Conference on Emerging Technologies and Factory Automation (ETFA)

13-16 Sept. 2010 Access to the IES Annual Conference on IEEE XPLORE IE Society Home Page

1	I.K. Samaras, J.V. Gialelis, G.D. Hassapis, "A service oriented-based system for real time industrial applications ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The benefits of utilizing service oriented architectures (SOA) in industrial automation are well recognized. Nevertheless these architectures imply connection establishments and message exchanges with a large amount of overhead which is inappropriate when considering the real time characteristics of an industrial application. Furthermore, wireless sensor networks (WSNs) which are often part of such applications cannot handle the need for continuously parsing and storing of SOA messages whose data volume is high. In this paper an innovative system approach is proposed capable of retaining all the interoperability issues that SOA provides. In this system a new bridge is used for mapping WSNs to IP systems and a novel compression technique is applied that reduces the size of the exchanged messages but nonetheless not prohibiting the usage of SOA standards. Finally a SOA-based technology is proposed which is embedded on wireless sensors motes and enables them to communicate with other devices regardless their implementation platform. Simulation results have shown that the proposed system can operate with real time responses when the number of sensors does not exceed a specific limit and the required sampling period is within particular time intervals in contrast with a classical SOA-based system.
2	F.L. Almeida, B.M. Terra, P.A. Dias, Gonç, G.M. alves, "Transport with automatic guided vehicles in the factory of the future ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The project XPRESS introduces a completely new scalable concept of an expertonic networked factory, which is composed by a coordinated team of specialized autonomous entities (intelligent production units), each knowing how to do a certain process optimally. This paper looks in particular to the transport intelligent unit implementation, which is responsible for the transportation of components at the shop-floor. An architecture based in a multi-agent approach that uses automatic guided vehicle expertons to perform this task is suggested. Additionally, it is presented an implementation of the automatic guided vehicle transport intelligent unit that uses the .NET framework integrated with the expertonic framework.
3	T. Hadlich, M. Muehlhause, C. Diedrich, "Discovery and integration of information in a heterogeneous environment ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: During plant life cycle very different information is collected regarding the components of the plant. The information is different not only in contents but also in regard to source, semantic and context. In order to use the heterogeneous information sources, the information regarding a specific topic needs to be found and integrated. This paper discusses the mechanisms for discovery and integration of information regarding a specific component of the plant based on OPC UA information transport.
4	R. Marau, L. Almeida, P. Pedreiras, K. Lakshmanan, R. Rajkumar, "Utilization-based schedulability analysis for switched Ethernet aiming dynamic QoS management ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Ethernet switches are typically found in many large-scale distributed real-time systems providing low-end transactions as well as bulk backbone routing to real-time applications. The FTT-SE protocol (Flexible Time-Triggered communication over Switched Ethernet) is a recent proposal to bypass the limitations of conventional switches in terms of real-time behavior while catering for growing requirements on dynamic reconfigurability and adaptability. For this end, this paper develops linear time-complexity and memory-efficient on-line admission control tests based on utilization bounds for Rate-Monotonic and EDF scheduling on Ethernet switches using FTT-SE, which are suited for dynamic Quality of Service (QoS) management. Our analysis also has broader applicability in general periodic task sets with bounded release delays. For FTT-SE with 100 Mbps links and 1500 bytes of maximum packet size, our sufficient schedulability condition achieves an utilization bound of 61% for RMS and 88% for EDF. Simulation results on randomly generated task sets demonstrate that such bounds are within 18% and 5% utilization of the ideal tests for RMS and EDF, respectively.
5	N. Serreli, G. Lipari, E. Bini, "The Distributed Deadline Synchronization Protocol for real-time systems scheduled by EDF ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Many distributed and multiprocessor real-time applications consist of pipelines of tasks that must complete before their end-to-end deadlines. Different schedulability analyses have been proposed for both Fixed Priority and Earliest Deadline First scheduling. All the schedulability analyses proposed so far assume that a global clock synchronization protocol is used to synchronize the deadlines of jobs allocated on different processors. This assumption may limit the applicability of EDF to such systems. In this paper, we propose the Distributed Deadline Synchronization Protocol (DDSP) for computing the absolute deadlines of jobs. The protocol is a non-trivial extension of the Release Guard Protocol proposed for fixed priority systems. DDSP does not require a global clock synchronization, yet existing schedulability analyses are valid for schedules generated by DDSP.
6	Shuhao Li, P. Pettersson, "Verification and controller synthesis for resource-constrained real-time systems: Case study of an autonomous truck ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: An embedded system is often subject to timing constraints, resource constraints, and it should operate properly no matter how its environment behaves. This paper proposes to use timed game automata to characterize the timed behaviors and the environment uncertainties, and use piece-wise constant integer functions to approximate the continuous resources in real-time embedded systems. Based on these formal models and techniques, we employ the realtime model checker UPPAAL to verify a system against a given functional and/or timing requirement. Furthermore, we employ the timed game solver UPPAAL-TIGA to check whether a given control objective can be enforced, and if so, we synthesize a controller for the system. We carry out a case study of this approach on a battery-powered autonomous truck. Experimental results indicate that the method is effective and computationally feasible.
7	J.D. Rojas, R. Vilanova, V.M. Alfaro, "Application of the virtual reference feedback tuning on wastewater treatment plants: A simulation study ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work presents a Data-Driven control applied to a wastewater treatment plant in a simulation study. The Benchmark Simulation Model 1 (BSM1) is used as a benchmark to compare the obtained results. It was found that similar results from the default controllers are achieved, without the need of any simplification of the model, and using only data from the direct simulation of the process. The Virtual Reference Feedback Tuning method is applied in a Two Degrees of Freedom Proportional-Integral (PI) control for the Dissolved Oxygen and Nitrate Nitrogen control loops, adding a constraint in the optimization problem to guarantee that the discrete version of the PI preserves the characteristics of the analog counterpart.
8	M. Larrea, E. Irigoyen, Ǵ, V. omez, F. Artaza, "Nonlinear system control based on Neural Networks with Adaptive Predictive strategy ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents an Adaptive Predictive Control strategy based on Neural Networks for nonlinear systems. In order to train the Neural Network controller, an identification of the system is carried out by the Neural Network Identifier. This second Neural Network provides the training terms related to the nonlinear system dynamics. In this way it is possible to train the Neural Network controller online. The simulation results show a correct online adaptation of the NN controller and the validity of the proposed control strategy.
9	Martí, R. nez, K.L. de Ipina, E. Irigoyen, N. Asla, "Automatic Evaluation of Emotion Elicitation oriented to people with intellectual disabilities ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: People with intellectual disabilities and elderly need physical and intellectual support to ensuring independent living. In our project a new IS system (LAGUNTXO) which adds user affective information oriented to people with intellectual disabilities has been developed. The system integrates a Human Emotion Analysis System (HEAS) which attempts to solve critical situations for this community as block stages. In the development of the HEAS one of the critical issues was to create appropriated databases to train the system due to the difficulty to simulate pre-block stages in laboratory specifically in the case of people with disabilities. A film and real sequences based emotion elicitation database was created. The elicitation material was categorized with features based on discrete emotions and dimensional terms (pleasant, unpleasant). In this work we present the Automatic Evaluation of Emotion Elicitation databases based on Machine Learning classifiers and un-supervised K-means clustering which provides new approaches of emotional answers finally validated by the specialist.
10	J. Zamorano, J.A. de la Puente, "Design and implementation of real-time distributed systems with the ASSERT Virtual Machine ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper describes how the ASSERT Virtual Machine, a dedicated execution platform that guarantees a predictable real-time behaviour, can be used to develop real-time embedded distributed systems with high-integrity requirements. The concept of virtual machine-level software components is developed, and sample programming patterns are provided. Components are used in the framework of the ASSERT development process, and are based on the Ravenscar Computational Model, a concurrent tasking model which can be statically analysed for a correct real-time behaviour. The current architecture of the ASSERT virtual machine is described in detail, and experience gained with its use in the last few years is provided.
11	A. Alonso, E. Salazar, Ló, J. pez, "Resource management for enhancing predictability in systems with limited processing capabilities ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: There is an increasing demand for computing systems composed by heterogeneous computers, connected by different types of networks, and that allow for accessing a wide range of services in a seamless way. Some of those computers are mobile or embedded and have limited resources, and can be overloaded when trying to handle their users demands. Then it is not possible to ensure a proper behaviour of the running applications. This can be an important problem when dealing with critical events in healthcare, home surveillance, or forest monitoring. Resource reservation is a valid basis for handling this issue. It allows for guaranteeing a certain resource share for applications that are important for the proper behavior of a given system. This paper describes an implementation of a resource management component and its integration in the Linux kernel. This piece of software has allowed to assign CPU budgets to standard Java threads, which is an important facility, given the widespread of this programming language. This implementation has been validated on service oriented middleware, where relevant services are executed by thread with guaranteed budget, to improve its predictability.
12	G.F. Anastasi, E. Bini, A. Romano, G. Lipari, "A service-oriented architecture for QoS configuration and management of Wireless Sensor Networks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Software infrastructures for networked enterprises may need data coming from low-level pervasive devices, such as Wireless Sensor Networks (WSNs). However, the complex management of such tiny physical devices is not acceptable for high-level enterprise applications. Hence the need for a middleware layer that hides complexity and supports the management of heterogeneous real-time data coming from the environment. In our opinion, the Service Oriented Architecture (SOA) design paradigm is the most suitable for allowing a seamless and effective integration of pervasive technologies into enterprise information systems. In this paper we present a service-oriented, flexible and adaptable middleware that allows applications to configure WSN functionalities and exploit them in the form of Web Services.
13	E. Zeeb, G. Moritz, D. Timmermann, F. Golatowski, "Towards component orientation in embedded Web Service environments ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Service-oriented architectures and systems designs are powerful concerning reusability of functional blocks and hiding implementation details from functional interfaces. But to compose a complete application, often central entities and engines are required for processing a specific sequence of service. In component-based designs the component itself is capable of describing both not only their offered services and interfaces but also dependencies on other services and interfaces to fulfill a complete task or application logic. This paper investigates on how to transfer and enhance exiting component-based approaches, already known from business applications, into the domain of embedded web services environments. Special focus is on the Devices Profile for Web Services (DPWS) technology which features service orientation also in device centric applications. This paper introduces a new approach to create applications, based on services provided by devices deployed with DPWS, in an abstract and dynamic way.
14	Liu Liu, F. Felgner, G. Frey, "Comparison of 4 numerical solvers for stiff and hybrid systems simulation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Numerical simulation of stiff and hybrid systems is widely used in various engineering domains. Numerical solvers, originally designed for purely continuous problems, are not sufficient for these systems. Modern simulation environments provide necessary modifications and extensions to solve the problem. The implementation details of solvers and run time systems greatly affect the performance of simulations regarding accuracy, velocity of simulation, compactness of results, and efficiency. Since no all-powerful solver exists, we assess four popular solvers (DASSL, LSODAR, DOPRI5, RADAU IIA), included in the all-purpose simulator Dymola^® for different problems with continuous, stiff, and hybrid behavior. Key traits, including the number of steps, accuracy, CPU time and the event handling capability, are examined and advice for solver selection is given.
15	G. Gamba, L. Seno, S. Vitturi, "Theoretical and experimental evaluation of polling times for wireless industrial networks using commercially available components ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In the last years, several wireless standards have been profitably tested for possible application in factory communication systems, showing encouraging results even in time-critical applications. However, the achieved performance are clearly related to the specific applications considered and, more important, to the specific wireless components employed. In this paper, we consider the wireless extension of a very popular Real-Time Ethernet network, Ethernet Power-link, and we propose a practical implementation of it based on commercially available IEEE 802.11 Access Points. We first provide a theoretical analysis of the expected polling times and then we compare the obtained results with the outcomes of some experimental sessions carried out on a prototype installation, in order to characterize the behavior of the employed devices.
16	M. Behnam, T. Nolte, N. Fisher, "On optimal real-time subsystem-interface generation in the presence of shared resources ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The Hierarchical Scheduling Framework (HSF) has been introduced as a design-time framework enabling compositional schedulability analysis of embedded software systems with real-time properties. However, supporting resource sharing in HSF is a major challenge, since it increases the amount of CPU resources required to guarantee schedulability of the hard real time tasks, and it decreases the composability at the system level. In this paper, we focus on a compositional framework called the bounded-delay resource open environment (BROE) server, and we identify key parameters of this framework that have a great effect on how the framework will utilize CPU resources. In addition, we show how to select optimal values for these parameters in order to reduce the required CPU resource.
17	M. Barranco, D. Gessner, J. Proenza, L. Almeida, "First prototype and experimental assessment of media management in ReCANcentrate ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Although the use of star topologies to improve dependability in field-buses is gaining in importance, as in TTP/C and FlexRay, a mature technology such as the Controller Area Network (CAN) remained essentially a bus-only network. Thus, we proposed a CAN-compliant replicated star topology called ReCANcentrate, which has advanced error-containment and fault-tolerance mechanisms. Its two hubs are coupled with each other and create a single logical broadcast domain that allowed us to propose, in a previous work, a strategy for each node to easily manage the replicated star by means of a software driver that abstracts away the details of the replication. This paper describes the main functionalities of this driver, as well as the first tests we have conducted, on a real ReCANcentrate prototype, to verify the correctness and the performance of the driver in the absence and in the presence of faults.
18	H. Aysan, A. Thekkilakattil, R. Dobrin, S. Punnekkat, "Efficient fault tolerant scheduling on Controller Area Network (CAN) ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Dependable communication is becoming a critical factor due to the pervasive usage of networked embedded systems that increasingly interact with human lives in many real-time applications. Controller Area Network (CAN) has gained wider acceptance as a standard in a large number of industrial applications, mostly due to its efficient bandwidth utilization, ability to provide real-time guarantees, as well as its fault-tolerant capability. However, the native CAN fault-tolerant mechanism assumes that all messages transmitted on the bus are equally critical, which has an adverse impact on the message latencies, results in the inability to meet user defined reliability requirements, and, in some cases, even leads to violation of timing requirements. As the network potentially needs to cater to messages of multiple criticality levels (and hence varied redundancy requirements), scheduling them in an efficient fault-tolerant manner becomes an important research issue. We propose a methodology which enables the provision of appropriate guarantees in CAN scheduling of messages with mixed criticalities. The proposed approach involves definition of fault-tolerant feasibility windows of execution for critical messages, and off-line derivation of optimal message priorities that fulfill the user specified level of fault-tolerance.
19	Thi Thieu Hoa Le, L. Palopoli, R. Passerone, Y. Ramadian, A. Cimatti, "Parametric analysis of distributed firm real-time systems: A case study ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A new generation of distributed real-time systems (DRTS) is based on heterogeneous models of computation and communication and is associated with flexible real-time constraints. Classical design flows based on realtime scheduling theory display important limitations related to the restrictive assumption on the system model. On the other hand, formal verification of timed automata is far more general, but it suffers a different limitation: it does not provide any guide on how to choose the design parameters, nor does it permit to gauge the robustness of the design against unknown parameters. In this paper, we advocate the use of formal verification of parametric timed automata as a means to combine the best of the two approaches. The feasibility of the idea is shown on a significant industrial case study.
20	Pei-Lun Suei, Che-Wei Kuo, Ren-Shan Luoh, Tai-Wei Kuo, Chi-Sheng Shih, Min-Siong Liang, "Data compression and query for large scale sensor data on COTS DBMS ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Multi-dimensional temporal data set is the common format in sensor network applications to store sampled temporal data. As time goes on, the size of the core tables in the data set may increase to enormous size and the tables become not managable. In order to reduce storage space and allow on-line query, how to trade off data compression effectiveness for on-line query performance is a challenge issue. In this paper, we are concerned with an effective framework for temporal data set that does not scarify on-line query performance and is specifically designed for very large sensor network database. The sampled data are compressed using several candidate approaches including dictionary-base compress and lossless vector quantization. In the mean time, on-line queries are conducted without decompressing the compressed data set so as to enhance the query performance. Experiments are conducted on a power meter database and sonoma database to evaluate the proposed methodologies in terms of data compression rate and data query speed. The results show that the compression rate ranges from 70% for numerical data to 20% for character data. In the mean time, the increased overhead for online query is limited up to 2%.
21	T. Hussain, R. Eschbach, "Automated fault tree generation and risk-based testing of networked automation systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In manufacturing automation domain safety and availability are the most important factors to ensure productivity. In modern software intensive networked automation systems it became quite hard to ensure which non-functional requirements are related to these factors as well as whether these are satisfied or not. This is due to the prevalence of manual efforts in several analyses phases where complexity of the system often makes it hard to obtain comprehensive overview and thus makes it difficult to ascertain the presence of certain undesired consequences. Since design, development and following verification and validation activities are largely dependent upon the result of the analyses the product is largely affected. To address these problems automated fault tree generation is presented in this paper. It uses distinct modeling artifacts and information to automatically compose formal models of the system. Embedding hardware and network failures it is then ascertained through model checking whether the system satisfies certain safety and availability properties or not. This information is used to compose the fault tree. Proposed approach will improve completeness and correctness in fault trees and will consequently help in improving the quality of the system. Furthermore, it is also shown how the artifacts of this analysis can be used to produce test goals and test cases to validate the software constituents of the system and assure traceability between testing activity and safety requirements.
22	R. Marau, L. Almeida, M. Sousa, P. Pedreiras, "A middleware to support dynamic reconfiguration of real-time networks ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The middleware is an important software component when designing an application, facilitating the development and deployment of the applications. In the case of Distributed Embedded Systems (DES), the middleware should provide basic functionalities to abstract the complexity that results from network distribution, namely data consistency, events synchronization and resource management. Often DES applications exhibit real-time requirements and have to deal with dynamic environments that present evolving requirements. While some middleware architectures have been proposed to address resource provisioning and QoS management, none of those middle-wares supports dynamic resource reconfiguration while providing real-time guarantees. This paper proposes a middleware layer, based on the services provided by a flexible real-time communication protocol, addressing distribution abstraction, dynamic reconfiguration and dynamic QoS management under real-time constraints.
23	W. Bradley, J. Victory, M. Ebrahimi, A. Wood, C. Pestell, "Model-based diagnosis of induction motor failure modes ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Induction motor failure modes can be instantaneous or progressive. This paper proposes a model-based methodology employed to attempt to identify the root causes of the main fault modes of progressive failures. Utilising indicators from the monitoring of three-phase motor currents, this paper explains how leading-edge and traditional theories could be combined and optimised to provide an integrated software algorithm set that could accurately predict the root causes of the five main failure modes of standard cage type Induction Motors. Utilising mathematical modelling and simulation of each specific fault mode, comparisons can be made between the known symptoms of specific faults and Induction Motor signals obtained from devices operating at full load in the field. Comparison of variances between model states and the state of the operating machine could enable the specific root cause diagnosis to be made.
24	A. Burguera, G. Oliver, Y. Gonzalez, "A measurement model for mobile robot localization using underwater acoustic images ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Likelihood fields (LF) have been used in the past to perform localization. These approaches infer the LF from range data. However, an underwater Mechanically Scanned Imaging Sonar (MSIS) does not provide distances to the closest obstacles but echo intensity profiles. In this case, obtaining ranges involves processing the acoustic data. The proposal in this paper avoids the range extraction to build the LF. Instead of processing the acoustic images to obtain ranges and then using these ranges to infer a LF, this paper proposes the use of the acoustic image itself as a good approximation of the LF. The experimental results show the potential benefits of using this idea to define a measurement model to perform mobile robot localization.
25	H. Dibowski, K. Kabitzsch, "Generic specification toolchain for ontology-based Device Descriptions ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Ontology-based Device Descriptions (ODDs) have been developed and introduced as a novel electronic device description approach to realize an automated design of building automation systems. For their wide practical application however it is essential, that their creation and maintenance is as easy as possible. Therefore a generic specification toolchain for ODDs is introduced in this paper. It supports the user in four different ways: by reusing knowledge from existing device descriptions, by providing a generic user interface, by validating the user's inputs and by completing data with a rule-based approach.
26	D.A. El Seoud, S. Nouh, R.A. Abbass, N.A. Ali, R.M. Daoud, H.H. Amer, H.M. ElSayed, "Monitoring electromagnetic pollution using Wireless Sensor Networks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless Sensor Networks (WSN) has become an attractive field for research due to the increasing number of applications. This paper uses a WSN to monitor Electromagnetic Pollution and report any violations in power levels. An event-by-event simulator is developed to calculate network lifetime and study important factors affecting it. One of these factors is determining the energy threshold of the Network Master. Different node distributions are investigated. It is found that the 10×10 star results in a 77% increase in lifetime in comparison with the Homogeneous Density distribution.
27	A.A.R. Shalaby, E.A. Makled, R.M. Daoud, M. Hassan, T.K. Refaat, H.H. Amer, "Motion in industrial Wireless Networked Control Systems using 802.11b ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless Networked Control Systems is becoming an important topic in the context of factory automation. In this paper, a workcell is studied where the 802.11 standard is used as the communication protocol. The focus is on the effect of different types of motion on the packet end-to-end delay. OPNET simulations indicate that motion does not violate the delay requirements for the proposed model. Since noise in the ISM band can affect wireless communication in the cell, the maximum permissible WiFi noise is found.
28	F. Nemati, T. Nolte, "A flexible tool for evaluating scheduling, synchronization and partitioning algorithms on multiprocessors ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Multi-core platforms seem to be the way towards increasing performance of processors. As the multi-cores are becoming the defacto processors, the need for new scheduling and resource sharing protocols has arisen. However, taking such technology to an industrial setting, it needs to be evaluated such that appropriate scheduling, synchronization and partitioning algorithms are selected. In this paper we present our ongoing work on a tool for investigation and evaluation of different approaches to scheduling, synchronization and task allocation on multi-core platforms. Our tool allows for comparison of different approaches with respect to a number of parameters such as number of schedulable systems and number of processors required for scheduling. The output of the tool includes a set of information and graphs to facilitate evaluation and comparison of different approaches.
29	F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver, "Towards monocular localization using ground points ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes a mobile robot localization approach based on a monocular vision system. The proposal operates in three main steps. First, image features are extracted from frames gathered at different positions. Second, the obtained features are classified as obstacles or ground points. Third, under the assumption of a flat floor, the ground point coordinates are computed and used to perform localization. The experimental results, performed both in simulation and real environments, validate the proposal.
30	V. Michna, P. Wagner, J. Cernohorsky, "Constrained optimization of robot trajectory and obstacle avoidance ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper deals with time-optimization of trajectories of wheeled robots within the speed and other constraints. The cubic Hermite spline curve with the method of speed profile computation is used to determine the trajectory. This method is summarized and extended to allow the optimization with the described constraints. It ensures fulfilment of required initial parameters of motion. The parameters of motion and trajectory are described using a model with stationary obstacles. Then algorithm of optimization is developed and tested by means of a hypothetical example. The results are computed by nonlinear solver in MATLAB. A neural network is then introduced to accelerate the calculation of the numerically computed optimal results. The trained network is compared with numerical solution.
31	A. Touil, J. Vareille, F. Lherminier, P. Le Parc, "Modeling and analysing ubiquitous systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The growth of industrial activities during the last decades and the diversity of industrial products require standards and common methodologies for building and integrating different parts. It is also required that working groups use the same terminologies and concepts needed for each domain. The Model Driven Engineering (MDE) approach aims to give an answer while using a high level method based on models and transformations. In this paper, we use the MDE approach to model ubiquitous systems. Those systems are composed of devices interconnected through various kinds of network and offer to get and send information. We present a model for this class of system and its use in the field of energy while studying real cases from our industrial partner Terra Nova Energy (TNE).
