: IEEE Int. Conf. Emerging Technol. Factory Autom., ETFA. - : Institute of Electrical and Electronics Engineers Inc.. - 9798350339918
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Conference paper (peer-reviewed)abstract
- Container-based virtualization has become a promising deployment model for industrial applications mainly due to its benefits, such as providing support for co-located applications in heterogeneous environments. However, such facilitation brings challenges, including full temporal isolation among real-time applications and support for time-critical applications. In this paper, we tackle such challenges, in particular when the applications are time-sensitive Control Applications. The literature suggests that flexible timing constraints for Control Applications are beneficial in responding to disturbances and minimizing response deviation. Therefore, we propose a mechanism to support such a runtime adaptation in container-based virtualization. To show the performance of the proposed mechanism, we implement our approach on a Linux-based hierarchical scheduling platform, and we evaluate it for a Control application.
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| 17. |
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