32	M. Schleipen, "A concept for conformance testing of AutomationML models by means of formal proof using OCL ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The wide-spread use of a standard data exchange format depends on its content, but also on its tractability and usability. In this context, one aspect is the proof of standard conformity. If the rules and definitions of a standard are violated, the created results will not conform to this standard and cannot be used by others. An easy to use verification would be the proof that the results correspond to the desired standard. This article presents a concept for formal conformance testing of AutomationML® data, an exchange format which is applied in plant engineering. The paper proposes a method for verifying conformance of an AutomationML ® instance to the AutomationML® meta model and specification.
33	F. Bonnin-Pascual, A. Ortiz, "Combination of weak classifiers for metallic corrosion detection and guided crack location ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Periodic visual inspection of the internal and external parts of vessels hull is typically performed by trained surveyors at great cost. Assisting them during the inspection process by means of mechanisms capable of defect detection would certainly decrease inspection cost. With this aim, this paper presents a corrosion detection algorithm built around a weak classifiers cascade scheme and reports on its performance. As a secondary contribution, a crack detection approach guided by the output of the corrosion detector is also proposed. As a result, false positives rate is reduced as well as the computation time.
34	D. Winkler, R. Hametner, Ö, T. streicher, S. Biffl, "A framework for automated testing of automation systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Increasing complexity of software components in automation systems require systematic and frequent testing approaches. Test-First Development (TFD) - an established approach in business IT software development - promises to support test automation in automation systems development. Nevertheless, linking test case generation, execution, and reporting requires a sound framework to support testing processes more efficiently. In this paper we present a framework for automating test processes based on UML models and TFD. Applying this framework in prototype applications in industry environment identified the framework as promising candidate to improve automation systems development and product quality.
35	T. Felsch, C. Herker, "Automatic reconfiguration of flexible robot gripping system ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Typical gripping systems for industrial robots have a predefined geometry which is suitable for only a specific part. The reutilization for other parts is restricted and associated with high effort for manual changeover. The presented paper shows a flexible gripping system with the possibility of self-adaptation to different workpieces. The adaptation is based on a robot-guided gripping system having a large number of passive joints without motion drives. These passive joints are normally fixed during operation and can be released in case of reconfiguration. The robot trajectory to reconfigure the gripping system is calculated using the 3D CAD data of the part. Restraints during the robot reconfiguration will be compensated with a sensor-controlled algorithm.
36	R. Hametner, D. Winkler, Ö, T. streicher, N. Surnic, S. Biffl, "Selecting UML models for test-driven development along the automation systems engineering process ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Test-driven development (TDD) - an established approach in business IT software development - enables test case generation based on models early in the development process. Applying TDD and models in automation systems engineering (ASE) can increase testing effectiveness and efficiency. A key question is which models are suitable for ASE application. UML models support software and systems engineering development in (a) systematically capturing requirements, (b) describing the static system architecture, and (c) specifying dynamic systems behavior. In this paper we discuss selection criteria for UML model selection in ASE and evaluate strengths and limitations of selected models.
37	C. Schwenke, V. Vasyutynskyy, K. Kabitzsch, "Simulation and analysis of buying behavior in supermarkets ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Future supermarkets will provide instrumented shopping carts, shelves and products so that large amounts of event data of customer's actions inside the store will be recorded. Special data mining algorithms will be necessary for analyzing this data effectively. At present, respective event data is not available. In order to create test data sets for developing, implementing and testing respective data mining algorithms presently, a simulation of buying behavior in supermarkets is currently being developed by the authors. It will be used to investigate tailored data mining methods.
38	M. Melik-Merkumians, M. Wenger, R. Hametner, A. Zoitl, "Increasing portability and reuseability of distributed control programs by I/O access abstraction ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Current component-based approaches for distributed control systems enable the reuse of mechatronic components, for example specific grippers or conveyor belts, but do not allow full application reuse as the actual hardware configuration is an implicit part of the software solution. In contrast to the current object-oriented or component-based engineering models for automation engineering, this paper will introduce a new Model-Driven Architecture based application and hardware modeling approach. Through separation of the logical application domain and the specific hardware domain the logical application is completely independent of the concrete physical plant configuration. Therefore development time for automation applications can be vastly reduced and software quality can be improved.
39	Esté, E. vez, M. Marcos, E. Irisarri, "Real-time modeling for industrial control systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a temporal characterization of the IEC 61131-3 standard for automation software. The final goal is to apply schedulability analysis to industrial distributed control systems to assure they meet timing non functional requirements. This characterization has been performed in the context of a Model Driven Design approach previously proposed by the authors. The approach defines three Domain Specific Models: control specification and hardware and software architectures. The software model uses the PLCopen XML interface for expressing IEC 61131-3 automation projects. The information contained in the whole application model is processed to generate the temporal model of the application. Schedulability analysis is achieved by generating the temporal model of the well-known Modeling and Analysis Suite for Real-Time Applications, MAST.
40	A. Ortiz, F. Bonnin, A. Gibbins, P. Apostolopoulou, W. Bateman, M. Eich, F. Spadoni, M. Caccia, "First steps towards a roboticized visual inspection system for vessels ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Vessel maintenance entails periodic visual inspections of internal and external parts of the vessel hull in order to detect the typical defective situations affecting metallic structures, such as cracks, corrosion, etc. This paper presents the first steps towards a roboticized visual inspection system aiming at automating as much as possible the whole inspection process currently undertaken by human surveyors. Occurrence of defects are first outlined, followed by a brief description of the whole system. Next, details for one of the robotic platforms to be used are given, as well as for the image processing algorithms dealing with the visual detection of defects.
41	J. Craveiro, J. Rufino, "Schedulability analysis in partitioned systems for aerospace avionics ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Aerospace mission systems' size, weight and power consumption requirements call for the integration of multiple functions on a single embedded computing platform. A current trend to guard against potential timeliness and safety issues in integrating applications of different natures and providers is the employment of temporal and spatial partitioning. The AIR architecture, defined within initiatives sponsored by the European Space Agency to meet these goals, supports multiple partition operating systems, and advanced timeliness control and adaptation mechanisms. In this paper we propose how to take advantage of composability properties inherent to the build and integration process of AIR-based systems, towards tool-assisted scheduling analysis and configuration support.
42	Dapeng Tian, K. Ohnishi, "Online identification and compensation of the force estimating error in sensor-less bilateral control system ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: To solve the problem of force estimating error in reaction force observer based sensor-less bilateral control, the online identification and compensation method is proposed based on the recursive least squares algorithm with discontinuous projection mapping. The proposal can identify the system parameters in a fixed bounded range, which guarantees that good performance of the system are not influenced by the compensation. Besides, the force estimating error caused by the parameters mismatch can be canceled. According to experimental results, validity of the proposal is confirmed.
43	S. Cavalieri, G. Cutuli, M. Malgeri, "A study on security mechanisms in KNX-based home/building automation networks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper deals with the problem of securing data transmission in home and building networks, discussing a solution to introduce both confidentiality and authentication, based on classical security mechanism and algorithms. To validate the approach the authors applied the proposed techniques to KNX, the European and international standard for home and building automation, which doesn't provide for any security mechanisms.
44	E. Afshin Ameri, B. Akan, Ç, ü, rü, klü, B. , "Incremental Multimodal Interface for Human Robot Interaction ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Face-to-face human communication is a multimodal and incremental process. An intelligent robot that operates in close relation with humans should have the ability to communicate with its human colleagues in such manner. The process of understanding and responding to multimodal inputs has been an interesting field of research and resulted in advancements in areas such as syntactic and semantic analysis, modality fusion and dialogue management. Some approaches in syntactic and semantic analysis take incremental nature of human interaction into account. Our goal is to unify syntactic/semantic analysis, modality fusion and dialogue management processes into an incremental multimodal interaction manager. We believe that this approach will lead to a more robust system which can perform faster than today's systems.
45	Stö, C. gerer, W. Kastner, "Distributed monitoring for component-based traffic management systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Embedded software in the field of traffic management and control systems has an increasing demand on availability. Typically in case of a failure, hardware circuit watchdogs reset the whole system targeting the goal, that after some acceptable time the system is up and the applications are running correctly again. Also software-based monitoring solutions implementing standard patterns like the Watchdog Pattern, the Safety Executive Pattern or extensions to it might be applied. As these patterns target monitoring of components on a single node, extensions for monitoring distributed components using WBEM-technology for distributed monitoring will be shown. For a proof-of-concept implementation the Windows Management Instrumentation has been applied.
46	M. Louvel, J. Pulou, A. Plantec, J. Babau, "Quantity of Resource aggregation for heterogeneous resource reservation for multimedia applications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper we present our approach to cope with platforms' heterogeneity of the home network. Traditional resource reservation policies, based on a mapping table, associate one Quantity of Resource (QoR) to one platform resulting in large table size. To reduce this size, we propose to use aggregated mapping tables to associate one aggregated QoR to several platforms. This reduction facilitates resources management for multimedia applications in home networks. This paper presents the aggregation algorithm which automatically builds aggregated mapping tables, with input criteria given by content providers. The algorithm uses clustering coupled with domain knowledge. It is evaluated with randomly generated mapping tables.
47	S. Rodriguez, A. Picon, J.A. Gutierrez, A. Bereciartua, P. Iriondo, "Automatic slag characterization based on hyperspectral image processing ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Nowadays, there are certain tasks that are not automated and still rely on visual inspection of an expert. In the case of the steel industry, the estimation of the deoxidation and desulfuration of steel is done at the Ladle Furnace by an expert and it is latterly analyzed in a laboratory by the use of modern spectrographs. However, the automation of this process does not constitute a trivial task. In this paper we propose a novel method for steel slag characterization, in order to automate the previous online estimation process. This paper presents the used algorithm, which is based on computer vision based hyperspectral imaging and preliminary results that forecast a promising use of optical hyperspectral technologies for this industrial application.
48	S. Ozana, M. Pies, "Simulation of power plant superheater by Simulink S-functions ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper deals with simulation of both dynamics and control of power plant superheaters by means of Simulink S-functions. Superheaters are heat exchangers that transfer energy from flue gas to superheated steam. A composition of superheater, its input and output pipelines, and fittings is called a superheater assembly. Inertias of superheater assembly are often decisive for design of a steam temperature control system. Mathematical model of a superheater assemble is described by sets of nonlinear partial differential equations. To analyze accuracy of the mathematical model, the system was agitated by test signals. Experiments carried out at the power plant were simulated mathematically. Data obtained by the measurement was compared with simulation results.
49	T. Holm, P. Wiener, S. Horn, "Using Service Challenge-based Evaluations for the systematic innovation of proactive remote services — An industry case study ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Remote services of machines and industrial plants - especially proactive elements like software distribution, event monitoring and inventory management - are services, which have become a significant competitive edge for machine- and plant manufacturers. Objective of the Service Challenge based Evaluations described in this contribution was to check whether the proactive remote service modules of Siemens' common Remote Service Platform were sufficiently suited to match the challenges of industrial service; goal of the authors was to systematically innovate them where they didn't, in order to form a company-wide proactive remote service offering.
50	J. Imtiaz, J. Jasperneite, K. Weber, "Redundant structures for a generic real-time ethernet system ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper describes a layer-2 based auto-configuration of topologically addressed redundant network structures, with an inherent dynamic redundancy management technique for loop prevention. A PC-based emulation technique is proposed for concept validation.
51	Mi-sook Kim, Soohee Han, Hong Seong Park, "An automatic robot software design tool: An Open Platform for Robotics Services ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Open Platform for Robotics Services (OPRoS) is a project funded by the South Korea government. Its first released results including executables and source codes with their document, are on its homepage. OPRoS is designed based on component modeling. It covers defined templates of the component, a framework that has component execution engines and several managers, GUI based editors, a simulator as tools for evaluation of robot tasks, and a server that has global repository function for OPRoS components and supports distributed component computation load. Real-time scheduling, multi-board performance, and integration with editors for different level of users are features currently under development. The open source codes are expected to reduce development loads and support fast robot software development.
52	I. Calvo, Pé, F. rez, I. Etxeberria, Morá, G. n, "Control communications with DDS using IEC61499 Service Interface Function Blocks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The IEC61499 is an open standard for distributed control and automation. The interface between control software and hardware or communications is achieved by means of the so-called Service Interface Function Blocks (SIFB). This paper presents the guidelines to build communication SIFBs based on the emerging OMG DDS (Data Distribution Service) middleware. This specification implements in a very efficient way the Publisher/Subscriber paradigm providing significant QoS configuration possibilities. These characteristics make DDS suitable for implementing the communications among time-critical devices. By using these DDS-SIFBs within IEC61499 code generation tools, the designers of the distributed applications will be allowed to use this powerful technology in the new distributed applications.
53	S. Knauth, "A gateway concept for visual exploration and control of building services ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Assistance Systems employing for example interactive control of building environments and indoor localisation services are topics of growing relevance both in research and industry. Today there exist already a variety of indoor localisation approaches and systems as well as universal remote control systems. We report on our research on middleware which offers a position related smart building services gateway for visual- and contextual information exchange and for control. Such a system provides for example a user handheld device with location based visual building information. This information comprises 2D/3D maps of the building as well as information on available automation devices and other services. The data is updated by position- and state information submitted for example by automation devices, information services or an indoor localisation system. The obvious advantage of employing such a gateway middleware is the abstraction and the integration of the underlying systems, for example the localisation technology, or the original 3D building model data format, and the integration of existing control applications.
54	A. Picon, O. Ghita, P.M. Iriondo, A. Bereciartua, P.F. Whelan, "Automation of waste recycling using hyperspectral image analysis ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The advent of new hyperspectral imaging modalities made possible the implementation of flexible machine vision systems that can be designed to solve a variety of industrial tasks such as automatic material sorting. However the design of robust machine vision systems is far from a trivial task as several issues including mechanical design, development of an appropriate illumination set-up, optimal interfacing between the sensing and optical equipment with the computer vision component have to be properly addressed in order to accommodate all challenges that are encountered in a typical industrial environment. In this paper we present a novel methodology to automate the recycling process of non-ferrous metal Waste from Electric and Electronic Equipment (WEEE) where a particular emphasis is placed on the design choices that were made in the development of the proposed waste sorting system. The developed machine vision system has been subjected to a thorough robustness evaluation and the reported experimental results indicate that the proposed solution can be used to replace the manual procedure that is currently used in WEEE recycling plants.
55	M. Chemnitz, Krü, J. ger, M. Patzlaff, E.-O. Tuguldur, "SOPRO - Advancements in the self-organising production ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Rising demands to smaller lot sizes and more flexibility in production processes inspired the idea of self-organising production by the use of “intelligent” parts. This is achieved by self-sustaining wireless nodes - Process-eGrains - to transfer the production control and logic from a centralised approach to a distributed logic. This paper will show the requirements in an industrial environment from an application perspective to these nodes. We present the middleware design implemented on an agent-driven architecture. Abstracting from different hardware it provides a unified interface for storing and processing information independently and locally and negotiate among each other. The application is exemplified through a part driven assembly.
56	G. Afonso, R.B. Atitallah, N. Belanger, M. Rubio, J. Dekeyser, "An efficient design methodology for hybrid avionic test systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Due to the growing computation rates of avionic test systems, using hybrid CPU/FPGA architectures becomes an interesting solution to meet the performance goals. To overcome the development complexity of these systems, using system level design tools is considered a vital premise. At this level, extremely challenging requirements are needed such as the appropriate programming model and the rapid system prototyping. Focusing these issues, this paper proposes first the usage of heterogeneous architectures to design innovative avionic test systems. Second, a Model-Driven Engineering (MDE) approach is explored to be used as an efficient design methodology for the target systems. Within this approach, the compilation is defined as a sequence of small and maintainable transformations, that allows to move gradually from a high-level description into models closer to the final implementation.
57	M. Melik-Merkumians, A. Zoitl, T. Moser, "Ontology-based fault diagnosis for industrial control applications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Traditional fault detection systems in industrial control applications are just able to report occurring faults. Fault diagnosis systems are more desirable for plant operators, as such systems are capable to reduce the number of occurring alarms by elimination of consecutive alarms and prioritization of critical alarms. The disadvantage of those systems is that they have to be implemented anew for every control application, as the system dependencies vary from application to application. Ontology-based fault diagnosis systems do not have this disadvantage. Only the ontology has to be created for the new system, which greatly reduces time and effort for new systems, as old ontologies can be reused for the new system.
58	P. Gay, A. Pla, Ló, B. pez, Melé, J. ndez, R. Meunier, "Service workflow monitoring through complex event processing ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents an approach for service monitoring through workflow modeling and complex event processing. Workflows allow the representation of services process interactions while complex event processing (CEP) is a concept for event driven architectures which offers an alternative solution for monitoring and supervision. In this paper we propose a methodology to combine both technologies where CEP is used to monitor workflows and to predict possible delays. A case study on medical equipment maintenance business is shown.
59	G. Cena, S. Scanzio, A. Valenzano, C. Zunino, "Performance analysis of switched EtherCAT Networks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: EtherCAT is a popular, real-time Ethernet network that features very high communication efficiency. However, because of the ring topology it relies on, cycle times increase when the network size grows larger (considering both the amount of process data and the network extension). In this paper a solution based on commonly available off-the-shelf switches is presented and analyzed that can improve performance for large automation systems. Such an approach (almost) does not require new custom h/w to be purposely developed.
60	Á, E. lvarez, Dí, F. az, "Collaborative dynamic scheduling approach in the extended enterprise ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents an approach for dynamic scheduling that is based on the exchange of information and coordination of the production schedules composing a supply chain in order to find an effective global solution. The approach considers three communication systems based on agents: (i) a communication subsystem inside the plants, which handles the internal disruptions of a plant, (ii) an inter-plants communication subsystem, which manages the internal events of a plant that may affect the production schedules of other plants and (iii) a supply chain communication subsystem, which considers the events that can affect suppliers and/or customers. This paper shows some results of a research project that is being funded by Grant PI2008-08 from the Bask Government in Spain.
61	Satorres Martí, S. nez, Gó, J. mez Ortega, Gá, J. mez Garcia, Sá, nchez Garcí, A. a, "An automatic procedure to identify the areas of interest for the automated inspection of headlamp lenses ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Many machine vision applications require manipulation of the acquired image to prepare it for processing. One type of pre-processing operation consists in identifying the areas of interest-or regions of interest (ROIs)-for the image analysis. But in occasions, the image areas to be analyzed may vary from one part to another. This is the case of the automated inspection of headlamp lenses that, due to the part positioning mechanism, the image areas to be processed do not always stand in the same image site. This paper presents an automatic procedure to adjust the region of interest in the images acquired for the inspection of a commercial model of headlamp lens. This proposal is included in a machine vision prototype for the automated inspection of such lenses. The results herein presented are achieved with this prototype.
62	M. Krammer, N. Marko, E. Armengaud, D. Geyer, G. Griessnig, "Improving methods and processes for the development of safety-critical automotive embedded systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Electronic Control Units (ECUs) are implemented nowadays in safety-critical applications such as battery management or power control systems for hybrid vehicles. In this context, a critical product failure can harm people, environment or property and has therefore to be avoided. The challenge during the design of such components is to improve and guarantee the product quality while keeping flexibility for different variants and minimizing the development costs. We present in this paper first results of the newly started MEPAS project. The focus is set on improvements regarding requirements engineering as well as regarding the development of safety-relevant automotive embedded systems in the context of ISO 26262.
63	J. Koziorek, R. Hajovsky, J. Kocian, "The complex system for the rock massif measurement of temperature parameters ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper brings information about research activities of temperature measurement in boreholes. The described research is focused on unique geothermal boreholes system used for heat pumps applications. The first part of the contribution deals with long time measurement of the temperatures in boreholes used in heat pump installation. A system for monitoring and evaluation of temperatures in measurement polygon is presented. The second part is focused on measurement of thermal profile of the borehole. The paper does not evaluate geothermal properties of the boreholes but it describes the measurement issues and methods.
64	C. Diego, Herná, A. ndez, Jimé, A. nez, J. Aparicio, Garcí, E. a, D. Ruiz, Á, F. lvarez, "Bearing estimation algorithm based on spectral analysis of the ultrasonic received echoes ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A method to locate reflectors, based on the spectral analysis of ultrasonic received echoes, is provided in this study. The main contribution of this work lies in the spectral analysis for bearing estimation. A single ultrasonic transducer, acting as emitter and receiver, is used. The transmitted signal is a 1023-bits Kasami code BPSK modulated by a carrier that ranges from 30 kHz to 55 kHz, implying a 6-component transmitted pulse. Since the ultrasonic transducer works as an angle-dependent filter, it is possible to estimate the bearing angle of the reflector based on the received spectrum. It is shown how the amplitude of each frequency contains information about the environment, particularly about the bearing angle of the reflector. Finally, a set of experimental results is included to validate the sensory system, showing how it can deal with realistic reflectors.
65	Yue Lu, J. Kraft, T. Nolte, Norströ, C. m, "On validation of simulation models in timing analysis of complex real-time embedded systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we present work toward validating simulation models extracted from complex real-time embedded systems, from the perspective of response time and execution time of adhering tasks, by using the non-parametric two-sample Kolmogorov-Smirnov test. Moreover, we introduce a method of reducing the number of samples used in the analysis, while keeping the accuracy of results. The evaluation using a fictive but representative system model inspired by a real robotic control system with a set of change scenarios, shows a promising result: the proposed algorithm has the potential of assessing whether the extracted simulation model is a sufficiently accurate approximation of the target system.
66	C.G.U. Okwudire, M.M.H.P. van den Heuvel, R.J. Bril, J.J. Lukkien, "Exploiting harmonic periods to improve linearly approximated response-time upper bounds ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Hard real-time embedded systems need to guarantee that tasks always meet their deadlines. Exact schedulability tests can guarantee this for fixed-priority, preemptively scheduled systems even under the tightest resource constraints. However, these tests are pseudo-polynomial in complexity. This can become a limiting factor in open systems where it might be necessary to have run-time admission tests. A linear-time sufficient test has therefore been developed to estimate response-time upper bounds. In line with utilization-based sufficient tests, we propose to improve this test for task sets with harmonically related task periods. Moreover, we make it possible to reuse this test in the context of hierarchically scheduled (partitioned) resources. In such systems several applications are given a virtual share (budget) of the processor. By modeling the unavailability of processor resources to an application as two fictive tasks, we can also use a budget's period to improve response-time bounds¹.
67	W. Ikram, I. Stoianov, N.F. Thornhill, "Towards a radio-controlled time synchronized wireless sensor network: A work in-progress paper ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless sensor networks are deployed to monitor real-world phenomena, and are seeing growing demand in commerce and industry. These networks can benefit from time synchronized clocks on distributed nodes. The precision of time synchronization depends on error elimination or reliable estimation of errors associated with synchronization message delays. This paper examines an approach to time synchronize motes using onboard radio-controlled clocks. The advantage will be the minimisation of non-deterministic sources of errors in time synchronization amongst receivers. This approach of synchronization using out-of-band and dedicated time source is aimed to achieve network-wide, scalable, topology-independent, fast-convergent and less application-dependent solutions.
68	K. Ahmad, G.M. Shrestha, U. Meier, "Coexistence optimized cognitive engine (COCE) ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Cognitive radio (CR) is being envisioned as a promising technology to realize new strategies to combat with coexistence problems in wireless systems. Currently, opportunistic or dynamic spectrum access and transmission power control are popular coexistence optimization strategies among the CR research community. We propose a coexistence optimized cognitive engine (COCE), which combines machine learning with expert knowledge. COCE classifies coexisting radio systems using a fuzzy logic based signal classifier and in turn chooses suitable transmission parameters for the underlying radio platform from its knowledge base. Initially, we implement COCE as a TPC engine, which chooses the optimal transmission power for the underlying radio platform to ensure a desired quality-of-service. We implemented a testbed to demonstrate the performance of COCE using conventional microcontroller (μC) as well as super heterodyne transceivers and present the results in this contribution.
69	A.-K. Anwar, Jun Kyoung Kim, L. Lavagno, M.T. Lazarescu, "Energy optimization at the MAC layer for a forest fire monitoring wireless sensor network ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper describes several optimizations of MAC protocols that can be applied in order to satisfy the constraints that come from a real-life application. Forest fire monitoring requires very different latencies and data sizes, depending on whether it is reporting normal conditions, sending an alarm, or performing network management functions. We use MAC algorithms that extensively shut down the radio in order to save power. We show that by exploiting knowledge about the Link Quality Index and by effectively using the free time of the channel only when there is more data than usual to transmit, we manage to decrease latency and contention and increase bandwidth usage, while keeping power consumption very low.
70	M. Reimer, B. Wagner, "Partial outline combination and categorization using 3D-range measurements on a mobile robot ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: We present a method to aggregate and classify the 2D outline of arbitrary shaped objects from 3D-range data. As a mobile robot only captures a limited part of an object in a single measurement, the raw data of several measurements are combined to build a data set as comprehensive as possible. Doing so the classification uses all previous measurements. As the classification uses local curvature based features it can classify partial and complete shapes. The approach combines a spline approximation method with a scalable method for shape registration, combination and classification. Experimental results illustrate the ability of combining and classifying real world objects on a mobile robot.
71	M. Adnan, J.-L. Scharbarg, J. Ermont, C. Fraboul, "Model for worst case delay analysis of an AFDX network using timed automata ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: AFDX (Avionics Full Duplex Switched Ethernet) standardized as ARINC 664 is a major upgrade for avionics systems. But guarantees on upper bounds of end-to-end communication delays are required for certification purposes. The objective of this paper is to present an improved modeling approach using timed automata for calculation of exact worst case delays. This approach takes advantage of local scheduling of flows. Moreover, it can cope with larger network configurations than existing approaches based on timed automata, thanks to a port by port analysis which reduces the search space.
72	D. Isovic, R. Dobrin, "Mapping complex timing constraints to simple real-time scheduling parameters ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we propose a novel approach for flexible representation of complex timing constraints for scheduling real-time tasks under different scheduling paradigms. It allows different instantiations of the task attributes, depending on which underlying scheduling policy is used. Scheduling parameters are flexibly derived from original timing constrains, rather than using the same set of task attributes for all schedulers. For each real-time task in the system, temporal feasibility windows are identified, such that if the task executes and completes within its feasibility window, the original timing constraints will be met. Then, scheduler dependent parameters are derived to guarantee the tasks' execution and completion within their feasibility windows.
73	Miś, M. kowicz, Koś, D. cielnik, "Modeling end-to-end reliability in best-effort networked embedded systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In the networked control systems with the best-effort message delivery, there is no guarantee that the application data are delivered to the destination(s) successfully. To improve transmission reliability in such systems, the messages with application data are sent usually more than once. In the unacknowledged repeated service, the number of message repetitions is fixed a priori. In the acknowledged service, the messages are retransmitted until the sender receives an acknowledgment of a successful message reception. The number of repetitions in the former, and the maximum number of retries in the latter are configured by the user. The contribution of the paper is the analytical modelling of the probabilities that the transactions of various types are completed successfully.
74	J. Aparicio, Á, F.J. lvarez, Ureñ, J. a, Jimé, A. nez, C. Diego, Garcí, E. a, "Swell effect in shallow underwater acoustic communications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The need for monitoring underwater sensors, communications between submarines or sonar, makes underwater acoustic communications an important field of research. Electromagnetic waves are quickly attenuated in this medium and thus acoustic waves are the best option for communications. When two buoys are present, one acting as the emitter and the other as the receiver, it is crucial for the communication system to know the response of the channel. This paper presents a study of the underwater channel and proposes a model developed in Matlab where physical phenomena like attenuation, absorption and the swell effect are considered. This latter effect causes a Doppler spread in the signal, and a time-varying impulse response.
75	P. Piochacz, T. Pototschnig, G. Acher, U. Lang, W. Leeb, "High performance computing methods for automation ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: With the rising importance of automation systems, the demands on computational requirements increase as well. Industrial automation systems not only have to perform complex calculations on huge amounts of data in real-time, they also have to be reliable, which is essential for industry. Combining all requirements, it has increasingly become impossible to be achieved by a single PC. Fortunately, there is High Performance Computing which provides various concepts of e. g. distributing algorithms to a cluster of PCs. Although HPC is common in scientific research, it is yet rarely found in industrial applications even though HPC can bring significant improvements. For this reason, we want to demonstrate how a HPC communication model with distribution and self-balancing mechanism can be applied to a concrete application of industry in practice.
76	R. Cupek, A. Maka, "OPC UA for vertical communication in logistic informatics systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Logistic systems play a crucial role in organization and management of every large enterprise. One very important issue is a vertical communication between localized on factory floor level data sources and business application level logistic systems. OPC UA allows for creating flexible and scalable vertical communication interface. Many interconnection problems related with communication between control and business level of IT applications may be solved with object oriented and extensible OPC UA standard. Authors describe a case study of OPC UA interface for a given logistic system. The definition of logistic system and relevant OPC UA objects will be proposed. This work was supported by the European Union from the European Social Fund and was realized as part of “EkDan” Project in Institute of Informatics Silesian University of Technology.
77	R. Frenzel, M. Wollschlaeger, T. Hadlich, C. Diedrich, "Tool support for the development of IEC 62390 compliant fieldbus profiles ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrial communication systems standardize communication protocols and services. Interoperability within automation and control systems need additional application definitions. This is usually organized with fieldbus profile specifications. Profiles become part of the overall development process of the device manufacturer. Unfortunately, today's profile descriptions are very informal and have nearly no support for the development process. This paper presents a semi-formal profile specification approach, based on IEC 62390 and using a mixed UML and MS Word process. Result of both specifications is an XML representation which can be integrated in the device development process. This method is developed for the PROFIBUS User Organisation for PROFIBUS and PROFINET device profiles.
78	U. Keskin, R.J. Bril, J.J. Lukkien, "Exact response-time analysis for fixed-priority preemption-threshold scheduling ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Fixed-priority preemption-threshold scheduling (FPTS) has been proposed as a generalization of fixed-priority preemptive scheduling (FPPS) and fixed-priority non-preemptive scheduling (FPNS) with the aim to improve schedulability and reduce run-time overheads. In this paper, we show that the existing worst-case response time (WCRT) analysis for FPTS is pessimistic and present an exact WCRT analysis. Moreover, we refine the task model for FPTS, making FPTS also a generalization of fixed-priority scheduling with deferred preemption (FPDS). Finally, we present exact analysis for FPTS for this refined task model and an example showing that FPTS can improve on FPPS and FPDS.
79	A. Radermacher, C. Mraidha, S. Tucci-Piergiovanni, Gé, S. rard, "Generation of schedulable real-time component implementations ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In model based approaches for real-time systems (RTS) development, an iterative process that consists in the early stage verification of real-time constraints fulfillment according to a given design is usually performed in order to detect as early as possible unfeasible designs. Schedulability analysis allows this early verification of timing constraints according to so called Schedulability Analysis Model (SAM). This paper proposes a configurable framework for implementation synthesis of component oriented specification that is able to preserve the SAM timing properties that are validated at an early stage of the RTS design.
80	G. Gamba, L. Seno, S. Vitturi, "Effects of elaboration delays on the polling time of IEEE 802.11 networks for industrial applications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The performance evaluation of wireless networks for industrial applications represents a relevant issue for the scientific community. One of the most important aspects of these activities is concerned with the validation of the theoretical models derived from accurate analysis of the protocols employed by the networks. In this paper we focus on a typical industrial application of the IEEE 802.11 wireless LAN. Particularly, we consider a master-slave protocol and provide an exhaustive analysis of the polling time of a slave station aimed at understanding the effects of the internal delays of the components employed along with their influence on the overall behavior of the networks.
81	A.C. Oezluek, J. Ploennigs, K. Kabitzsch, "A generic framework for synthesis and optimization of system designs in the example of building automation systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper introduces a generic framework that is designed to solve complex system design problems by means of optimization approaches. The framework design is made up of components that are responsible for distinct tasks that communicate by extension points. These extension points are for problem specification and setup, different algorithm workflows, display of plots, optimization statistics, display and export of solutions based on a specified representation, and automated performance analysis. Due to the component-based design, the framework allows the definition of customized problem representations with corresponding problem-specific algorithm operations and different solving algorithms, algorithm operations with a flexible execution order by inheritance property. The framework is tested to solve the design problem of building automation systems with different algorithms and problem-specific algorithm operations to compute optimized system designs.
82	S. Santonja-Climent, D. Todoli-Ferrandis, T. Albero-Albero, Sempere-Payá, V. , J. Silvestre-Blanes, J. Alcober, "Analysis of control and multimedia real-time traffic over SIP and RTP on 802.11n wireless links for utilities networks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Urban facility interconnection networks require a robustness and reliability usually found in public networks or private cable and radio networks in licensed bands. Both factors mean an increase in costs, which also increase as the size of the network increases. The recent rise in use of wireless technologies in open wavebands has attracted the interest of the industry in the spread of these types of links, even though they have a lower level of robustness and reliability, which must be improved using communication mechanisms and protocols. This aspect directly affects real time applications, such as VoIP and video-streaming, and determines the viability of these systems in real installations. This paper evaluates the performance of control and real time multimedia traffic in the 5 GHz band through the use of the SIP (Session Initiation Protocol) and RTP (Real-Time Transport Protocol) protocols, in a laboratory testbed.
83	Å, M. sberg, T. Nolte, S. Kato, "Towards hierarchical scheduling in Linux/multi-core platform ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes the implementation of 4 different scheduling strategies for combining multi-core scheduling with hierarchical scheduling. Three of the scheduling schemes are analyzable with state-of-the-art schedulability analysis theory, available in the real-time systems community. Our idea is to implement these hierarchical multi-core scheduling strategies in a Linux based operating system, without modifying the kernel, and evaluate them. As of now, we have developed/implemented a prototype two-level hierarchical scheduling framework (HSF) in Linux (uni-core), which supports fixed priority preemptive scheduling (FPPS) of periodic servers at the top level, and FPPS of periodic tasks at the second level. The HSF is based on the REal-time SCHeduler (RESCH) framework.
84	L. Ribas-Xirgo, J. Saiz-Alcaine, Trullà, J. s-Ledesma, Velasco-Gonzá, A.J. lez, "On using deterministic models to design agent-based, robotic systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The ever growing complexity of multi-robot systems and of robot themselves result in an increasing degree of uncertainty and unpredictability. In this work, the multi-agent approach to design such systems is adapted so behaviors of agents are described in terms of abstract state machines. By constraining agent behaviors to deterministic machines, verification of resulting systems is expected to be more effective and, as a by-product, implementation of physical agents is more straightforward. In this paper, the design framework is described as well as some preliminary tests to prove the viability of this approach.
85	S. Hennig, A. Braune, M. Damm, "JasUA: A JavaScript Stack enabling web browsers to support OPC Unified Architecture's Binary mapping natively ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Web browsers are promising candidates for the OPC's SOAP-HTTP WS-SC UA XML StackProfile to execute visualization solutions. First tests could demonstrate the applicability of native web browsers without any plugins but the required cryptographic algorithms cause unacceptable response times. The enormous performance improvement of JavaScript engines lets expect an adequate reduction of operating times; this may be strengthen by using an effective HTTP UA-SC UA Binary Stack Profile. This paper presents the current development state and first measurements of a OPC UA JavaScript Stack which is able to handle OPC UA Binary encoded and with OPC UA SecureConversation secured data.
86	I. Dominguez-Jaimes, L. Wisniewski, H. Trsek, "Identification of traffic flows in Ethernet-based industrial fieldbuses ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Ethernet-based fieldbus protocols, are rapidly becoming the preferred choice for networked control systems (NCS) in Factory Automation. Identification of real-time Ethernet (RTE) traffic flows (TFs) is needed for networks that support parameterized QoS services. In this paper, we present a method based on cross-layer packet inspection to identify TFs of RTEs. The method is tested on hardware that uses some of the most popular RTEs used in industrial automation: PROFINET RT, EtherNet/IP and Modbus TCP/IP. The set of parameters chosen to generate the TF signature lead to a correct identification of all cyclic flows in all tested scenarios.
87	M. Nobre, I. Silva, L.A. Guedes, P. Portugal, "Towards a WirelessHART module for the ns-3 simulator ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work has the objective to present the first development results of a WirelessHART module for the ns-3. Our focus is the implementation of the Physical layer in order to provide the basis for the development of the superior layers such as MAC and Application. Thus, we presente an energy consumption model, a Gilbert/Elliot error model and an analysis for the currently avaliable ns-3 propagation loss models. For further development we mainly aim for the implementation of the time slot scheduler (Network Manager) and the development of an inter protocol simulation with mutual interference.
88	A. Burgos, A. Armentia, E. Estevez, I. Sarachaga, M. Marcos, "Distributed repository to support the development of manufacturing applications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Current manufacturing applications demand the design of more and more complex, safe and trustworthy control systems which exhibit a high degree of flexibility and reutilization. The present work deals with the use of Web Services and databases to support the design and development of manufacturing systems, with special emphasis on incorporating reuse. This approach has been proposed in the context of a EDI_RECON project aimed to generate a development environment for industrial control systems that support the development cycle of distributed, complex and reconfigurable applications. The validation of such an IDE will be performed on a manufacturing cell.
89	Gonzá, V.M. lez, A.L. Sierra Diaz, Garcí, a Ferná, P. ndez, Ferná, A. ndez Junquera, Mayo Bayó, R. n, "MIOOP. An object oriented programming paradigm approach on the IEC 61131 standard ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents MIOOP, a new extension of the IEC 61131-3 norm which allows for an object oriented programming paradigm (OOPP) approach for the development of PLC control software. MIOOP supports the basis of OOPP, i.e. abstraction, encapsulation, modularity, hierarchy and polymorphism. In addition, the five programming languages of the IEC 61131-3 norm are supported by MIOOP. Generated code is compliant with the standard specification, allowing for real implementation in those PLCs vendors supporting the new standard.
90	Mü, T.R. ck, Frö, A.A. hlich, "A run-time memory management approach for scratch-pad-based embedded systems ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Software-controlled caches, often called scratch-pad memories (SPM), are being increasingly used due to their efficiency. And to exploit all the advantages of SPMs an efficient allocation must be done in software. In this work we propose a runtime operating system management approach for SPMs that do not require compiler support, application profiling or hardware support. The OS will use annotations, inserted into the code by the programmer, as hints to choose the most appropriate level in the memory hierarchy to allocate the data. The results showed that we were able to implement a run-time SPM allocation technique without adding any significant overhead to the system when compared with manual allocation.
91	C. Panagiotou, J. Gialelis, S. Koubias, D. Serpanos, "An agent based middleware imposing intelligence over critical infrastructures utilizing Wireless Sensor Networks ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A modular architecture for power constrained embedded devices which leverages an agent based middleware in order to impose intelligence over critical infrastructures which require real time actions is always desirable in the case of Wireless Sensor Networks. The main objective of such architecture is the integration of a Wireless Sensor Network with the internet. This objective indicates the need of Ipv6 ready devices as well as the utilization of newly emerged standards such as the 6lowpan which forms an abstraction layer between the Medium Access control and the IP layers.
92	L. Brito Palma, F. Vieira Coito, P. Sousa Gil, R. Neves-Silva, "Process control based on PCA models ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper an approach to design controllers based on principal components analysis (PCA) models is presented. Closed-loop control can be formulated and implemented within the reduced space defined by a PCA model. This PCA controller, results in an integral controller, which can be used as an inferential controller when a measurement of a primary variable is not available. The main contributions of the paper are: a) the incorporation of an adjustable gain on the classical PCA controller; b) the proposal of a set of tuning rules; c) the performance evaluation of this new controller, in nominal operation conditions and in faulty situations. Some experimental results, obtained with the three tank benchmark (European COSY project), are presented.
93	Z.J. Pasek, P. Pawlewski, "Identifying flows in the long cycle manufacturing process ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper reviews work in progress on modeling efforts of a manufacturing process for a crankcase of a diesel marine engine. Complexity of such a product with multiple customization opportunities and a long production cycle define a low-volume, asynchronous process with many interactions. Traditional modeling tools, suitable for high volume production where consecutively produced items do not interact with each other do not suffice to determine process dynamics and access to critical resources. An approach based on IDEF0 and CIMOSA architecture is utilized. Given process model, its further analysis can be conducted with the aim of flow improvement and guaranteed access to critical resources. The model will also be used as a basis of Process Flow Logic Machine control model.
94	Z.J. Pasek, A. AlZaher, "Towards reconfigurable body framing systems for automotive manufacturing ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The automotive industries are undergoing unprecedented transformation and to remain competitive they need to achieve and maintain world-class performance, both in product development and manufacturing. Manufacturing facilities have to possess high degree of flexibility enabling mass customization of production. Automotive companies need to achieve rapid response and cost-effective product delivery according to current market demand. A few key trends shaping automotive industry today, besides globalization, include customization and gradual growth in outsourcing of manufacturing functions. This paper reviews current practices used in automotive industry for manufacturing of vehicle bodies, which remains one of the key competencies of the OEMs. Future work in this area, leading to adoption of better practices is also outlined.
95	Martí, J.V.B. nez, Pé, F.M. rez, "Model of integration and management for robotic functional components inspired by the human neuroregulatory system ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a model of integration and management for robotic functional components that make up the robotic control system. To that end, we use the human neuroregulatory system as the basis for the decomposition of tasks and actions behavior, and we rely on the SOA paradigm for the design of a distributed architecture that allows the viability of the system. This proposal will ensure a total decoupling between modules by promoting the reusability and features such as pattern-based design, while the system is fully distributed ensuring high flexibility, scalability, robustness and fault tolerance.
96	A. Burguera, G. Oliver, Gonzá, Y. lez, "Range extraction from underwater Imaging Sonar data ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Nearly all advanced mobile robotic tasks require some knowledge of the robot location in the environment. Autonomous Underwater Vehicles are usually endowed with acoustic devices to perform localization, because underwater scenarios pose important limitations to light based sensors. One of these acoustic devices is the Mechanically Scanned Imaging Sonar (MSIS). This sensor scans the environment by emitting ultrasonic pulses and it provides echo intensity profiles (beams) of the scanned area. Our goal is to obtain range scans instead of the beams as they are provided by the MSIS. Accordingly, the proposal of this paper is to process the acoustic images in order to compute accurate distances from the sensor to the relevant obstacles in the beam. These range scans are suitable to be used in scan matching, SLAM or other approaches to estimate the robot pose.
97	M. Sales, Gonzá, Y. lez, A. Burguera, "Time based correspondences using sonar scan matching ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Scan Matching (SM) is a technique to estimate the robot pose by computing the overlap between two successive range scans. Several SM algorithms have been developed in last decades and, although they work well enough with laser data, they are less powerful when treating data from ultrasonic sensors, which are more scattered and noisy. In this paper we present a new SM algorithm whose main contribution is a time measurement instead of distance between the scan data points, particularly focused on ultrasonic applications.
98	J.J. Gude, E. Kahoraho, "Modified Ziegler-Nichols method for fractional PI controllers ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The Ziegler-Nichols tuning rules have been very influential and have been used extensively in process industry. This paper presents an extension of the modified Ziegler-Nichols tuning rules for fractional PI controllers. The design method consists on minimizing a frequency objective function subject to a constraint on the maximum sensitivity function M_S. In this paper it is also demonstrated that substantially better performance can be obtained using PI^λ instead of PI controllers. An interpretation of these tuning rules as methods where one point of the Nyquist curve is positioned in a desired point is also given. These tuning rules are compared with other tuning rules and shown to give good results, especially when simplicity, performance and robustness are emphasized.
99	R. Santos, P. Pedreiras, F. Yekeh, T. Nolte, L. Almeida, "On hierarchical server-based communication with switched Ethernet ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Ethernet is becoming a common network technology for industrial and factory automation systems and, in recent years, a big effort has been made in enabling real-time communications using Ethernet technology. Many of these systems are complex, extend over relatively large places and/or integrate a significant number of nodes, thus requiring the use of multiple switches (hop). In this paper we look into the usage of Flexible Time-Triggered (FTT) enabled Ethernet switches in this class of systems, more specifically using the recently proposed server-based scheduling mechanism supported by this protocol. The paper proposes and validates a resource reservation protocol, presents a method for computing the end-to-end deadlines and discusses possible strategies for the deadline partitioning.
100	P. Bartolomeu, J. Fonseca, "An assessment of the IEEE 802.15.4 PHY immunity to WiFi interference ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: An increasing number of IEEE 802.15.4-based protocols has emerged over the last few years targeting industrial automation applications. One motivation for this is the IEEE 802.15.4 support of low-power communications, which enables deployments with stringent autonomy requirements (e.g., Wireless Sensor Networks). However, this feature may well be responsible for a degraded performance in scenarios where the medium is shared with higher range wireless technologies. This work presents some preliminary results of an ongoing research regarding the IEEE 802.15.4 physical layer immunity to the influence of standard IEEE 802.11 traffic. We find evidence that IEEE 802.15.4 communications experience a significant reliability degradation at the physical layer level in the presence of WiFi interference, even for low duty cycle WiFi transmission scenarios.
101	M. Garcia-Valls, I. Rodriguez-Lopez, L. Fernandez-Villar, I. Estevez-Ayres, P. Basanta-Val, "Towards a middleware architecture for deterministic reconfiguration of service-based networked applications ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The increasing complexity of networked embedded systems (NES) brings in the vision of large-scale systems made of subparts with decoupled interaction. In highly decoupled environments, it is required to introduce software paradigms that adjust well to this degree of independence among subsystems. In modern NES, real-time properties and reconfiguration facilities are not only an added value but an unavoidable trend that research is currently focusing at. Service-oriented architectures (SOA) are an easy-to-understand natural means to provide such decoupled model of operation; service-based applications are made of a set of self-contained pieces of functionality (services) that cooperate by exchanging messages to provide the application's common goal. This paper presents a middleware architecture that includes real-time support for service-oriented NES. The architecture includes the fundamental set of functions to support timely service-based composition and execution. The architecture is the core part of the iLAND project that aims at supporting deterministic service-based composition and reconfiguration in service-based NES. The architecture can be built on top standard communication middleware cores (as DDS or RT-CORBA), since it supports synchronous and asynchronous communication models. An experimental set up for real-time video transmission has been developed to validate it.
102	T. Wien, F. Reichenbach, E. Carlson, Stå, T. lhane, "Reducing development costs in industrial safety projects with CESAR ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The demand for high Safety levels in industrial applications is growing. New certification and documentation requirements increase the product cost significantly. New or improved methods for high level specification and design may help to do part of the development process more automatically. In the CESAR project ABB, NTNU and SINTEF investigates if the Boiler Plate and Domain Specific Language approach for specification can be used to facilitate automatic generation of safety code and help to automatically document the process as required for safety authorization.
103	A. Tellaeche, B. Robles, "3D machine vision and artificial neural networks for quality inspection in mass production pieces ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The exhaustive quality control is becoming very important in the world's globalized market. One of these examples where quality control becomes critical is the percussion cap mass production. These elements must achieve a minimum tolerance deviation in their fabrication. This paper outlines a machine vision development using a 3D camera for the inspection of the whole production of percussion caps. This system presents multiple problems, such as metallic reflections in the percussion caps, high speed movement of the system and mechanical errors and irregularities in percussion cap placement. Due to these problems, it is impossible to solve the problem by traditional image processing methods, and hence, a neural network has been tested to provide a feasible classification of the possible errors present in the percussion caps.
104	C. Stoidner, B. Freisleben, "Invoking Web services from programmable logic controllers ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The adoption of service-oriented architectures based on web services in industrial application domains enables the seamless integration of business software with manufacturing tasks and promises increased interoperability. To be able to invoke a manufacturing task running on a programmable logic controller (PLC) as a web service from a business application, the SOAP4PLC engine has been proposed. In this paper, an extension of the SOAP4PLC engine is presented to invoke a web service based business application from a PLC application. A use case is shown in which the extended SOAP4PLC engine is used to interface a PLC application concerned with realizing the functionality of a charging station for electrical vehicles with a web service based accounting system.
105	Kü, I. hl, A. Fay, "Towards common concepts of remote services ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Remote services are widely used in industry for control, operation, diagnosis and maintenance. In almost all sub-domains of automation and control, solutions for remote access of devices, machines and systems are established. Since coining the term teleservice more than three decades ago, most of the work has rather focused on specific technological solutions than on the general tasks and requirements. In this paper, general requirements and concepts for remotely accessing devices, machines and systems are presented. For this purpose, a domain analysis method has been employed to capture the knowledge from different domains related to remote services.
106	Liqun Hou, N.W. Bergmann, "System requirements for industrial wireless sensor networks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The employment of device monitoring, diagnosis and condition-based maintenance is one of the potential approaches for enhancing operational efficiency and reducing energy consumption of industrial machines. Industrial wireless sensor networks (IWSNs) for device monitoring are appealing to industry due to their inherent advantages compared with traditional wired systems, such as low cost, convenience of installation and re-location. In this paper, firstly the design requirements of IWSNs are outlined based on surveying application examples and commercial systems. Secondly the wireless protocol standards, current off-the-shelf wireless sensor platforms and prototypes developed by individual researchers for IWSNs are listed and compared. The paper then describes two techniques for improving the efficiency and effectiveness of industrial wireless sensors systems - on-sensor data processing, and a modified MAC protocol for improved real-time performance. Finally possible solutions to deal with particular requirement of IWSNs, including a system architecture and a novel protocol stack for a monitoring system are discussed.
107	K. Kurihara, H. Maruyama, K. Masuda, "Hierarchical planning method for product supply based on multi objective Genetic Algorithm ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Manufacturers have to make dexterous supply plans in order to cope with the demand fluctuations. The demands will change day to day, and also the predicted demand values should be modeled by stochastic variables. Under these uncertain demand conditions, we formulate product supply planning into multi-objective problem pursuing profit maximization and risk minimization. We will propose a method that can generate Pareto optimal solutions based on multi-objective Genetic Algorithm and Monte Carlo simulation. The method adopts searching mode switching strategy to obtain quality Pareto optimal solution, and the method consists of two layers; the upper layer is a global search stage and the lower one is a local search stage to search better solutions around global solutions. Since the local search stage is time consuming, we also propose a fast calculation method of evaluating individuals for Genetic Algorithm.
108	M. Shakeri, M.Y.H. Low, Eng Wah Lee, "Development of a novel resource-constrained crossdocking model for the truck scheduling problem ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Crossdocking is a warehousing strategy that moves products through flow consolidation centers or crossdocks without putting them into storage. To address various decision problems associated with crossdocking operations planning and scheduling, a careful modeling of the entire crossdocking operation is a prerequisite. This paper describes the development of a novel resource-constrained crossdocking model to address an important crossdocking planning problem which is the scheduling of trucks at crossdocking terminals. A mixed integer programming (MIP) model is proposed to formulate the truck scheduling problem. For the lack of real test data, the procedure of generating synthetic data is discussed and its compatibility to real-world applications is justified. The paper also discusses whether the crossdock capacity is a bottleneck resource in the operation of truck scheduling or not. The steps mentioned above build a realistic reliable framework to design and evaluate various sort of algorithms for this combinatorial optimization problem as our future work.
109	Lü, A. der, L.H.M. Foehr, T. Wagner, J.-J. Zaddach, T. Holm, "Manufacturing system engineering with mechatronical units ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Within the engineering of manufacturing systems the paradigm mechatronical units is of important interest. To deal properly with mechatronical units within manufacturing system engineering they have to be defined, described and used in an appropriate way establishing a mechatronical engineering process. This paper describes from good practice experience how mechatronical units can be modeled and used within the mechatronical engineering process, how the data describing mechatronical units can be structured within tools and exchange formats, and how mechatronical units can be derived to be re-usable within the mechatronical engineering process. Thereby, this paper gives advices for an efficient and proper application of mechatronical units within engineering processes of manufacturing systems.
110	Byoung-gi Lee, JongSuk Choi, "Multi-source sound localization using the competitive k-means clustering ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Sound source localization is an important part of intelligent robot auditory system. It makes a robot to respond naturally to human user's call. In the ordinary situations, there always exist multiple sound sources including user's call. Since localized outputs from each source are mixed in distribution, clustering is an important issue in the multi-source sound localization. In this work, we propose a new k-means clustering algorithm for unknown number of clusters, which is the competitive k-means. We compared its performance to the adaptive k-means++ algorithm and verified its effectiveness. Finally, we applied it to our sound source localization for multi-source sound localization and achieved satisfying results.
111	H. Mersch, M. Schlutter, U. Epple, "Classifying services for the automation environment ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This article describes how the service-oriented approach could be adopted to the automation environment. The concept of services could be used to classify services of large, heterogeneous systems. One of the main aspects of services is the dynamic assignment and usage at runtime. Taking this into account, dynamic, flexible and scalable systems could be designed. It is shown how the hardware-related capabilities could be seen as a domain independent layer, which builds a solid basis for the class of domain services and how this helps to formalise their demands. Subtasks of the overall system could be encapsulated as service and - by defining interfaces - used independent of the realisation. Via the presented classification approach the architecture principle of services provides a mechanism to realise new, vertical integrated applications.
112	A. Prieto, F. Espinosa, Lá, J.L. zaro, A. Wefky, "Sensorial system minimization to estimate the driver activity on the vehicle's pedals ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work presents an alternative sensorial system, including the minimal number of devices, to register the driver activity on the control pedals. As it is known, sensors directly related to pedals are difficult to implement and require specific calibration for each tested vehicle. On the contrary, the new proposal based on the measurement of regime engine, frontal inclination, linear acceleration and vehicle speed, is easily on-board implemented.
113	S. Runde, A. Heidemann, A. Fay, P. Schmidt, "Engineering of building automation systems — State-of-the-art, deficits, approaches ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Growing flexibility along with conversion, growing employee productivity and improvements in security are increasingly become the focus of interest in state-of-the-art buildings. Energy efficiency is a further essential aspect, which is associated with factors such as lower utilization costs. A modern and integrated building automation system is necessary to fulfill these demands. The engineering process provides the basis for developing such systems. However, today's engineering process exhibits a number of shortcomings in the demands for implementing such systems. This paper focuses on the topic, describes today's engineering process of building automation systems and identifies its deficits. It also reports on two approaches designed to largely eliminate the deficits. These approaches have been proved and tested in a reference project, which is also outlined.
114	C. Santos, F. Espinosa, D. Pizarro, Valdé, F. s, E. Santiso, Dí, I. az, "Fuzzy Decentralized Control for guidance of a convoy of robots in non-linear trajectories ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called "string stability " condition of the convoy. Fuzzy control design is described for each of the follower units, whose action is determined by their own motion state, that of its predecessor and the leader's trajectory. The "string stability" is ensured by the adjustment of the linear velocity transfer function for each unit. Results are given for simulated and experimental trials carried out with P3-DX robot units sharing a wireless network.
115	P. Basanta-Val, Garcí, M. a-Valls, Esté, I. vez-Ayres, "An architecture for distributed real-time Java based on RMI and RTSJ ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Today's trend in real-time systems reveals the necessity of new technologies to easy their development and maintenance. Among others, some interesting alternatives are found in high-level real-time programming languages, better development models, or simple architectures and models. From the perspective of real-time Java, a recent real-time programming language, this paper offers an architecture (and its corresponding Java interfaces) to help the development of an upcoming distributed real-time technology for Java (named DRTSJ). To that end it describes a neutral architecture based on Java's Remote Method Invocation (RMI) and The Real-time Specification for Java (RTSJ). The empirical evidences included in the paper offer also interesting clues on the performance this technology may deliver.
116	Xiaoting Li, J.-L. Scharbarg, C. Fraboul, "Improving end-to-end delay upper bounds on an AFDX network by integrating offsets in worst-case analysis ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: AFDX (Avionics Full Duplex Switched Ethernet) standardized as ARINC 664 is a major upgrade for avionics systems. The mandatory certification implies a worst-case delay analysis of all the flows transmitted on the AFDX network. Up to now, this analysis is done thanks to a tool based on the Network Calculus approach. This existing approach considers that all the flows transmitted on the network are asynchronous and it does not take into account the scheduling of output flows done by each end system. The main contribution of this paper is to extend the existing Network Calculus approach by introducing the offsets associated to the different periodic flows into the computation. The resulting approach is evaluated on an industrial AFDX configuration with an existing offset assignment algorithm. The obtained upper bounds are significantly reduced.
117	R. Urunuela, Dé, A. planche, Y. Trinquet, "STORM a simulation tool for real-time multiprocessor scheduling evaluation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The increasing complexity of the hardware multiprocessor architectures as well as of the real-time applications they support makes very difficult even impossible to apply the theoretical real-time multiprocessor scheduling results currently available. Thus, so as to be able to evaluate and compare real-time multiprocessor scheduling strategies on their schedulability performance as well as energy efficiency, we have preferred a simulation approach and are developing an open and flexible multiprocessor scheduling simulation and evaluation platform called STORM. This paper presents the simulator on which STORM relies and that is able to simulate accurately the behaviour of those (hardware and software) elements that act upon the performances of such systems.
118	J. Kocian, J. Koziorek, "An outline of Advanced Process Control and self tuning techniques on PLC background ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Advanced Process Control techniques contain software packages for an advanced control based on mathematical methods. A self tuning function of regulators has become a standard function of distributed control systems. Most of nowadays digital industry regulators and PLCs are provided with some kind of the self tuning constant algorithm. The practical part of the paper deals with design of the control systems which contain self tuning regulator. Control system with PID Self Tuner and with the visualization is designed. There is a description of an implementation of the PID regulator as a function block which can be also used for extension control functions. Control systems for relay and moment self tuner with visualizations are also designed.
119	S. Cavalieri, G. Cutuli, "Performance evaluation of OPC UA ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The widespread use of standard, worldwide and vendor-independent OPC UA specifications in industrial environment introduces many benefits as it allows to keep open the market of the industrial applications. On the other hand, OPC UA adopts a very complex software infrastructure to realise the data exchange between industrial applications and devices (e.g. mainframes, PLC, microcontroller); this complexity may impact on the overall performance of the communication between industrial applications. The aim of this paper is to deal with the performance evaluation of OPC UA, pointing out all the main features which could influence performance in the client/server exchange of information.
120	C. Seitz, C. Legat, Ziyuan Liu, "Flexible manufacturing control with autonomous product memories ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Nowadays, RFID is used to identify a wide range of work pieces or individual products for tracking their movements during the product life cycle. For future purposes the idea of storing only a single ID must be extended to a “Digital Product Memory”. A Digital Product Memory provides a digital diary of the complete product life cycle and is embedded in the product itself. It records all relevant ambient parameters in digital form. Sensors note where and when an interaction with a product takes place. People can access these digital product diaries at any time. The autonomous behavior of the product memory makes it additionally possible to monitor and control the production and logistics of the product. In this paper we describe a flexible approach for product-driven manufacturing using a digital product memory to achieve minimum lot sizes and a reduced time to market.
121	F. Ciccozzi, A. Cicchetti, J. Delsing, T. Seceleanu, Å, J. kerberg, L.E. Carlsson, "Integrating wireless systems into process industry and business management ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: We analyze here the topic of integration, in the area of process automation, from sensor/actuator levels to plant management levels. The communication at fieldbus level is based on wireless technology while management applications run in wired control systems, but can also be distributed, communicating via the Internet. This work aims at building a real-life demonstrator at Boliden, a mining and smelting plant located in Boliden, Sweden. A small process control environment is to be deployed at the plant to supervise a tank level control system. Targeted results are an interface between wireless and wired systems, the deployment of a wireless process control environment at Boliden, and the development of the enterprise business management facilities.
122	A. Luque, T. Alamo, M.R. Arahal, Limó, D. n, A. Consegliere, "Modeling of a hybrid renewable/fossil hot water production system ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The production of hot water for use in a Hospital can use solar energy as a main energy source. The hot water production system can also use fossil energy in cases were the demand is too high to be satisfied with solar power. The resulting system is hybrid and its control poses some problems. In this paper the work in progress towards the control of this kind of hybrid system is shown. The model used belongs to a general category of models that can be applied to various types of renewable energy plants. The abstract representation receives the name of RESCUE model. In this paper it is applied to a particular hot water system installed at the Virgen del Rocío hospital in Seville (Spain). The RESCUE model allows to identify niches of inefficiency in the operation. The model is a first step towards the improving of operation by means of adequate controllers.
123	C. Popescu, J.L.M. Lastra, "Matrix-based conflict resolution algorithm: Application to path selection in PN-based scheduling search ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents an algorithm that selects a group of independent events out of a given set of possibly conflicting actions. The procedure is matrix-based and was implemented in JAVA to guide backtracking scheduling search based on a Petri Net-derived model of flow. The manufacturing systems particularly addressed in the implementation are using Web Services to implement the Service-Oriented-Architecture pattern. However, the conflict resolution method is applicable to more general settings, provided that conflicts are automatically detectable and expressible in matrix-form.
124	N. Barroso, de Ipiñ, K.L. a, O. Barroso, A. Ezeiza, U. Susperregi, "Language identification oriented to Multilingual Speech Recognition in the Basque context ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Automatic Speech Recognition (ASR) is a broad research area that absorbs many efforts from the research community. Robust speech recognition systems can be applied to automation of houses, office or business, monitoring of manufacturing processes, automation of telephone or telecommunication services. The development of Multilingual Large Vocabulary Continuous Speech Recognition systems involves issues as: Language Identification, Acoustic Phonetic Decoding, Language Modelling or the development of appropriated Language Resources. The interest on Multilingual Systems arouses because there are three official languages in the Basque Country (Basque, Spanish, and French), and there is much linguistic interaction among them, even if Basque has very different roots than the other two languages. This paper describes the development of a Language Identification (LID) system oriented to robust Multilingual Speech Recognition for the Basque context. The work presents hybrid strategies for LID, based on the selection of system elements by Support Vector Machines and Multilayer Perceptron classifiers and stochastic methods for speech recognition tasks (Hidden Markov Models and n-grams).
125	A. Zubizarreta, I. Cabanes, M. Marcos, C. Pinto, E. Portillo, "Extended CTC control for parallel robots ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Parallel robots have recently arisen as an interesting robotic architecture capable of performing task at high speed and precision. In order to exploit all the potential of these mechanism, model based control approaches are required. However, due to their complex structure, kinematic and dynamic modelling is a complex task, which usually leads to models with parameter uncertainties. In order to reduce the effect of parameter uncertainties, in this paper a redundant dynamic model based Extended CTC approach is proposed, and its stability and sensitivity analyzed for the 3RRR parallel robot. Results show that this approach provides more robustness than classical CTC approach to model parameter uncertainties.
126	P. Bonhomme, "Towards a new exhaustive simulation technique for P-time Petri nets ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Petri nets are a powerful formalism for the specification and verification of concurrent systems, such as sequential systems and manufacturing systems where many processes can compete for limited and constrained resources. To deal with systems whose time issues become essential, different extensions of Petri nets with time have been proposed in the literature, each one being dependent on the application considered. In this paper, a new analysis technique for P-time Petri nets is proposed. It consists of simple operations on time intervals to determine a superset of behaviors of the modelled system. Then, once a desired behavior is extracted, thanks to a linear programming problem, its feasibility is verified via the existence of a solution.
127	A. Gharbi, M. Khalgui, S.B. Ahmed, "Optimal model checking of safe control embedded software components ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper deals with reconfigurable software component-based embedded control systems. We define a Control Component as a software unit to support control tasks of the system which is assumed to be a network of components with precedence constraints. We define an agent-based architecture to handle automatic reconfigurations under well-defined conditions by creating, deleting or updating components to bring the whole system into safe and optimal behaviors. We model the agent by nested state machines where states correspond to other state machines in order to cover all reconfiguration forms. Several complex networks can implement the system where each one is executed at a given time when a corresponding reconfiguration scenario is automatically applied by the agent. To check the correctness of each one of them, we apply in several steps a refinement-based approach that automatically specifies feasible Control Components according to the formalism Net Condition/ Event Systems (abbr. NCES) which is an extension of Petri nets. The model checker SESA is automatically applied in each step to verify deadlock properties of new generated components, and it is manually used to verify CTL-based properties according to user requirements. Two Industrial Benchmark Production Systems FESTO and EnAS available in our research laboratory are applied to explain the paper contribution.
128	Gang Yao, G. Buttazzo, M. Bertogna, "Comparative evaluation of limited preemptive methods ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Schedulability analysis of real-time systems requires the knowledge of the worst-case execution time (WCET) of each computational activity. A precise estimation of such a task parameter is quite difficult to achieve, because execution times depend on many factors, including the task structure, the system architecture details, operating system features and so on. While some of these features are not under our control, selecting a proper scheduling algorithm can reduce the runtime overhead and make the WCETs smaller and more predictable. In particular, since task execution times can be significantly affected by preemptions, a number of scheduling methods have been proposed in the real-time literature to limit preemption during task execution. In this paper, we provide a comprehensive overview of the possible scheduling approaches that can be used to contain preemptions and present a comparative study aimed at evaluating their impact on task execution times.
129	A. Pakonen, T. Tommila, J. Hirvonen, "A fuzzy ontology based approach for mobilising industrial plant knowledge ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Semantic Web technologies - ontologies in particular - aim at efficient access to heterogeneous, distributed knowledge. However, current ontology languages such as OWL cannot properly address uncertainties, inconsistencies or contradictions. Fuzzy ontologies have been proposed to fix these shortcomings and further enhance information retrieval. The domain of industrial process plants faces many knowledge management challenges. Knowledge in e.g. the form of written reports is stored in different systems, but retrieval is often ineffective and reuse therefore limited. This paper presents an attempt at applying a fuzzy ontology for searching reports of past situations of interest at a process plant. The aim has been to get richer search results from a knowledge base by extending the query with fuzzy neighbour concepts.
130	V. Vasyutynskyy, A. Gellrich, K. Kabitzsch, D. Wustmann, "Analysis of internal logistic systems based on event logs ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Internal logistic systems are an important part of the modern industry. Their design is challenging due to high complexity and heterogeneity. It involves as a rule elaborate simulations, but the analysis of the simulation results is often limited to acquisition of key indicators. In addition, analysis of these systems at runtime is difficult due to a large amount of monitoring data. Nonetheless, in-depth analysis of logistic systems during their design and operation would contribute much to improving their performance. This paper describes a generic approach for analysis of internal behavior of logistic systems based on event logs. The purpose of the analysis is the identification of design and operation problems and their causes. The approach is demonstrated for simulation analysis of baggage handling systems.
131	L.F. Rojo, L. Paya, O. Reinoso, J.M. Marin, A. Gil, "Comparison of mapping techniques in appearance-based topological maps creation ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper we compare two methods to carry out topological mapping using only visual information captured by a robot. This map should contain enough information so that the robot can estimate its position and orientation and redundant information should be removed to get an acceptable computational cost during the localization process. Apart from this, it is also important to know the topology of the map created since it will make possible a high-level planification of the path to move to the target points. We propose to build this topological map only using the panoramic images taken by an omnidirectional vision system and using appearance-based methods. We have carried out an exhaustive experimentation to study the validity of the proposed methods and to perform an objective comparison between them. Also, we have tested the processing time to create the topological map.
132	S. Ivanov, E. Nett, R. Schumann, "Fault-tolerant base station planning of Wireless Mesh Networks in dynamic industrial environments ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless Mesh Networks are infrastructure networks with a wireless multi-hop backbone. In this paper we present an innovative algorithm for fault-tolerant base station planning in wireless mesh networks. The algorithm determines a close-to-minimal number and the positions of base stations to be installed such that the radio coverage is correct in the presence of faults (base station crash or link outage). The algorithm considers both the connectivity of the multi-hop backbone and the connectivity of the mobile stations. The presented algorithm produces correct results, in limited number of iterations under realistic network size and in acceptable time. The provided fault-tolerance is sufficient in most practical situations.
133	O. Kleineberg, M. Rentschler, "Redundancy enhancements for Industrial Ethernet ring protocols ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Ethernet ring redundancy is becoming a commodity in Industrial Ethernet environments. There are many ring redundancy protocols in existence, both standardized and proprietary. They all share the common disadvantage, that they can sustain only one fault in the network structure. A second fault results in parts of the network being unavailable. In this paper, we propose a mechanism which enhances well-known ring redundancy protocols with the capability of tolerating more than a single fault. This is achieved by installing secondary network paths and adding health monitoring to the ring clients. Protocol operation has been tested through simulation and prototypical implementation and is intended to be part of a future major software release of Hirschmann switches. A main advantage of this new protocol is the straightforward network design approach that enables to specifically protect vulnerable ring segments, based on availability calculations.
134	M. Kovatsch, M. Weiss, D. Guinard, "Embedding internet technology for home automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: As more and more digital appliances populate our homes, networking them to form a home automation (HA) system not only becomes an option, but almost a necessity. While comfort, security, and energy efficiency can be provided by many existing systems, they all remain complex islands that are difficult to expand and customize. We propose Internet technology to remedy the situation and to become the future solution for HA. For this, we analyze the feasibility of today's Internet technology with regard to traditional HA solutions. Furthermore, we present two case studies that substantiate the benefits of our proposal. As we will show, with IPv6 and 6LoWPAN, a single network serves the classical as well as emerging aspects of HA while concepts from the Web provide benefits for both, developers and users.
135	M. Mazzolini, A. Brusaferri, E. Carpanzano, "Model-Checking based Verification approach for advanced Industrial Automation solutions ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Modern automation systems shall be able to conjugate increasing complexity of controlled processes with agile production reconfiguration requirements. In such a context, structured design approaches based on formal reference models as well as integrated verification and validation process, have to be adopted. To such an aim, present paper proposes an approach based on Model-Checking methods and tools oriented to the Verification of logic control systems in the field of Industrial Automation. In particular, graphical Stateflow based model deployment, Bounded Model Checking techniques and Model Coverage properties have been considered. Furthermore, the proposed approach have been applied regarding the development of the control solution for an automatic warehouse system integrated into a flexible shoes manufacturing plant.
136	C. Buckl, D. Sojer, A. Knoll, "FTOS: Model-driven development of fault-tolerant automation systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The design of fault-tolerant automation systems is a complex task. These systems must not only satisfy real-time requirements but they must also deliver the specified functionality in the presence of both software and hardware faults. To achieve fault-tolerance, systems have to use redundancy. This redundancy is usually achieved by replicating hardware units and executing the application within a distributed system. Model-based design tools promise to reduce the complexity of the design process by raising the abstraction level. However, most of the existing tools focus only on functional aspects. Code realizing extra-functional requirements such as fault-tolerance mechanisms, communication, and scheduling is not targeted. However, this type of code makes up the majority of the code of a fault-tolerant real-time system. This paper presents FTOS, a model-based development tool for the design of fault-tolerant automation systems that focuses on code generation of extra-functional requirements and therefore complements existing tools.
137	T. Mattes, F. Schiller, "Determination of the quality of error detection in communication by CRC concatenated with parity bits ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a method to determine the residual error probability and the Hamming-Distance of a coding technique that applies CRC in combination with parity bits. Such a combination can be found in industrial communication where an application specific CRC is embedded in regular fieldbus communication with a parity mechanism. In a typical error detection analysis, usually only the CRC is considered for the determination of the residual error probability or the Hamming-Distance. The effect of the parity bits has not been exploited yet, since no methods for the calculation of the concatenation were at hand. The inclusion of the parity mechanism allows more realistic information about the quality of the error detection.
138	F.I. Vazquez, W. Kastner, "Usage profiles for sustainable buildings ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The ultimate goal of sustainable homes and buildings is to work towards energy efficiency automatically taking into account user comfort always acknowledging the residents' desires. Such environments demand for a friendly coexistence between technology and usability to assure an optimized reality in terms of comfort, economic and energy savings. The ThinkHome project is geared towards this mission. It aims at exploiting automation systems and mechanisms based on artificial intelligence to further improve the sustainability of buildings. ThinkHome is designed in a way to relieve the smart home inhabitants from cumbersome tasks such as readjustments of their preferences by introducing learning capabilities and context awareness in the home. Part of the ThinkHome project, this paper proposes an advanced use case for energy savings. It involves the necessity of defining usage profiles which help the underlying system to be aware about the stability of users' behaviors and perform its strategies always with sustainable goals in mind.
139	Magalhã, A. es, L. Rech, Lau Cheuk Lung, R.S. de Oliveira, "Using intelligent mobile agents to dynamically determine itineraries with time constraints ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Algorithms to determine the itinerary of intelligent agents are fundamental in the context of distributed applications based on mobile agents with time constraints. In order to establish the agent itinerary it is necessary to consider the trade-offs between high-quality of results and meeting the deadline. In this paper, we describe and evaluate adaptive heuristics able to choose the best behaviour to be used for decision making in the itinerary definition. This decision-making is based on a log of benefits collected by the mobile agent in past executions. The paper's objective is to propose a new heuristic able to realize the change in the environment and adapt itself dynamically, changing its behaviour in order to meet the deadline of the mission and to achieve the greatest possible benefit.
140	A. Dementjev, H.-D. Ribbecke, K. Kabitzsch, "Improvement of prediction performance for data-driven virtual sensors ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Virtual sensors (VS) allow measurement of process parameters where direct measurement is too expensive or even not possible. For the virtual sensors which build their internal process model after the data-driven method, e.g. by use of an artificial neural network (ANN), there is a problem of the evaluation of the prediction performance. The up to date solutions solve this problem only partially and only for few ANN types, require huge development effort and are inapplicable for the real time operation. A new approach for the improvement of the VS prediction performance based on the statistical process control (SPC) methods is suggested in this article. It is valid for a wide class of the ANN and reduces the development effort severely. The simulation of this approach using the real process data has delivered promising results.
141	I. Lupu, P. Courbin, L. George, J. Goossens, "Multi-criteria evaluation of partitioning schemes for real-time systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper we study the partitioning approach for multiprocessor real-time scheduling. This approach seems to be the easiest since, once the partitioning of the task set has been done, the problem reduces to well understood uniprocessor issues. Meanwhile, there is no optimal and polynomial solution to partition tasks on processors. In this paper we analyze partitioning algorithms from several points of view such that for a given task set and specific constraints (processor number, task set type, etc.) we should be able to identify the best heuristic and the best schedulability test. We also analyze the influence of the heuristics on the performance of the uniprocessor tests and the impact of a specific task order on the schedulability. A study on performance difference between Fixed Priority schedulers and EDF in the case of partitioned scheduling is also considered.
142	C. Gerber, S. Preusse, H.-M. Hanisch, "A complete framework for controller verification in manufacturing ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Programmable Logic Controllers (PLCs) have been established as standard devices for automation and process control since the 1990s. Although a lot of research work has been done on the field of controller modeling and verification, it is still daily practice that control software is manually developed without applying formal validation methods. On the other hand, controller modeling is often seen detached from the plant or its model, i.e. as an open loop. The results of analysis of open-loop controller behavior give very little or almost no indications of the correct behavior of the closed-loop system. The contribution therefore proposes an approach to generate formal models out of PLC code. These controller models enable formal verification of the closed loop in combination with a specification. Due to the year of publication, all solution approaches are based on the syntax definition of the IEC 61131-3, which is not fulfilled by every industrial PLC vendor. Therefore, this contribution will show a way to use the defined xml formats of the Technical Committee 6 of the PLCopen as input for the formal model generation.
143	F. Mesquine, O. Bakka, H. El Bahja, P. Vega, "Observer based regulator problem for WWTP with constraints on control ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The aim of this work is to linearize and control a non linear model of a biological nitrogen removal process. The paper illustrates the use of a linearized model in the design of an observer (software sensor) and a linear control technique based on a phenomenalogical model of the process. This model describes the complete dynamics of autotrophic and heterotrophic biomasses, biodegradable organic and nitrogenous matters. The control approach structure is combined with the estimation algorithm, for the on-line reconstruction of unmeasured biological states of the bioprocess. The efficiency of both the control and estimation are demonstrated via computer simulations.
144	JunJie Liu, A. Jakas, A. Al-Obaidi, Yonghuai Liu, "Practical issues and development of underwater 3D laser scanners ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Nowadays, 3D laser scanners are widely used in reverse engineering, industrial design, prototyping, quality control etc. Most of these scanners operate in air. Theoretically, this technology can be extended for the development of 3D laser scanners that work in water. In this paper, we describe the development and practical issues of 3D laser scanners required for applications such as underwater oil and gas inspection. Some experimental results are also shown to demonstrate the feasibility and limit of the 3D laser scanners developed.
145	T. Lukman, G. Godena, J. Gray, Strmč, S. nik, "Model-driven engineering of industrial process control applications ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Software is an important part of industrial process control systems. However, the state-of-the-practice for developing industrial process control software still has several key challenges that need to be addressed (e.g., migration to platforms of different vendors, lack of automation). This paper introduces a model-driven engineering approach to the development of industrial process control software, which is based on the ProcGraph domain-specific modeling language. The paper discusses and offers solutions to several of the development challenges that have not been addressed by existing techniques in the process controls domain. The contributions of the paper are a model-driven engineering approach for the industrial process control domain and a supporting tool infrastructure. The approach is demonstrated by a case study focused on the development of a control system for a TiO₂ (titanium dioxide) pigment production subprocess.
146	E.F. Camacho, T. Alamo, D.M. de la Pena, "Fault-tolerant model predictive control ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Model predictive control (MPC) has developed considerably in the last decades both in industry and in academia. This success is due to the fact that MPC is perhaps the most general way of posing the control problem in the time domain. One of the main advantages of MPC is that model uncertainties can be taken explicitly into account and this allows for the consideration of faulty process behavior. The receding control strategy used in MPC can be extended to the case of system identification by parameter bounding and furthermore to determine if a model is consistent with the obtained data in a receding horizon manner and this implicitly allows for fault detection. The paper shows how concepts arising from the fault detection and fault-tolerant design methods can be incorporated in an MPC framework and the advantages that can be gained by using MPC in this context.
147	A. Burguera, G. Oliver, Gonzá, Y. lez, "A trajectory based framework to perform underwater SLAM using imaging sonar scans ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes a framework to perform Simultaneous Localization and Mapping (SLAM) using the scans gathered by a Mechanically Scanned Imaging Sonar (MSIS). To this end, the acoustic profiles provided by the MSIS are processed to obtain range data. Also, dead reckoning is used to compensate the robot motion during the sonar mechanical scanning and build range scans. When a new scan is constructed, its estimated position with respect to the previously gathered one is used to augment the SLAM state vector. Also, each new scan is matched against the previously detected ones by means of scan matching techniques. As the state vector contains relative positions between consecutively gathered scans, the measurement update explicitly takes into account the robot trajectory involved in each loop closure.
148	Ferrá, A. ndiz-Colmeiro, V. Gilart-Iglesias, Maciá, -Pé, F. rez, "Semantic processes modelling independent of manufacturing infrastructures ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a proposal enabling the modelling of manufacturing processes independently of the structure and composition of the industrial plant where these processes will ultimately be implemented. The rationale for the proposal is in the incorporation of knowledge, supported by ontologies regarding manufacturing processes, industrial machinery and the industrial plants involved. With this knowledge, process engineers can focus their efforts exclusively to define the activities to be performed on the raw material (abstract model), allowing the system to infer what other activities should be incorporated in the abstract model to obtain a particular manufacturing process tailored to a particular industrial plant. To refine the proposal, a case study is put forward in which the management system was able to infer the way for the raw material to be processed according to the abstract model and automatically composed the activities necessary for achieving it. Finally, an implementation of this management system for processes is presented together with the design of two models of industrial plant that demonstrate the validity of our proposal.
149	Č, R. apek, Š, ŭ, P. cha, Hanzá, Z. lek, "Alternative process plans in wire harnesses production ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper deals with a scheduling problem with alternative process plans that was motivated by a production of wire harnesses where certain parts can be processed manually or automatically by different types of machines. Only a subset of all the given activities will form the solution, so the decision whether the activity will appear in the schedule has to be made during the scheduling process. The problem considered is an extension of the resource constrained project scheduling problem with unary resources, positive and negative time-lags and sequence dependent setup times. We have proposed the problem representation by a special graph allowing to define alternative process plans. For this representation of the problem, an integer linear programming model is formulated. Finally a heuristic algorithm based on priority schedule construction with an unscheduling step is proposed and used to solve the case study of the wire harnesses production.
150	J. Rossmann, F. Heinze, "Modeling and simulation of malfunctions in automation systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The most promising approach for the design of powerful and complex automation systems is to build a simulation model and simulate it beforehand. Our approach includes the simulation of malfunctions into this development process. Each object and electrical connection in our simulation model has a set of possible malfunctions. A mathematical model describes the impact of malfunctions. We have integrated our malfunction modeling and simulation concepts into an existing simulation system and show applications of our approach for the training of students and maintenance staff. Our approach tackles the problem of training maintenance personnel efficiently. During the built-up of the real automation system, the maintenance staff can gain knowledge of all possible malfunctions using the simulation system.
151	Ló, pez Martí, P. nez, C. Cuevas, J.M. Drake, "Model-driven design of real-time component-based applications ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a strategy to incorporate real-time design and analysis tasks to the development process of component-based applications, keeping the opacity that is inherent to the components paradigm. In this kind of applications, the deployment plans must include the scheduling configuration of the components and the platform resources that guarantees that the timing requirements are met. This configuration is obtained from the analysis of the real-time model of the application, which is automatically generated by composition of real-time metadata provided by the components that form the application and the resources that form the execution platform. These real-time metadata are formulated by the component developers, and managed by the application designers in an opaque way, as it happens with the component's code.
152	M. Galetzka, J. Haufe, M. Lindig, U. Eichler, P. Schneider, "Challenges of simulating robust wireless sensor network applications in building automation environments ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless sensor networks (WSN) get increasing importance in different application areas. In building automation, applications on WSN are expected to utilize a large number of nodes in a heterogeneous environment. They are too complex to be developed in the traditional way of prototyping and debugging. In fact, new techniques are needed to support the design of WSN applications efficiently. Simulation is one important method to decrease design time and to increase design quality. This is crucial for applications in building automation because very high reliability and robustness are required. In this paper major challenges of simulating wireless sensor network applications are discussed. Using a WSN simulation framework, functional simulation and the evaluation of robustness of WSN applications in building automation environments are demonstrated.
153	M. Daneti, "On using a simplified model for leak detection improving in fluid filled pipelines ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A major difficulty of the acoustic techniques for pipeline leak detection and location is the small signal-to-noise ratio (SNR) of the received data, due to a wide range of perturbing factors. In order to choose the optimum method is necessary a good understanding of the given system. This paper uses a simplified pipeline model, analog with a transmission line, as a tool for simulating the acoustic signals, in order to study and develop an improved method for leak locating in a multipath and a correlated noise environment. It is shown that the results obtained by averaging the output of different algorithms, parallel implemented, lead to an improved overall robust behavior. Also, the effect of the pipeline end opening is studied. An improved accuracy is found when the opening is brought near to a matched output load impedance.
154	M. Marcos, Esté, E. vez, N. Iriondo, D. Orive, "Analysis and validation of IEC 61131-3 applications using a MDE approach ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Model-centric development is one of the hottest topics discussed in the software engineering field today. Combination of Model Driven Development and Model Driven Architecture can be extremely powerful for supporting the development cycle of the application. The use of these software methodologies within the Industrial Automation field allows meeting the requirement of current automation applications, such as flexibility, reuse, optimization and time and cost reduction. This paper focuses on the validation phase of a previously proposed Model-based Integrated Development Environment for Industrial Process Measurement and Control Systems (IPMCS). In particular, the validation tests for the industrial control system being designed are automatically generated from the application model. The tests are executed by the control co-simulation tool that closes the loop between the control model, running in the PLC environment, and the process model running in a simulation environment.
155	Wenbin Dai, V. Vyatkin, "Redesign distributed IEC 61131-3 PLC system in IEC 61499 function blocks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper we discuss the problem of migration from the PLC control to the event-driven and component based architecture of IEC 61499 function blocks. We are using a conveyor system to illustrate three different migration methods: object-oriented in basic function block, object-oriented in composite function block and class-oriented in basic function block. The advantages and limitations are summarized and guideline for migration is provided.
156	G.A. Ramos, Costa-Castelló, R. , J.M. Olm, "Anti-windup schemes comparison for digital repetitive control ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: As other Internal Model Principle based strategies, digital repetitive control uses an internal model which provides infinite gain at specific frequencies. In systems subject to actuator saturation, a controller with this characteristics is highly prone to windup effect. Since linear design does not consider the actuator saturation this non linear behaviour may compromise the performance and even the stability of the system. One way to deal with this problem is to avoid saturation by selecting an actuator with larger capacity but it increases the implementation cost. In other cases, an anti-windup scheme is necessary. The main goal of the anti-windup strategy is threefold: to obtain a faster recovery of the system after saturation, to achieve less performance degradation and to preserve stability. In this paper three different anti-windup schemes have been selected from the available literature to address the windup problem in digital repetitive control. The design and implementation issues are discussed. A simulation example compares the results when saturation is reached either during the transient response or in steady state.
157	L. Hundt, Lü, A. der, Esté, E.E. vez, "Engineering of manufacturing systems within engineering networks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Within the engineering of manufacturing systems an important change took place. The prior sequential and strongly disconnected engineering activities of the different stakeholders involved in this process became interlinked and strongly coupled leading to engineering networks. To properly work within such engineering networks lossless, consistent, and scalable data exchange structures and formats are essential for the success. Within this paper the applicability of the AutomationML by the different stakeholders of the engineering process is addressed. It is shown how this exchange format can be applied within one engineering network and which of the required engineering data are currently covered by the format.
158	M. Sartini, A. Paoli, R.C. Hill, S. Lafortune, "A methodology for modular model-building in discrete automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Our objective is to develop a general and versatile approach for building structured formal models of complex automated systems in order to facilitate their control and diagnosis. For this purpose, we present a methodology that builds the complete model of a system by composing models of the individual hardware components, their physical coupling, and the associated control logic. We choose to employ a hierarchical decomposition that separates the control logic into a high level that manages the sequence of control actions and a low level that implements the control actions. The low level is composed of control logic and physical components (sensors and actuators) grouped into a device. In order to capture the physical constraints between the components in a device, we propose the notion of a physical constraint automaton, which is composed with the generic component automata to generate the complete model of the device. We also show how the methodology allows the introduction of component faults into the overall model. The effectiveness of the proposed approach is demonstrated on a micro flexible manufacturing system.
159	L. Havet, A. Guenard, F. Simonot-Lion, "Samovar: An evaluation framework for real time applications deployment over WSANs ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless Sensor and Actuator Networks (WSANs) combine sensors and actuators interconnected by wireless networks in order to perform distributed sensing and acting tasks. Closed-loop controllers can therefore be deployed on WSANs; such systems have to meet specific requirements in terms of performance, dependability, energy and cost which raises great challenges due to the unreliability of wireless communications. A way to ensure that a system meets the required properties is to model it and go through its analysis. Building a model requires both deep knowledge on the system as well as on the used framework. Therefore there is a need for frameworks well-suited to the targeted systems and to the properties to verify. We propose an approach meeting these conditions and a simulation framework, Samovar, based on Matlab / Simulink, allowing the modeling of the network protocols (Mac and routing services) and the resources sharing policy thanks to the TrueTime toolbox. Several classes of components (application, nodes, networks and middleware) and a clear semantics for their composition are identified. Furthermore, the design of Samovar was also driven by the need to transfer easily software components model between the concrete systems and its simulated model. The modeling and simulation method as well as the Samovar framework are illustrated on a Pursuit Evasion Game.
160	H.-C. Lapp, C. Gerber, H.-M. Hanisch, "Improving verification and reliability of distributed control systems design according to IEC 61499 ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: It was shown in former publications that, in principle, the design of a distributed control system according to IEC 61499 could be proven to be correct. An implementation of such a control system should run correctly. But there are known issues regarding the specification and implementation of IEC 61499 function blocks execution models, which cause a verified control system design does not necessarily resulting in an implementation with the desired behavior. Another issue influencing the verification process is the granularity of the formal models used for verification. Bringing more plant properties (i.e. time related) into formal models for closed-loop verification will improve the verification process and reliability in its result. In this contribution the authors want to draft a way of covering the above-mentioned issues using the known Net Condition/Event Systems (NCES) as formal models.
161	T. Ribeiro, Gonç, G. alves, "Formal methods for reconfigurable assembly systems ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The XPRESS project defined a new concept of intelligent factory to improve the flexibility of the manucfacturing lines. One of the problems the management layer of this system faces is the decision regarding the composition of new production lines to realize a product. To solve these issues, this work focuses on developing methods to assist the engineer decision by eliminating undesired equipments combinations from the elegible configurations list. The result was a library of optimization functions for combinatorial problems and it is composed by three methods, each corresponding to a different stage of the decision process. This work also analyzes the impact of the problem features in the produced implementation.
162	F. Serna, Catalá, C. n, A. Blesa, J.M. Rams, "Design patterns for Failure Management in IEC 61499 Function Blocks. ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: IEC 61499 standard has promised to help handling the high level of complexity of modern control systems, but it hasn't still been adopted by the industry. Several authors claim for design methodologies to guide control engineers using this standard. This paper shows a way to ease the development of IEC 61499 based applications identifying and characterizing "extended FBs", adding semantic artefacts to basic FBs. Specific design patterns are built from those extended FBs, which match elements of the problem domain. Two specific design patterns are presented which allow dealing with Failure Management, a common topic in control applications.
163	Å, J. kerberg, F. Reichenbach, Bjö, M. rkman, "Enabling safety-critical wireless communication using WirelessHART and PROFIsafe ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Two major trends can be recognized in industrial automation. One of them is that Ethernet is replacing traditional fieldbus networks continuously, because it combines flexibility, reliability, and introduces fast data rates, which allow beside others quality of services. This is pushed even further when field devices use wireless communication to connect to the control system. Beside that another trend is seen in functional safety due to rising customer demands and evolving regulations in industry. That leads necessarily to a consolidation of both technologies, where safety must be guaranteed in the same manner over wireless channels as it is handled over Ethernet. This paper addresses safety issues emerging when PROFIsafe, as one of various safety protocols on the market, is used on top of a black channel layer, that is comprized of non-safe protocols including WirelessHART.
164	S. Seidel, T. Klotz, U. Donath, J. Haufe, "Modelling the real-time behaviour of machine controls using UML statecharts ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: For covering the real-time characteristics of an automation system during model-based design it is essential to model not only the function but also the behaviour of the control programs running on a real-time controller. This paper introduces an approach to the modelling and evaluation of the functional and time behaviour of Programmable Logic Controllers (PLC) on model level. The control algorithm consisting of UML statecharts is extended with an execution model of the controller which is also given as a statechart. The approach is integrated into a model-based design system for industrial control systems focusing on the field of production systems. An example will be employed to illustrate the benefits of a model-based design system which does incorporate real-time aspects of the controller.
165	Catalá, C. n, F. Serna, A. Blesa, J.M. Rams, "IEC 61499 execution model based on life cycle of function blocks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Current challenges of the manufacturing industry are related to the Agile Manufacturing paradigm. IEC 61499 standard has been adopted as the standard for flexible and reconfigurable control systems by this paradigm. Due to different reasons, this standard has not been adopted by industry yet. For example, as a result of some ambiguities in the standard specification, the proposed implementation models allow different semantics. So, it makes design and portability of applications developed difficult. This paper proposes an execution model based on life cycle of function blocks which clearly determines the system behaviour at design time and also facilitates an easier implementation.
166	H. Dibowski, K. Kabitzsch, "Ontology-based Device Descriptions and triple store based device repository for automation devices ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Device descriptions play an important role in the design and commissioning of modern automation systems and help reducing the design time and costs. However, all established device descriptions are specialized for certain purposes and suffer from several weaknesses. This hinders a further design automation, which is strongly needed for the more and more complex automation systems. To overcome these problems, this paper presents novel Ontology-based Device Descriptions (ODDs) along with a layered ontology architecture and triple store based database backend. It enables a formal, unified and extensible specification of devices, ensures their comparability and facilitates a computer enabled retrieval, selection and interoperability evaluation. The scalability of the approach to several ten thousand devices is demonstrated.
167	A. Zoitl, W. Lepuschitz, M. Merdan, M. Vallee, "A real-time reconfiguration infrastructure for distributed embedded control systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: During the last decades production automation research has been focused on improving the flexibility and adaptability in order to cope with the arising challenges of mass customization. Much work was devoted to the higher-planning and scheduling-levels of automation systems. However, the lower level real-time control infrastructure was widely neglected. Therefore, we are currently faced with an adaptive flexible high level control connected to a rigid low level control. This work presents a dynamic reconfiguration architecture for the low level control of industrial automation systems. This architecture allows to reconfigure real-time control applications during full operation of the controlled plant. In an example implementation we prove that this is also possible on small embedded control devices as they are typically used as field devices in industrial automation systems.
168	L. Orihuela, Millá, P. n, G. Bejarano, C. Vivas, F.R. Rubio, "Optimal networked control of a 2 degree-of-freedom direct drive robot manipulator ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes a suboptimal control solution for the L₂-gain disturbance rejection problem for networked control systems. The problem, usually referred as mixed H₂/H_∞, aims at designing a linear state feedback stabilizing controller minimizing a quadratic cost functional subject to a L₂-gain disturbance rejection constraint. The formulation deals with time-varying delays and dropouts in both, sensor-to-controller and controller-to-actuator paths, with the only assumption of known minimum and maximum bounds of the round trip delay, and the maximum number of consecutive dropouts. The solution is based on a Lyapunov-Krasovskii approach and is formulated as a Nonlinear Matrix Inequality (NLMI) problem. This problem is cast into more a treatable LMI-based minimization problem, for which a well-known optimization algorithm is provided. Experimental results on a networked controlled direct-drive 2 degree-of-freedom (dof) robot manipulator are provided to verify the performance of the methodology.
169	Jurč, í, P. k, Hanzá, Z. lek, "Simulation study of energy efficient scheduling for IEEE 802.15.4/ZigBee cluster-tree Wireless Sensor Networks with time-bounded data flows ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The simulation analysis is important approach to developing and evaluating the systems in terms of development time and cost. This paper demonstrates the application of Time Division Cluster Scheduling (TDCS) tool for the configuration of IEEE 802.15.4/ZigBee beacon-enabled cluster-tree WSNs using the simulation analysis, as an illustrative example that confirms the practical applicability of the tool. The simulation study analyses how the number of retransmissions impacts the reliability of data transmission, the energy consumption of the nodes and the end-to-end communication delay, based on the simulation model that was implemented in the Opnet Modeler. The configuration parameters of the network are obtained directly from the TDCS tool. The simulation results show that the number of retransmissions impacts the reliability, the energy consumption and the end-to-end delay, in a way that improving the one may degrade the others.
170	A. Bratukhin, T. Sauter, "Bridging the gap between centralized and distributed manufacturing execution planning ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Modern trends in manufacturing demand vertical integration between the enterprise and the field control level. Existing Manufacturing Execution System solutions fail to satisfy the requirements of unpredictable order flow and dynamic shop floor; neither can they deal with the increasing complexity of both. Distribution of the MES functionalities would allow shifting the decision making process from the enterprise down to the field level and providing concurrency of execution that results in a flexible system covering all three levels of the automation pyramid. This paper investigates how and to which extent MES function can actually be decentralized and describes a possible implementation based on software agents.
171	M. Francisco, P. Vega, H. Elbahja, Á, H. lvarez, S. Revollar, "Integrated Design of processes with infinity horizon Model Predictive Controllers ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, a novel methodology for the Integrated Design (ID) of processes with linear Model Predictive Control (MPC) is addressed, providing simultaneously the dimensions of the plant, the control system parameters and a steady state working point. The MPC chosen operates over infinite horizon in order to guarantee stability and it is implemented with a terminal penalty. The ID methodology considers norm based indexes for controllability, as well as robust performance and stability conditions by using a multi-model approach. Mathematically, the ID is stated as a multi-objective nonlinear constrained optimization problem. Particularly, objective functions include investment, operating costs, and dynamical indexes based on the weighted sum of some norms of different closed loop transfer functions of the system. The paper illustrates the application of the proposed methodology for the ID of the activated sludge process of a wastewater treatment plant (WWTP).
172	M. Pasamontes, Á, J.D. lvarez, Guzmá, J.L. n, M. Berenguel, "Bumpless switching in control - A comparative study ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrial processes are characterized by changing dynamics associated to different operating points. Control systems usually face this behavior by adapting the control parameters or switching among controllers, in order to achieve high performance of the system in the whole process operation range. Different methods have been developed to avoid undesirable transients in the closed loop output signal when changes in the control system structure occur. This paper presents a comparative study of some of these methods showing simulation results.
173	P. Milbredt, B. Vermeulen, G. Tabanoglu, M. Lukasiewycz, "Switched FlexRay: Increasing the effective bandwidth and safety of FlexRay networks ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: With the continued demand for more and innovative functions in series automobiles, significantly higher data-rates and more reliable communication are necessary than traditional automotive bus systems, e.g., the controller area network (CAN), provide. In this paper, we present a novel hardware device for FlexRay networks, which splits the bus into separate branches and operates as a selective central switch. The proposed device is capable of increasing both the available bandwidth and safety of existing FlexRay networks. The bandwidth is increased by enabling the scheduling of multiple messages in parallel on disjoint sets of branches. The device can furthermore serve as a central bus guardian (CBG), protecting the majority of the participants on the network from so-called babbling idiots and short circuits, by isolating a faulty component on its respective branch. The proposed device is fully compatible with the existing FlexRay specifications and transparently extends a system, requiring no modifications to the existing FlexRay bus participants. The architectural challenges of a FlexRay switch/CBG, its subsequent proof-of-concept implementation on an FPGA-platform, and our experimental results are described in detail.
174	J.G. Zubia, I.T. Parra, "WEB 2.0 control architecture for industrial robots ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a new generation of warehouse robots based on micro-servers and web 2.0 technologies. This new technology provides a total integration with ERP software systems and with a real-time Ethernet network, which transports all the communications among the robots. Furthermore, micro-servers turn field devices into intelligent ones, decentralizing all the system and making accessibility and remote configuration of the robot easier, because it does by native way. This novel technology offers a faster, more robust and ecologic service than the classic solutions. A robotic industrial installation has been built, installed and checked successfully. The supervisory and control software is free and based on Web 2.0 technologies. This paper presents a new paradigm for classic architecture applied for robot control and general automations.
175	M.M.H.P. van den Heuvel, R.J. Bril, J.J. Lukkien, "Protocol-transparent resource sharing in hierarchically scheduled real-time systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Hierarchical scheduling frameworks (HSFs) provide means for composing complex real-time systems from well-defined, independently analyzed subsystems. To support resource sharing within two-level HSFs, three synchronization protocols based on the stack resource policy (SRP) have recently been presented, i.e. HSRP, SIRAP and BROE. This paper describes the first implementation presenting these three SRP-based synchronization protocols side-by-side in a HSF-enabled real-time operating system. We base our implementations on the commercially available real-time operating system μC/OS-II, extended with proprietary support for periodic tasks, idling periodic servers and two-level preemptive scheduling. Moreover, we investigate the system overhead of the synchronization primitives of each protocol. Transparent interfaces allow a protocol to be selected during integration time based on its relative strengths.
176	M.A.C. Silva, L. dos S Coelho, R.Z. Freire, "Biogeography-based Optimization approach based on Predator-Prey concepts applied to path planning of 3-DOF robot manipulator ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A fundamental problem in robotics consists in trajectory planning. The main task of path planning for robot manipulators is to find an optimal collision-free trajectory from an initial to a final configuration. Furthermore, trajectory planning is devoted to generate the reference inputs for the control system of the manipulator, so as to be able to execute the motion. Many important contributions to this problem have been made in recent years. Recently, techniques based on metaheuristics of natural computing, mainly evolutionary algorithms (EA), have been successfully applied to a large number of robotic applications, including the generation of optimized trajectories for robot manipulators. The aim of this paper is to evaluate a modified Biogeography-based Optimization (BBO) approach based on Predator-Prey concepts (PPBBO) to solve the trajectory planning of a robot manipulator. Simulation experiments are carried on a robot manipulator with three degrees of freedom (3-DOF) to illustrate the efficacy of the BBO approach. Biogeography deals with the geographical distribution of biological organisms. BBO is an optimization method which is motivated by the nature's way of distributing habitats. Similar to genetic algorithms, BBO is a population-based stochastic global optimizer. However, in BBO, problem solutions are represented as islands, and the sharing of features between solutions is represented as migration between islands. Results demonstrated that the proposed PPBBO approach converged to promising solutions in terms of quality and convergence rate when compared with the classical BBO.
177	P.M. Yomsi, V. Nelis, J. Goossens, "Scheduling multi-mode real-time systems upon uniform multiprocessor platforms ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we address the scheduling problem of multi-mode real-time systems upon uniform multiprocessor platforms. We propose two transition protocols, specified together with their schedulability test, and provide the reader with two distinct upper bounds for the length of the transient phases during mode transitions, respectively for the cases where jobs priorities are known and unknown beforehand.
178	B. Wolf, P. Herzig, I. Behrens, A. Majumdar, M. Ameling, "Data stream processing in factory automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Data stream processing is a valuable technique to solve demanding problems that also occur in factory automation, such as continuous data processing with high throughput and real-time output, and distributed data acquisition and processing. However, the intricacies of data stream processing techniques make its application difficult in real-life scenarios. One particularly challenging situation arises when changing conditions necessitate a modification in processing logic of system operators. This is especially difficult in the presence of streaming data and transient internal states of the system. Since downtimes are expensive, an efficient solution has to be provided for updating the processing logic. In this paper, strategies for on-the-fly adaptation of data stream queries are presented and experimentally evaluated with examples from the domain of condition-based maintenance. Techniques for state preservation allow for a fast transition to new processing logic. The results show that our strategies are well suited for demanding applications in factory environments.
179	F. Abrate, B. Bona, M. Indri, L. Carlone, "Cooperative robotic teams for supervision and management of large logistic spaces: Methodology and applications ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Robots and automated systems can be employed in the logistic field to efficiently perform common tasks like building and updating maps of indoor and outdoor logistic spaces, locating specific goods on the map, tracing the product flow in the area, while assuring the surveillance of the environment. This paper reports and discusses the already achieved results of the on-going research project MACP4Log (Mobile Autonomous and Cooperating robotic Platforms for supervision and monitoring of large LOGistic surfaces), aimed at the study and development of a prototype of a mobile robotic platform, with on-board vision systems and sensors, integrating a flexible wireless communication solution, able to move autonomously in large logistic spaces, and to communicate with a supervisor and other similar platforms in order to achieve a coordinated action to carry out specific tasks.
180	Sü, N. nderhauf, P. Protzel, "Beyond RatSLAM: Improvements to a biologically inspired SLAM system ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A SLAM algorithm inspired by biological principles has been recently proposed and shown to perform well in a large and demanding scenario. We analyse and compare this system (RatSLAM) and the established Bayesian SLAM methods and identify the key difference to be an additive update step. Using this insight, we derive a novel filter scheme and successfully show that it can entirely replace the core of the RatSLAM system while maintaining its desirable robustness. This leads to a massive speedup, as the novel filter can be calculated very efficiently. We successfully applied the new algorithm to the same 66 km long dataset that was used with the original algorithm.
181	A. Dvoryanchikova, A. Lobov, A. Capanji, J.L. Martinez Lastra, "Edwards-Venn Diagrams for knowledge representation and reasoning in industrial systems ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Edwards-Venn Diagrams (EVD) were introduced to facilitate knowledge representation and reasoning in connectionistic approach for modeling industrial systems. Semantic descriptions are seen helpful in solving the challenges of mass customization due to capability to capture knowledge interpretable both for humans and machines. However modern knowledge technologies could not provide required flexibility in expressing the semantics of dynamical nature of events and processes which are essential for industrial systems. This motivates further research for flexible yet formal tools for knowledge representation and reasoning. In order to provide flexible semantic descriptions to dynamic qualities of industrial systems, a connectionistic knowledge model - connectionistic concept grid (CCG) - was introduced, which was inspired by natural knowledge structure derived from connectionism approach to natural cognition. EVD were found useful to represent relations among different sets of concepts in CCG and to provide structural reasoning in the models.
182	D. Martinez, P. Balbastre, F. Blanes, J. Simo, A. Crespo, "Design procedure to minimize power consumption and delays in WSAN ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Current trends in the development of industrial applications enforce the use of wireless networks to communicate the system nodes mainly to increase flexibility and reliability of these applications and to reduce the implementation cost. However, in control applications, as consequence of the latency and jitter generated by the network, not always the results achieved by the experimental results and desired performance are coherent. This is due to the imprecise models for system analysis and design used and the non appropriated validation methods and platforms to support these models. Therefore this paper presents a method to achieve an optimal system configuration in order to fulfil the desired performance in control applications with a significant energy saving and minimum delay.
183	M. Schleipen, M. Okon, "The CAEX tool suite - User assistance for the use of standardized plant engineering data exchange ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Improving efficiency in Manufacturing Execution Systems (MES) engineering and ensuring interoperability requires a tool or a tool suite, which handles the desired (heterogeneous) data representations or better an integrated (homogeneous) data representation - a data format aiming at interoperability. CAEX (Computer Aided Engineering Exchange,) is one possible example of such a format. Its objective is a tool-independent description of plant planning data. CAEX is also used as a top-level format for AutomationML. To simplify the usage of this complex data exchange format, the authors developed various useful assistance tools which help users to work with it. These tools for transformation of arbitrary plant engineering data, their background and methodology will be presented in this contribution.
184	J. Virta, I. Seilonen, A. Tuomi, K. Koskinen, "SOA-Based integration for batch process management with OPC UA and ISA-88/95 ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: OPC Unified Architecture (OPC UA) is a new standard for communication between information and automation systems and devices. An important application area for OPC UA is communication between Manufacturing Execution Systems (MES) and Process Control Systems (PCS). In this paper an approach is presented for utilizing OPC UA in conjunction with SOA-based middleware and ISA-88/95 standards for integration between MES and PCS in the context of batch process management. First, the requirements of communication are identified and then a software design combining the mentioned technologies is proposed. The design is evaluated with the help of an experimental implementation and test scenarios.
185	J. Garrido, Vá, F. zquez, F. Morilla, "Centralized inverted decoupling for TITO processes ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a new approach of centralized control for TITO processes which is based on the structure of inverted decoupling. After defining the general expressions of this methodology, it is indicated how to specify the desired open loop transfer function in order to achieve free offset error and the desired performance (gain margins or phase margins). Then, the case of processes with all their elements as first order plus time delay (FOPTD) systems is studied in more detail because it generates two PI controllers and two derivative compensators with time delay, which can be implemented easily. If the process elements are more complex it is proposed to approximate them to FOPTD systems. The methodology is applied to two simulation examples and a real experimental lab process. Comparisons with other authors show its effectiveness.
186	L. Palacin, F. Tadeo, J. Salazar, C. de Prada, "Initial validation of a reverse osmosis simulator ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Reverse Osmosis (RO) is the most common technique to produce drinkable water in arid regions. The desalination plants are usually designed for a short number of constant operation points. A dynamic strategy of control would help to decrease the operation expense and the equipments cost. However, the lack of dynamic simulation tools for this kind of plants, avoids the optimal design, which would use a continuously changeable operation point. For this, a new dynamic simulation library of RO plants was presented elsewhere. Now, the present paper deals with the validation of that library, using experimental data from a real RO plant.
187	Yintai Ao, Wei He, Xuejian Xiao, Engwah Lee, "A business process management approach for RFID enabled supply chain management ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Integrating RFID data into an enterprise application has been a challenge to RFID adoption, especially for small to medium enterprises. So far RFID middleware has been used to bridge RFID readers and enterprise applications. As middleware and enterprise application are usually deployed using different platform, it proved to be complicated and costly to realize real-time integration. This paper proposes an event-driven business process management approach that unifies RFID event processing and business event processing. The approach exploits event driven architecture to efficiently manage the event data, and also to provide one single extensible platform for enterprises to extend that functional capability. It fully complies with service oriented architecture by leveraging the loose-coupling and vertical integration capability.
188	D. Garcia-Alvarez, M.J. Fuente, G. Sainz, "Monitoring and fault detection in processes with multiple operating modes, transitory phases and start-ups using principal component analysis ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a global monitoring and fault detection approach considering the different operation points, start-ups and transitory states that can appear during plant operation. Stationary states have been monitored using the classical PCA approach and start-ups, while grade transition due to, for example changes in the set-point, are monitored using batch and semi-batch PCA-based methods. These methods have been adapted to deal with this type of problems. Thus, theoretical aspects of PCA and unfolded PCA will be presented and explained. The method developed has been tested in a laboratory pilot plant, using different protocols and grade transitions to examine the method's possibilities with good results.
189	G. Partida, V.H. Jaramillo, V. Feliu, "Three-degrees-of-freedom flexible robot position control robust to load changes ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes a new control method for a three-degree-of-freedom flexible robot. In the model, the mass is assumed to be concentrated at the end of the robotic arm. The main feature of the method is that it consists of two nested control loops: the inner one controls the angular positions of the motors and the external one the tip's position and cancels the vibration. The outer control loop, as will be shown, is robust to tip mass variations. Simulations are carried out, supposing different masses with succesfull results in trajectory tracking.
190	L. Barros, A. del Barrio, Ló, pez Martí, P. nez, J.M. Drake, "New container services for the integration of component-based applications on complex industrial platforms ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper focuses on applying a component-based technology to the integration of applications and services deployed in heterogeneous, distributed and open platforms. The proposed technology extends the Container/Component model, adding new services to the components to facilitate their integration in these platforms. The component can have an arbitrary structure and internal complexity, can be used in different applications, and can also be deployed in different kind of processors without either knowing or modifying their code. The added services provide the technology with support for real-time requirements, and for more dynamic deployment processes, which allows a component to connect itself automatically with others that were already part of the infrastructure, based only on data provided during the deployment process.
191	L. Wisniewski, H. Trsek, I. Dominguez-Jaimes, A. Nagy, R. Exel, Kerö, N. , "Location-based handover in cellular IEEE 802.11 networks for Factory Automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The use of wireless technologies in Factory Automation is attractive due to several advantages (mobility, cost, etc.); however, to satisfy the requirements of industrial applications, they have to be improved in terms of real-time performance. Handover is a particular weakness in cellular wireless systems, e. g., in IEEE 802.11, since it may introduce delay beyond acceptable bounds. The project “^flexWARE - Flexible Wireless Automation in Real-Time Environments” aims at implementing such an infrastructure based on IEEE 802.11. To enhance overall system performance, it offers a localisation service. In this paper we present the ^flexWARE handover mechanism which exploits localisation to reduce the discovery phase. A performance evaluation, based on simulation and empirical measurements, shows that the mechanism results in a seamless handover for a class of industrial applications.
192	B. Lacevic, P. Rocco, "Sampling-based safe path planning for robotic manipulators ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: A novel method to obtain safe paths for robotic manipulators is presented. It emulates the probabilistic roadmap planner by trying to establish a collision-free path that connects the start and the goal configuration via samples that belong to a quasi-random, low discrepancy sequence. The path construction is guided by a search algorithm with a heuristic function that includes a suitably tailored safety estimation. The measure of safety is based on the danger field - a recently proposed safety assessment for human-robot interaction. Thus, the planner provides not only collision-free paths, but strives for safer ones. In order to decrease the expected number of collision checks, we propose a novel method for testing whether local paths are collision-free or not. The method combines the standard binary collision checking with the concept of bubbles of free configuration space.
193	J. Mendes, Araú, R. jo, F. Souza, "Adaptive fuzzy generalized predictive control based on Discrete-Time T-S fuzzy model ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper presents an adaptive fuzzy predictive control based on discrete-time Takagi-Sugeno (T-S) fuzzy model. The proposed controller is based on Generalized predictive control (GPC) algorithm, and a discrete-time T-S fuzzy model is employed to approximate the unknown nonlinear process. To provide a better accuracy in identification of unknown parameters of the model, it is proposed an on-line adaptive law which ensures that the tracking error remains bounded. The stability of closed-loop control system is proved/studied via the Lyapunov stability theory. To validate the theoretical developments and to demonstrate the performance of the proposed control is simulated as nonlinear system a laboratory-scale liquid-level process. The simulation results show that the proposed method has a good performance and disturbance rejection capacity in industrial process.
194	E.J. Amaya, A.J. Alvares, "SIMPREBAL: An expert system for real-time fault diagnosis of hydrogenerators machinery ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes an expert system to aid plant maintainers and operators personnel for solving hydroelectric equipments troubleshootings. The expert system was implemented into intelligent maintenance system called SIMPREBAL (Predictive Maintenance System of Balbina). The SIMPREBAL knowledge base, the architecture and the inference machine are presented in detail. The knowledge base is based on experts empirical knowledge, work orders, manuals, technical documents and operation procedures. The predictive maintenance system architecture is based on the OSA-CBM framework that has seven layers. The software application has been successfully implemented in client-server computational framework. The data acquisition and intelligent processing tasks were develop in the server side and the user interface in the client side. The intelligent processing task is an expert system that use JESS inference machine. During two years, the SIMPREBAL has been used for monitoring and diagnosing hydrogenerators machinery malfunctions. The industrial application of the SIMPREBAL proved its high reliability and accuracy. Finally, satisfactory fault diagnostics have been verified using maintenance indicators before and after the SIMPREBAL installation in the hydroelectric power plant. These valuable results are been used in the decision support layer to pre-schedule maintenance work, reduce inventory costs for spare parts and minimize the risk of catastrophic failure.
195	H. Carvalho, F. Soares, L.F. Silva, F. Guhr, "Adaptive control of an electromagnetically actuated presser-foot for industrial sewing machines ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This study describes some possibilities of setting up an adaptive control method for an electromagnetically actuated presser-foot in an industrial high-speed sewing machine. The control of fabrics feeding in sewing machines is difficult not only because of the complexity of relations between the intervening variables (material properties, sewing speed), but also because in many operations a varying number of material plies are crossed. This implies that the reference for the controller has to be adapted dynamically. Several methods, using PID and/or fuzzy logic control, have been tried and are described in this paper. A preliminary sewing test is able to provide data to tune the controller variables. With these adaptation techniques, the machine would be able to automatically adapt its feeding system according to the material being sewn.
196	P. Wagner, J. Kotzian, J. Kordas, V. Michna, "Path planning and tracking for robots based on cubic hermite splines in real-time ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot.
197	J. Bouza-Fernandez, G. Gonzalez-Filgueira, S. de las Heras Jimenez, D. Vazquez-Gonzalez, "Expert system of a sewage treatment plant for wood industry ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper describes the methodology and solution to automate and monitor a sewage treatment plant from an industry dedicated to the manufacture of wood panels. The control system designed, not only governs all elements of performance of the plant, but also oversees its proper functioning. It also has a human-machine interface with a daily working and emergency program, accompanied by an information system supported by records and alarms to facilitate human decisions making if were necessary. The proposed solution, not only increases the reliability and safety of the process with respect to plants or other type semi-automatic operation, but also reduces costs by improving process efficiency and minimizes costs in maintenance and monitoring.
198	M. de Sousa, "Analyzing the compatibility between ISA 88 and IEC 61499 ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In the last years many standards have been created for the industrial control domain. Some have found wide adoption in the industry, while others seem to never leave the stage of a promising technology. An example of the first type is ISA 88, that defines an architectural design for control applications for the batch process industry. The author is of the opinion that IEC 61499 is an example of the latter. In this paper the author analyzes how the design architecture defined in ISA 88 may be implemented using the programming framework defined in IEC 61499. Even though ISA 88 and IEC 61499 both follow an event based and object-oriented approach, the author uncovers a fundamental constraint of the IEC 61499 related to the dynamic invocation of services from distinct object instances. Without trying to extend the IEC 61499 standard, two approaches are presented to work around this constraint.
199	P. Marti, A. Camacho, M. Velasco, P. Mares, J.M. Fuertes, "Synchronizing sampling and actuation in the absence of global time in Networked Control Systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The successful operation of Networked Control Systems (NCS) requires employing appropriate approaches for dealing with network induced time delays, i.e. time intervals elapsed from consecutive sampling and actuation operations. Effective approaches often require to impose periodic execution for the sampling and/or actuation operations, enforcing synchronized constant time delays. And considering that sampling and actuation is performed in different nodes, global time between nodes achieved by clock synchronization is the standard assumption or strategy that enables such synchronized operations. This paper presents a technique that permits to implement these synchronized operations in NCS in the absence of global time. Experimental results corroborate the effectiveness of the presented approach.
200	C.A. Belchior, Araú, R. jo, J. Landeck, "Adaptive fuzzy control of the dissolved oxygen concentration in an activated sludge process ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper an adaptive fuzzy control strategy for dissolved oxygen concentration (DO) control of an activated sludge process is proposed and evaluated in a benchmark simulation model. The controller uses DO concentration error feedback and manipulates the flow control valves supplying air to the bioreactor cells. The results of simulation shows that this adaptive controller can optimize control rules resulting in an accurate controls of dissolved oxygen.
201	J. Ploennigs, U. Ryssel, K. Kabitzsch, "Performance analysis of the EnOcean wireless sensor network protocol ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: An ongoing topic in wireless sensor networks is the aim to save energy. This often requires optimized protocols with a reduced performance and robustness. One currently successful wireless technology with a very strict low-power design is EnOcean. This paper analyzes its protocol performance by deriving an analytical performance analysis model that expresses different protocol aspects and devices' behaviors in various scenarios. The model is validated against measurements and simulation results. The model and results presented in this paper can be used as guideline for network dimensioning and for separate analysis of specific network configurations.
202	Lei Zhang, M. Lampe, Zhi Wang, "Topological design of industrial Ethernet networks with a fast heuristic ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The recent rapid development of industrial Ethernet requires addressing the topic of network design from a new perspective. The design of industrial Ethernet networks must typically consider real-time constraints and robustness against network failures. In this paper, the topology design of industrial Ethernet networks problem is firstly modelled considering the requirements of industrial applications. Considering the increasing scale of industrial Ethernet networks, computational complexity of network optimization schemes becomes a more and more important issue. A fast algorithm based on a heuristic extension of a genetic algorithm is presented and shown to provide an effective solution and lower computation complexity as compared to a pure genetic algorithm.
203	E. Faldella, A. Tilli, P. Tucci, "Logic Device Agents: Smart and highly reusable components in industrial automation systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Control system design is a crucial point in modern automation systems, involving an increasingly broader set of activities being performed by software. Despite the availability of several domain-specific facilities, designers daily face kindred issues which actually lack reference patterns, in particular as regards the architectural organization of the control logic. In this paper we present an approach that, focusing on cross-cutting domain problems and suitably abstracting from application-specific details, leads to an effective decoupling of high-level control policies from low-level actuation and sensing mechanisms. Logic Device Agents emerge as generally applicable active components modeling the behavior of commonly used field devices, which can be profitably exploited to enhance software design quality and productivity.
204	E.E. Cano, C.A. Rovetto, J. Colom, "On the computation of the minimal siphons of S⁴PR nets from a generating family of siphons ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Minimal siphons in the class of S⁴PR nets have become a conceptual and practical central tool to deal with deadlocks caused by the sharing of resources in Flexible Manufacturing Systems. The availability of efficient algorithms to compute these structural objects is very important. In this paper we take advantage from the particular properties of the siphons in S⁴PR to obtain an efficient algorithm. These properties allow to compute the minimal siphons from a generating family of minimal siphons. This family is composed by the minimal siphons containing only one resource. The computation of the minimal siphons is based in the maximal strongly connected components of a graph representing the relations between the siphons of the generating family. The algorithm is very economic in memory in all intermediate steps with respect to the classical algorithms.
205	M. Ricken, B. Vogel-Heuser, "Modeling of Manufacturing Execution Systems: An interdisciplinary challenge ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Specification of Manufacturing Execution Systems (MES) as software systems related to the technical process represents a challenge regarding interdisciplinary communication. In this paper modeling notations currently applied, like the Businesses Process Model and Notation (BPMN), Petri Nets or the Unified Modeling Language (UML) were analyzed on the basis of standardized and MES specific requirements. Using these criteria, we show that so far, no graphical modeling notation supports this specification process adequately. In the presented approach “SpeziMES” the identified gaps will be closed by developing a graphical MES modeling framework based on the BPMN 2.0. Main contribution of this framework is the integration of a technical system model, a production process model and an MES functional model with their interconnections and dependencies.
206	S. Hennig, A. Braune, E. Koycheva, "Towards a model driven approach for development of visualization applications in industrial automation ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The eXtensible Visualization Components Markup Language (XVCML) was developed in order to ensure the sustainability of visualization solutions. Therefore, XVCML follows the Model-Driven Software Development (MDSD) approach: It enables technology independent modeling of visualization solutions whereas those models are compliant to a formal metamodel. XVCML was enhanced by a mean to express arbitrary routines using Executable UML. Since we realized the latter aspect only as a first proof of concept, this part of XVCML lacks a formal metamodel-a requirement for MDSD. This paper seizes on this topic so much that a Domain Specific Language, which enables the creation of Executable UML models, will be worked out in the context of MDSD. Therefore, this paper explains the required foundations for the subject matter at hand before it presents the way of proceeding towards a model-driven approach with XVCML.
207	M. Holenderski, C.G.U. Okwudire, R.J. Bril, J.J. Lukkien, "Memory management for multimedia Quality of Service in resource constrained embedded systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we consider multimedia Quality-of-Service (QoS) in resource constrained embedded systems, where scalable applications are structured as directed acyclic graphs of tasks, which communicate via shared buffers. Scalable multimedia applications allow to trade quality for resource usage during run-time. We present two QoS problems: (i) temporal dependencies between subchains of tasks due to a common predecessor, and (ii) mode change latency in applications. These problems are addressed through advanced memory management techniques. For the first problem, it is shown how additional access to the buffer, in particular the support for dropping selected frames, allows to guarantee the Quality of Service of the application during overload conditions, preventing congestion in one buffer to propagate across the whole application. For the latter problem, the approach of in-buffer scaling is applied to reduce the mode change latency in scalable multimedia processing applications, which can adapt their memory requirements during runtime according to a set of predefined modes. The latter approach is validated with simulation results.
208	A. Andrushevich, M. Staub, R. Kistler, A. Klapproth, "Towards semantic buildings: Goal-driven approach for building automation service allocation and control ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The idea of applying semantic web technologies to the area of smart homes (SH) and building automation has resulted in a number of research activities and initiatives that have been recently developed. This article starts with an overview of ongoing work towards embedding semantics into home automation services. We then highlight the problems not considered by previous solutions. The core value of the work presented here is contained in a novel goal-driven approach for building automation service allocation and control. A new concept of semantic homes (SeH) and its architectural vision is another significant contribution. The comparison between existing and suggested solutions is rounded off by a use case scenario from the area of ambient assisted living.
209	M. Colledani, A. Yemane, "Integrated quality and production logistics analysis of closed loop manufacturing systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents a method for the integrated evaluation of quality and production logistics performance of closed loop manufacturing systems, where statistical quality control is performed. Recently, integrated quality and productivity performance measurement techniques have been proposed only for open flow lines, showing the benefits of integrated towards isolated approaches. This paper extends the applicability of previous methods to closed loop systems. Token based production control policies, such as CONWIP, can be also studied with this new model. Numerical tests prove that the technique is both accurate in capturing the system behavior and computationally efficient. The method is used to derive new insights on the system dynamics, leading to practices to support the improved design and operation of closed loop systems.
210	Liyong Yu, Quiró, G. s, U. Epple, "Service-oriented process control for complex multifunctional plants: Concept and case study ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In process control engineering, the multiple forms of the process control functionalities and the technological constraints of the programming languages are a significant obstacle for designing control logic which is integrated and comprehensive throughout the hierarchical control levels. Furthermore, the engineering phase requires a high degree of expert knowledge and effort. This article presents a conceptual approach for an integrated management of the distributed process control functionalities based on service orientation. The main advantage of this approach is that the fixed interconnections of the control logic are extended with a dynamic assignment of services. With a multifunctional Modular Electric Reducing Furnace as case study it is shown, that by using service-orientation, a reliable, flexible and scalable process control structure can be easily constructed.
211	F. Souza, P. Santos, Araú, R. jo, "Variable and delay selection using neural networks and mutual information for data-driven soft sensors ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper proposes a new method for input variable and delay selection (IVDS) for Soft Sensors (SS) design. The IVDS algorithm is composed by the following steps: (1) Time delay selection; (2) Identification and exclusion of redundant variables; (3) Best variables subset selection. The IVDS algorithm proposed in this work performs the delay and variable selection through two distinct methods, mutual information (MI) is applied to delay selection and for variable selection a multilayer perceptron (MLP) based approach is performed. It is shown in the case studies that the application of the delay selection before applying the variable selection increases the generalization of the MLP-model. The algorithm uses the relative variance tracking precision (RV TP) criterion and the mean square error (MSE) to evaluate the precision of soft sensor. Simulation results are presented showing the effectiveness of the method.
212	A.A. Santos, M. de Sousa, "Replication in distributed systems using IEC 61499 standard ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The international Electrotechnical Commission (IEC) 61499 architecture incorporated several function block with which distributed control application may be developed, and how these are interpreted and executed. However, due the distributed nature of the control applications, many issues also need to be taken into account. Most of these are due to the new error model and failure modes of the distributed hardware on which the distributed application is executed and also due the incomplete standards definition of the execution models. IEC 61499 frameworks does not clarify how to handle with replication of software and hardware components. In this paper we propose a replication model for IEC 61499 applications and which mechanisms and protocols may be used for their support.
213	M. Di Natale, Haibo Zeng, "System identification and extraction of timing properties from controller area network (CAN) message traces ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work describes methods for the analysis of CAN message traces to identify the configuration of systems with a missing or incomplete message set specification, and also to detect the cause and find the possible remedy to timing faults or non-ideal timing behaviors. Based on the message id and time stamp recorded at a tracing node by a bus probe, the analysis reconstructs the expected message arrival time at the source node and detects the queuing and transmission policies used at the middleware- and driver-level by the supplier of each node. We show the application of our analysis method to two automotive case studies. In the first, a timing fault is analyzed and its causes are detected. In the second, the objective is to identify the message set and its configuration when this information is not available.
214	R. Warmuth, S. Goldmann, R. Salomon, "WiiLoc: A step towards efficient device identification in large office buildings by Wii-based localization ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In the context of building automation, one of the many tasks is to localize and identify thousands of sensors and actuators, such as smoke detectors, switches, light bulbs, and window blinds. Since performing this task by hand is too costly and error-prone, this paper proposes a simple, semi-automatic system, called WiiLoc, for this task. WiiLoc employs two infrared cameras, a three-dimensional acceleration sensor, and an electronic compass, and yields a localization error of as low as 2% with respect to the distance to the object. SinceWiiLoc employs only simple standard components, such as the Wii remote control, the costs will be below 150 Euro.
215	R. Costa, P. Portugal, F. Vasques, R. Moraes, "A TDMA-based mechanism for real-time communication in IEEE 802.11e networks ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we propose a TDMA-based communication approach to be used upon the EDCA communication mechanism defined in the IEEE 802.11e standard. This approach allows the coexistence of real-time (RT) traffic together with uncontrolled (external) traffic sources. In the context of this paper, RT traffic means small sized packets generated in periodic intervals, which must be delivered before the end of the message stream period. The target of this paper is to highlight some limitations of the EDCA mechanism when supporting RT communication and to compare these results with those obtained with the proposed TDMA approach. We have assessed these two mechanisms considering an open communication environment, where there are RT and non-RT stations operating in the same frequency band. Furthermore, a realistic error-prone model channel was used to measure the impact of interferences against an error-free channel. We show that the proposed TDMA approach offers an almost constant access delay and it also improves the EDCA behavior in what concerns the average functional throughput and the average deadline losses.
216	S. Zug, M. Schulze, A. Dietrich, J. Kaiser, "Programming abstractions and middleware for building control systems as networks of smart sensors and actuators ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Developing complex sensor/actuator systems, like robot applications, is challenged by a multitude of different hardware platforms, networks, programming languages, data formats, etc. In this paper, we present our architecture that copes with this heterogeneity and allows for a flexible composition of smart sensors and actuators. The main focus lies on a two layered approach combining the communication middleware FAMOUSO and the programming abstraction MOSAIC. FAMOUSO enables the information exchange between networked systems, hides the high degree of heterogeneity on hardware and network level, and is usable from different programming environments. MOSAIC uses FAMOUSO and provides a generic access to the exchanged information. Furthermore, it offers a way to abstract from different sensor and actuator hardware and provides a framework for application development with predefined components, enabling comprehensive fault detection. The paper concludes with a case study that shows how the middleware and programming abstractions are used to build a distributed modular system for a robot manipulator.
217	T. Moser, S. Biffl, "Semantic tool interoperability for engineering manufacturing systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Manufacturing systems engineering projects depend on contributions from several engineering disciplines. These contributions consist of complex artifacts like mechanical, electrical, and software components and plans. While the software tools are strong in supporting each individual engineering discipline, there is very little work on engineering processes automation across semantically heterogeneous engineering tool data models. In this paper, we adapt the Engineering Knowledge Base (EKB) concept, a semantic model, which extends the Global-as-View concept and explicitly models common engineering concepts and mappings using machine-understandable syntax, for the engineering of manufacturing systems. We evaluate the concept based on a real-world use case for data exchange between software tools involved in the engineering of a manufacturing system software simulator. Major result is that the EKB concept sufficiently supports the semantic interoperability of tools to enable the automation of engineering processes.
218	F. Basile, P. Chiacchio, D. Gerbasio, "A novel approach to PLC programming for distributed automation systems control ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrial automation is largely based on PLC-based control systems. PLCs are today mostly programmed in the languages of the IEC 61131 standard which are not ready to meet the new challenges of widely distributed automation systems. Currently, different solutions are available from industry and research: an extension of IEC 61131 which includes object oriented programming, the adoption of the new standard IEC 61499 or the implementation of supervisory control. All these solutions present different problems which are briefly recalled in the paper. To overcome some of these problems in this paper it is shown that a novel approach based on supervisory control and IEC 61131 can be immediately used to meet the new requirements.
219	Lü, A. der, L. Hundt, A. Keibel, "Description of manufacturing processes using AutomationML ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The engineering of manufacturing systems has been changed within the last years. Based on the increasing application of intelligent software tools the programming and configuration of control devices can be made on higher abstraction layers than before. In parallel the usable amount of control devices, information processing units, and engineering tools has increased. Several vendors have developed their own tool sets to enable a most efficient application of their devices. Hence, a very heterogeneous tool landscape has been established. This trend will continue. Standardization can assist the development and application of all-purpose tools as well as support the application of best-of-bread tools. This article intends to support this standardization process by discussing the application of the AutomationML data format with respect to its applicability for manufacturing process description. It will be shown that AutomationML can be exploited to model the workflow of process and its relationship to products and manufacturing resources in an abstract and tool independent way. Thereby, manufacturing tools and resources, work pieces, and geometrical and time related process flow as well as their characteristic parameters are combined appropriately. Thus, this paper presents a way to transmit process descriptions and process requirements between engineering tools for the first time.
220	K. Kunert, M. Jonsson, E. Uhlemann, "Exploiting time and frequency diversity in IEEE 802.15.4 industrial networks for enhanced reliability and throughput ," ETFA 2010, pp. 1 - 9 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrial networks based on IEEE 802.15.4 are spreading, even though the joint requirement on predictability and reliability from industrial applications is hard to fulfil in wireless networks, and the data rate of IEEE 802.15.4 is rather low. With the goal of providing real-time guarantees, with increased reliability and throughput, we propose two multichannel network architectures based on IEEE 802.15.4 with predictable medium access, real-time analysis admission control and transport layer retransmissions. We evaluate the architectures in terms of reliability, utilization, delay, complexity, scalability and energy efficiency. The evaluations show that throughput and reliability can be enhanced through redundancy and concurrency in the frequency domain.
221	L. Ribeiro, J. Barata, B. Alves, "Exploring the network dimension of diagnosis in Evolvable Production Systems ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Modern Production Paradigms, supported by state-of-art developments in IT, present major opportunities for the effective implementation of sustainable shop floors. With an increased focus in seamless system reconfiguration most proposals advocate the use of modular and distributed architectures that are dynamic compositions (adaptable and evolvable structures) of cooperating self-contained entities that interact using complex communication patterns with enhanced semantics. These design principles introduce significant diagnostic challenges. The distributed and contained nature of the information renders collective fault events harder to track. Furthermore, current approaches that are adjusted to a more conservative logic-based control, do not provide an adequate response to this problem. This paper proposes an approach to capture the network dynamics of faults in the emergent domain of Evolvable Production Systems (EPS) which implements and extends the before-mentioned characteristics.
222	P. Bartolomeu, J. Fonseca, F. Vasques, "Implementing the wireless FTT protocol: A feasibility analysis ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Low-power wireless communication protocols have been shown to experience a significant timeliness and reliability degradation under certain interference profiles. Provided that this impairment has hindered their wide adoption in demanding real-time scenarios, the Wireless Flexible Time Triggered (WFTT) protocol has been recently proposed targeting applications with stringent timeliness requirements. This protocol builds on the medium access determinism granted by the bandjacking technique in open environments, where different technologies may contend for the medium. Besides providing a deeper definition of the WFTT architecture and protocol operation, this paper presents a thorough analysis addressing its implementation feasibility.
223	E. Toscano, L. Lo Bello, "A novel approach for data forwarding in industrial wireless sensor networks ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrial wireless sensor networks have certain peculiarities which distinguish them from other kinds of WSNs. A notable difference is that in industrial deployments WSNs usually have to be integrated with wired industrial networks, because there are critical data flows that cannot be transmitted over the wireless medium. This paper proposes a network architecture and a communication protocol, called Circular Chain Data Forwarding (CCDF), that not only supports integration with a wired industrial infrastructure, but also takes advantage of such integration to deliver real-time performance, even to nodes that could not be directly covered by a sink. To achieve this goal, a chain-based mechanism is used, which integrates data forwarding with the channel access strategy. Theoretical results, confirmed by in-depth simulations, are provided to analyze the performance of the protocol in the case of both error-free and error-prone channels.
224	K. Thramboulidis, S. Scholz, "Integrating the 3+1 SysML view model with safety engineering ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: System safety is the property of the system that characterizes its ability to prevent from hazards, which may lead to accidents or losses. Traditionally, system developers are not familiar with system safety analysis processes which are performed by safety engineers. One reason for this is the gap that exists between the traditional development processes, methodologies, notations and tools and the ones used in safety engineering. This gap makes the development of safety aware systems a very complicated task. Several approaches based on UML have been proposed to address this gap. In this paper, an approach to integrate safety engineering with a SysML based development process that is expressed in the form of the V-model, is presented. Preliminary hazard analysis is adopted and applied to a SysML based requirements specification of the mechatronic system that exploits essential use cases. A case study from the railway domain is used to illustrate the proposed approach.
225	L. Ferrarini, M. Allevi, Dedè, A. , "Design and implementation of an automatic on-line diagnosis with TiDiaM and TiDE ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper deals with the diagnostics of industrial automation devices and in particular with the real-time fault isolation. A diagnostic model-based method is proposed with the aim to isolate the occurrences of faults in automatic machinery simplifying the synthesis of the diagnostic models and the application of the developed technique to real cases. The theoretical foundation lays on the diagnoser automaton, which is suitably extended with time and with special modeling techniques that make it suitable for real-time execution rather than off-line test of the diagnosability. The model here adopted is called TiDiaM (Timed Diagnostic Model) for which automatic synthesis algorithms and a Java real-time executor (TiDE, Timed Diagnosis Executor) are proposed. The approach has been applied to a test case (the subsystem of an automatic machining centre called Pallet changer) in order to demonstrate its real-time applicability to an industrial example.
226	F.N. Koumboulis, N.D. Kouvakas, "Triangular decoupling of non square general neutral time delay systems via dynamic measurement output feedback with application to an ASP ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: For the class of non square general neutral time delay systems the problem of triangular decoupling is extensively solved using a dynamic realizable controller with dynamic measurement output feedback and dynamic precompensator. The necessary and sufficient condition for the solvability of the problem is established and a general class of realizable controller matrices solving the problem is derived. The condition is proven to be the right invertibility of the open loop system. The above results are successfully applied to a small scale activated sludge process (ASP) where a two stage dynamic controller is designed. The inner loop controller is a triangular decoupling controller while the outer loop controller, is used to compensate model uncertainties and nonlinearities of the plant. The performance of the closed loop system is illustrated through simulation.
227	F.N. Koumboulis, N.D. Kouvakas, "Temperature control of a neutral time delay central heating system via a two term disturbance compensator ," ETFA 2010, pp. 1 - 10 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The control problem of a central heating system is studied via a PD controller feeding back the environment temperature and the performance output, i.e. the temperature of the heated room. The design goal is to compensate the influence of the environment temperature to the room temperature. To achieve this goal, a PI controller has supplementary been used. Even though, the controller is simple and easily implementable to low level control architectures, the performance the closed loop system is satisfactory. The parameters of the controller are computed using pure and mixed heuristic schemes based on the linearization of the nonlinear general neutral plant and minimizing the norm of the influence of the disturbance to the plant output.
228	Esté, E. vez, M. Marcos, Lü, A. der, L. Hundt, "PLCopen for achieving interoperability between development phases ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: As fast as industry reaches a greater maturity level and applications become more complex, a consolidation of the modeling methodologies becomes necessary. They are composed by a lot of heterogeneous systems that need working together to perform automation and control tasks. AutomationML framework's goal is to interconnect the heterogeneous tools used in the different engineering disciplines. In concrete it manages three well accepted standards: CAEX for topology, COLLADA for kinematics and geometry, and PLCopen for logic data. This paper is focused in the logic data. A logic CPF framework is defined in order to integrate tools into AutomationML framework that fulfill the logic data present in different development phases of the applications.
229	Y. Prado, Valiñ, G. o, D. Blanco, Suá, C.M. rez, Á, B.J. lvarez, "Models for stiffness characterization of the spindle-chuck system in a CNC lathe for prediction of deflections in CAPP ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Precision machining of components with tight tolerances requires not only to do a fine presetting of tools, but also to carry out on-line tool-path corrections in order to compensate the form deviations that arise in the workpiece derived from the action of cutting forces. Advanced and expensive technology, such as machine-tools equipped with multiple sensors, are commonly utilized for this purpose. However, if an early prediction of deviations were analyzed, it would be possible to take them into account in planning stages so that necessity for on-line compensations would be minimized. With this purpose, two math models based on strain energy analysis and a FEM model are proposed in this work and compared each other and also with respect to experimental machining tests, showing satisfactory coincidence of results.
230	S. Majoul, M. Richard-Foy, A. Agirre, Pé, A. rez, A. Kung, "Enforcing trust in home automation platforms ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Industrialised societies are increasingly dependent on embedded systems that are getting more and more complex, dynamic, open, while interacting with a progressively more demanding and heterogeneous environment. To manage efficiently the life cycle of applications deployed in such devices, some frameworks like OSGi have emerged. Such frameworks enable flexible applications deployment but in the absence of resource isolation provided by the execution platform they weaken safety and security. This paper discusses the concept of a partitioning Java execution environment enabling multiple applications to run safely and securely over an OSGi framework, and validated in the home automation domain.
231	I. Hegny, M. Wenger, A. Zoitl, "IEC 61499 based simulation framework for model-driven production systems development ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In the design of plants and machines the complexity is permanently increasing. Model-driven design methodologies in the field of Industrial Automation and Control Systems, as proposed by the MEDEIA project, help to cope with current requirements like limited budget and reduced ramp-up time. Concurrent development in all involved domains is facilitated by the introduction of simulation in the development process. We propose the use of an IEC 61499 industrial automation runtime environment to simulate plants' behavior. The concept for the simulation framework is based on the coupling of the control application and the plant simulation application via Instrumentation and Control points. The introduction of physical links in the plant simulation application enhances the behavior model of the plants, thus increasing the quality of the obtained simulation results.
232	S. Braun, M. Obermeier, B. Vogel-Heuser, "Usability evaluation of modeling notations for software engineering in machine and plant automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: During the last eight years we investigated the benefit of modeling notations, e.g. UML and domain specific UML profiles as well as specialized modeling languages (Idiomatic Control Language - ICL) in software engineering (IEC 61131-3) in machine and plant automation with three different experiments and approximately more than 120 participants. The results of the conducted experiments revealed the benefits and the shortcomings of UML in the field of supporting control programming. Furthermore we can show the impact of different modeling notations on software quality (IEC 61131-3) and time consumption for the software development process as well as some results on how to evaluate model driven engineering under usability aspects.
233	G. Cena, M. Cereia, I.C. Bertolotti, S. Scanzio, A. Valenzano, C. Zunino, "A software implementation of IEEE 1588 on RTAI/RTnet platforms ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: At present, an increasing number of distributed control systems are based on platforms made up of conventional PCs running open-source real-time operating systems. Often, the need arises in these systems to have networked devices supporting synchronized operations. In this paper, an inexpensive solution is introduced, described, implemented and evaluated that relies on standard software and protocols such as RTAI, RTnet and IEEE 1588. The main goals of this architecture are reducing design and development costs, ensuring adequate synchronization accuracy, and easing the porting of control applications to different H/W and S/W configurations.
234	G.V. Raffo, V. Madero, M.G. Ortega, "An application of the underactuated nonlinear ℋ∞ controller to two-wheeled self-balanced vehicles ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper presents an application of the nonlinear ℋ_∞ controller to two-wheeled self-balanced vehicles. An underactuated mechanical control system representation under input coupling is used to design the control law. To achieve null steady-state error when persistent disturbances are acting on the system, the integral of the position error is considered in the state vector. Practical results obtained in experiments using a two-wheeled vehicle equipped with an embedded microcontroller system are presented. These results corroborate the good features of the proposed controller in presence of external disturbances, extreme initial conditions and unmodeled dynamics.
235	Sá, J. nchez, G. Benet, Simó, J.E. , "A constant-time region-based memory allocator for embedded systems with unpredictable length array generation ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper describes an implementation of a region-based memory manager that performs the allocation and deallocation in constant-time. Also, additional functionality for generating arrays which can grow arbitrarily has been implemented. Thus, external fragmentation is overcomed, and the appearance of memory leaks has been considerably reduced. All these features make this allocator particularly useful for computer vision applications. The main goal has been to replace the general purpose allocator on some critical places in order to remove fragmentation and improve performance. The use of Regions also reduces programmer burden. The main disadvantage of this method is that it leads to a higher memory consumption peaks than general-purpose allocators. System developers need to establish an upper bound for the maximum memory that can be allocated at once. In this paper, the performance of our approach has been compared against an architecture-optimized general purpose memory allocator in a real-time vision application.
236	I. Calvo, L. Almeida, Pé, F. rez, A. Noguero, M. Marcos, "Supporting a reconfigurable real-time service-oriented middleware with FTT-CORBA ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Modern distributed real-time systems (DRTS) are typically formed by several heterogeneous networked devices. Sometimes these devices must adapt to dynamic environments in which devices may join or leave the network and must respond in run-time to changing requirements ensuring certain levels of QoS. These characteristics yield to systems that are intrinsically complex to develop, test and maintain. In this scenario middleware platforms, and particularly Service-Oriented Architectures (SOA), are becoming increasingly popular because they ease the creation of complex distributed applications and reduce the time-to-market. In this paper we show how the recently developed Flexible Time-Triggered CORBA (FTT-CORBA) can be used to support real-time Service-Oriented Architectures that are deterministically and dynamically reconfigurable.
237	Fortí, J. n, Suá, R. rez, "General environment for human interaction with a robot hand-arm system and associate elements ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications, and programming languages that are used in current robotic systems. In this work a general environment for the interaction between the human operator and different elements in a robotized cell is presented, such that all the involved elements can be easily managed from a unique interface. The aim of the developments is to provide a common frame that can be ported to different operating systems and can be easily extended or adapted to new devices.
238	E. Toscano, F. Misenti, L. Lo Bello, "A traffic scheduler for real-time wireless communication in adaptable industrial automation systems ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Hybrid wired/wireless network architectures combine the flexibility and inexpensiveness of WLANs with the real-time performance of wired real-time networks. This paper describes both a scheduling framework and a scheduling algorithm to handle real-time communication over the wireless section of a hybrid wired/wireless industrial network, which uses a scheduled protocol that extends the IEEE 802.11n standard. The proposed scheduling framework is able to schedule real-time flows traversing one or multiple Access Points, providing both intra- and inter-cell scheduling. Moreover, the scheduling framework offers support for three different kinds of real-time flows, i.e., periodic, aperiodic, and sporadic. A simulative analysis is also provided to assess the computation times as a function of the number of flows and the number of schedulable flows in different scenarios.
239	Page(s): , Digital Object Identifier : 10.1109/ETFA.2010.5641143 , "Copyright ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The following topics are dealt with: service-oriented system; distributed system architecture; software integration; computer network reliability; safety critical embedded system; industrial wireless communication; scheduling; resource management; model checking; automated manufacturing system; model base control; system optimisation; fault diagnosis; industrial control; robotics; wastewater system control; factory automation; information technology; real-time embedded system; and smart homes.
240	Marga Marcos, Richard Zurawski, "Message from the General Co-Chairs ," ETFA 2010, pp. 1 - 3 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: It is our pleasure to welcome all participants to the 15^th IEEE International Conference on Emerging Technologies and Factory Automation and the Faculty of Engineering of the University of the Basque Country, Spain.
241	Islam S. M. Khalil, Edin Golubovic, Asif Sabanovic, "High precision motion control of parallel robots with imperfections and manufacturing tolerances ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.
242	Guillermo R. Friedrich, Omar R. Alimenti, Guillermo H. Reggiani, "WRTMAC: A MAC proposal for 802.11 networks in factory automation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Wireless communication is an attractive alternative for the industry automation and related areas, due to the increased mobility coupled with a reduction of cabling costs and deployment time.
243	L.Q. Zhuang, M. Luo, W.Y. Leong, "A multi-agent based approach for distributed monitoring framework ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Modern manufacturing shop-floors consist of various complex manufacturing equipment and systems. The research work for holistic maintenance model is still at early stage due to the complexity of the manufacturing system and interaction among sub-systems. This work in progress paper presents an holistic systematical framework that enables optimal maintenance control by leveraging key production performance indicators and equipment health information based on consensus of monitoring from each sub-system. Some preliminary results and progress have been shown for new concept of consensus monitoring decision making based on multi-agent concept and implementation. Future work on integration of distributed maintenance decision making and networked optimal system controller will be discussed.
244	Ali Gorine, Nathalie Sauer, "Lower bounds and simulated annealing for job shop scheduling problems with blocking constrains ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, we consider the job shop scheduling problem with a particular blocking constraint. The objective is the minimization of the makespan. In this model, a conflict is due to the non-compliance of the precedence and blocking constraints. A necessary and sufficient condition to obtain this conflict is presented. A lower bound to solve this problem is given and a meta-heuristic method based on simulated annealing is presented to obtain a solution. Its performances are compared with the optimal solutions.
245	Mariagrazia Dotoli, Agostino Marcello Mangini, Marco Falagario, Fabio Sciancalepore, "A novel formulation of the DEA model for application to supplier selection ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper deals with a key objective of the strategic purchasing function in supply chain management, namely vendor evaluation and selection. We propose a novel formulation of the so-called Data Envelopment Analysis (DEA) technique that overcomes some known drawbacks of DEA in the application to supplier selection in the enterprise integration, New constraints are introduced in the DEA method in order to better mimic the buyer behavior. We call the resulting approach DEA-P (DEA Percentage) because it allows the decision maker to compare the different supplier evaluation criteria by assigning a percentage index expressing the importance of each criterion. A simulated case study demonstrates the effectiveness of the novel method for supplier selection optimization. This work was supported by the Cassa di Risparmio di Puglia Foundation.
246	Anais Garrell, Josep Maria Mirats-Tur, Oscar Sandoval-Torres, Alberto Sanfeliu, "Guiding and regrouping people missions in urban areas using cooperative Multi-Robot Task Allocation ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This article presents a novel approach for solving people guidance in urban settings suported in Multi-Robot Task Allocation. The developed architecture overcomes some of the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. In particular we define a “Selfish Task Allocation”, the novelty of this proposal is the ability of robots to naturally cooperate if they need to do so, without the need to pre-set the interaction between them by an operator. Some simulated experiments about people guidance where robots are able to respond to real situations are presented; the group spliting up, people leaving the group or the appearance of new tasks (lead other groups) are some of the situations being considered.
247	Gulnihal Cevik, Besir Celebi, Berkem Mehmet, Islam S. M. Khalil, Asif Sabanovic, "Motion control and vibration suppression of flexible lumped systems via sensorless LQR ," ETFA 2010, pp. 1 - 7 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This work attempts to achieve motion control along with vibration suppression of flexible systems by developing a sensorless closed loop LQR controller. Vibration suppression is used as a performance index that has to be minimized so that motion control is achieved with zero residual vibration. An estimation algorithm is combined with the regular LQR to develop sensorless motion and vibration controller that is capable of positioning systems point of interest to a pre-specified target position with zero residual vibrations. The validity of the proposed controller is verified through a comparison with other existing vibration control technique
248	Asyieh Khoshkholgh, R. Zaeim, "An adaptive neural network for new uniformly ultimately bounded performance of robust regulation ," ETFA 2010, pp. 1 - 6 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: This paper considers the problem of robust exponential e -regulation for a class of multi-input nonlinear systems with uncertainties. The uncertainties appear not only in the feedback channel but also in the control channel. Under some mild assumptions, an adaptive neural network control scheme is developed such that all the signals of the closed-loop system are semi globally uniformly ultimately bounded and, under the control scheme with initial data starting in some compact set, the states of the closed-loop system is guaranteed to exponentially converge to an arbitrarily specified -neighborhood about the origin. The important contributions of the present work are that a new exponential uniformly ultimately bounded performance is proposed and that the design parameters and initial condition set can be determined easily.
249	Ricardo Cayssials, Edgardo Ferro, "HW/SW CO-design for μclinux-based real-time platform ," ETFA 2010, pp. 1 - 5 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Experiences show that the uRT51 introduces a very low perturbation on control applications with both priority disciplines. Moreover, the real-time performance is improved because the optimal priority discipline EDF is implemented with a neglected overhead. In this paper, we describe a HW/SW co-design platform for real-time systems. The platform proposes a mechanism for automatically selecting the best hardware configuration that satisfies both the temporal requirements of the real-time system and the resources available in the programmable logic device. This platform is based on a run-time analysis of the execution time of each real-time task and the selection of the adequate library from the C-compiler and its correspondently hardware configuration. The platform was designed for the Altera NIOS II soft-processor running μClinux Operating System for embedded real-time systems
250	W.Y. Leong, Wen Xiang Chun, "Hidden defects diagnosis using parameter optimization based support vector machine (SVM) ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In this paper, the issue of composite defects diagnosis by applying the support vector machine (SVM) was addressed. The component analysis was performed initially to extract the features and to reduce the dimensionality of original data features. Kernel parameters selection of support vector machine which has great influence on the performance of defects classification has been discussed in this work. Precisely, we focus extracting the feature from the original signals, adopt component analysis to do feature selection and apply support vector machine to classify the defects. This paper exploits the parameter optimization procedure to ensure the generalization ability of SVM. The result shows that SVM produces promising results and has the potential for use in fault diagnosis.
251	Leonardo A. Amaral, Fabiano P. Hessel, Eduardo A. Bezerra, Jeronimo C. Correa, "Automating the enterprise business processes in a supply chain environment through RFID services based on CEP technology ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: In retail supply chain segment, RFID technology provides several services opportunities being a leading to higher revenue and profits for retailer and vendor alike. However, to develop and deploy this kind of system, it is necessary an effective software architecture that maps the enterprise business logic with the application events and thus monitor the business behavior allowing that actions could be take according to pre-defined abstractions of business strategies. We believe that elevating the features of RFID data management engine allows increasing the business events integration between different organizations. The combination of RFID and complex event processing technology (CEP) improves the business process automation capabilities where the information sources are objects of the physical world.
252	Ricardo Marin Vallejo, Sophie Hennequin, Kondo Adjallah, Monica Patricia, Hernandez Lodui, Gabriel Diaz, Leonel Castaneda, "Fuzzy expert system for the control of a multi-carburant internal combustion engine ," ETFA 2010, pp. 1 - 4 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: Nowadays, the international community demands to develop new ways to diminish the effects on the growing environmental damage, either by changing development processes and products, or by developing new ways to make those existing products less harmful to the environment. This paper tries to develop an expert system based on fuzzy logic to reduce the pollution produced by spark ignition engines, taking into account not only the carburant aspects, but also the actual state of the engine and the atmospheric condition to have a better view of the actual context in witch the engine is working. The results are part of a collaborative project between EAFIT and LGIPM.
253	M. Dotoli, M. Falagario, A.M. Mangini, F. Sciancalepore, "A novel formulation of the DEA model for application to supplier selection ," ETFA 2010, pp. 1 - 8 , 13-16 Sept. 2010. Abstract Link Full Text Abstract: The paper deals with a key objective of the strategic purchasing function in supply chain management, namely vendor evaluation and selection. We propose a novel formulation of the so-called Data Envelopment Analysis (DEA) technique that overcomes some known drawbacks of DEA in the application to supplier selection in the enterprise integration, New constraints are introduced in the DEA method in order to better mimic the buyer behavior. We call the resulting approach DEA-P (DEA Percentage) because it allows the decision maker to compare the different supplier evaluation criteria by assigning a percentage index expressing the importance of each criterion. A simulated case study demonstrates the effectiveness of the novel method for supplier selection optimization. This work was supported by the Cassa di Risparmio di Puglia Foundation.

Conference Articles - Accepted publication

Conference on Emerging Technologies and Factory Automation

5-9 Sept. 2011 Access to the IES Annual Conference on IEEE XPLORE IE Society Home Page

1	F. Rieckhof, H. Dibowski, K. Kabitzsch, "Formal validation techniques for Ontology-based Device Descriptions ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Ontology-based Device Descriptions (ODDs) have been developed to overcome the shortcomings of established electronic device descriptions. They provide means for a comprehensive support of the whole design process of automation systems and enable an automated design. However, for a proper and faultless design support, the validity and integrity of the OWL based ODDs is essential. For that purpose this paper investigates formal validation techniques for a computerized verification of ODDs. Following, a validator is presented, which combines OWL reasoning with integrity constraints (ICs). The validator assures the consistency, completeness and correctness of ODDs and is capable of checking expressive logical constraints. An explanation component informs the user about constraint violations and gives advice on how to resolve them.
2	R. Drath, M. Barth, "Concept for interoperability between independent engineering tools of heterogeneous disciplines ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Interoperability of engineering tools describes their ability to collaborate with each other across their tool borders, company locations and workflow phases. Therefore it is considered as an important indicator for engineering efficiency - but it is rarely supported by today's heterogeneous industrial software. This paper motivates the need of interoperability, describes the state of the art and its issues, derives requirements and presents a new concept to overcome the mentioned issues. This approach introduces the concepts of Collaboration Objects, Data Ownership and Data Exchange Feedback Loops and utilizes a file based data exchange by means of AutomationML. Finally, the paper describes the developed workflow concept together with required software functionality for a collaboration middleware.
3	C.R. Magar, N. Jazdi, P. Gohner, "Requirements on engineering tools for increasing reuse in industrial automation ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Motivated by increasing demands for efficiency, reuse approaches have been increasingly gaining significance during the last years. System engineering shifted from single systems to product lines. Although the engineering paradigm changed, industrial automation systems within a product line are created with the same engineering tools as single systems. Hence, it becomes relevant to analyze which requirements engineering tools shall fulfill in order to increase reuse within a product line of industrial automation systems. The identified requirements are interesting for the following reasons: first, they are relevant for developers of engineering tools, since they aim to provide competitive products. Second, they are relevant for developers of industrial automation systems, since they reuse existing artifacts in designing new industrial automation systems with the help of engineering tools. Third, the topic is interesting for researchers and practitioners in the field of product line engineering for industrial automation systems who want to know which aspects are already supported by current engineering tools.
4	N. Papakonstantinou, S. Sierla, K. Koskinen, "Generating and validating product instances in IEC 61131–3 from feature models ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Organizations developing control software are faced with the problem of supporting an increasing number of customer options, while the cost of software development needs to be decreased. Feature modeling is a technique for describing mandatory, optional and alternative software features of a product line, so that customer-specific product instances may be derived by selecting among optional and alternative features. Validation of product instances is needed to ensure that none of the rules regarding mandatory, optional, alternative, required or excluded features are violated. An approach for feature modeling, product configuration and code generation is proposed for machine control applications using IEC 61131-3. The approach is supported by a toolset exploiting object oriented extensions to IEC 61131-3 and the PLCopen XML import/export schema.
5	D. van der Linden, H. Mannaert, W. Kastner, V. Vanderputten, H. Peremans, J. Verelst, "An OPC UA interface for an evolvable ISA88 control module ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Normalized systems theory has recently been proposed to engineer evolvable information systems. This theory includes a potential of improvement in control software for the automation of production systems. This paper aims at contributing towards evolvable and therefore easy-to-maintain control software. We introduce IEC 61131-3 code which complies with the theorems of normalized systems, forming a building block which complies with the model of an ISA88 control module, accessible via an OPC UA interface. Since OPC UA brings control software to a new level, it enables original intra-process projects to interoperate in an inter-process context. OPC UA offers new possibilities for system integration, but might also lead to a larger impact of evolvability problems.
6	T. Vepsalainen, S. Kuikka, "Towards model-based development of safety-related control applications ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Model-based techniques have been recently the topic of numerous publications in different domains. In addition to producing revised models and executable applications, model-based techniques could also aid the understandability of design and consistency between design artefacts. These properties are also focal to development of safety-related applications, in addition to the ability to produce documentation about the systems. In this paper, we strive to create a new model-based approach for development of safety-related applications by integrating risk analysis techniques and modeling notations from several related languages and standards. The notations and their characteristics are compared to the requirements of the vital functional safety standard, IEC 61508, and illustrated with an exemplary modeling case.
7	Wei He, Chi Xu, Yintai Ao, Xuejian Xiao, Eng Wah Lee, Eng Leong Tan, "RFID enabled handheld solution for aerospace MRO operations track and trace ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In aerospace maintenance, repair and overhaul (MRO) industry, tracking and tracing the aircraft components using radio frequency identification (RFID) technology can tremendously improve operational efficiency, safety, security, and customer satisfaction. MRO works are performed at both process and operation levels. Due to the mobility requirement, the operation-level track and trace is usually implemented with mobile handheld device (MHD). To cope with the inherent constraints of mobile device including unreliability network connectivity and limited processing power, a MHD system design robust over network failure is proposed. To facilitate the information exchange and data synchronization between MHD and backend systems, an Integrated RFID Information Management and Synchronization (IRIMS) system is proposed. A prototype for the proposed MHD and IRIMS systems is implemented and the testing results confirm the effectiveness of the proposed designs.
8	O. Daramola, T. Stalhane, T. Moser, S. Biffl, "A conceptual framework for semantic case-based safety analysis ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Hazard and Operability (HAZOP) Analysis and Failure Mode and Effect Analysis (FMEA) are among the most widely used safety analysis procedures in the development of safety-critical and embedded systems. These analyses are generally perceived as complex and time-consuming, hindering an effective reuse of previous results or experiences. In this paper we present a conceptual semantic case-based framework for safety analysis, which facilitates the reuse of previous HAZOP and FMEA experiences in order to reduce the time and effort associated with these analyses. We present the core technologies of the conceptual framework and evaluated a prototype of the framework, KROSA, in an experiment with domain experts at ABB Norway. Initial results confirm the viability of the conceptual framework for industrial application.
9	P. Iyenghar, E. Pulvermueller, C. Westerkamp, "Towards Model-Based Test automation for embedded systems using UML and UTP ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Model-based methodologies such as the Model-Driven Development (MDD) and Model-Based Testing (MBT) are being explored, in the recent decade, for automation in embedded software engineering projects. In this context, the target of this paper is to demonstrate the adoption and applicability of the Unified Modeling Language (UML) and the UML Testing Profile (UTP) for deploying MBT in Resource-Constrained (RC)-Real-Time Embedded Systems (RTES). Though the UTP standard has been introduced several years ago, concrete approaches or tool support for generating the test artifacts based on the UTP is currently unavailable. This paper aims to close this gap and discusses a concise set of UTP artifacts in the context of MBT for RC-RTES. A detailed discussion on the test artifacts generation algorithm demonstrating the applicability of our approach in a real-life RC-RTES example is presented.
10	J. Farines, M.H. de Queiroz, V.G. da Rocha, A.M.M. Carpes, F. Vernadat, X. Cregut, "A model-driven engineering approach to formal verification of PLC programs ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a model-driven engineering approach to model and verify PLC programs written in Ladder Diagram. PLC and plant are modeled in FIACRE language according to transformation models. A verification toolchain is built around FIACRE, in order to guarantee the satisfaction of generic and application-oriented properties. The potential of this approach and associated toolchain is tested on a PLC controlled pneumatic system. Transformation from Ladder Diagram to FIACRE models is described in details and verification of PLC alone or linked with a plant is discussed in the application context.
11	L. Pietrac, A. Leleve, S. Henry, "On the use of SysML for manufacturing execution system design ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper, we show that the integration of a new MES within an existing manufacturing system requires to appeal to a method enabling the modeling of interactions between hardware and software components, the modeling of their behavior and their use by production staff. We show how SysML is a language fitting this need and we illustrate this discussion on a real sample.
12	T. Jager, A. Fay, T. Wagner, U. Lowen, "Mining technical dependencies throughout engineering process knowledge ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Within the engineering of automated systems, different engineering disciplines are involved. Typically intermediate results from one discipline are handed over to another discipline. These results are refined throughout domain specific activities, and then handed over to other disciplines, incl. the originating one. This results in hidden dependencies between the involved disciplines, the planning assumptions as well as results, and the technical artefacts. This paper shows a method, proven in the engineering of automated plants in the metal industry, to gain explicit knowledge about the technical dependencies within the engineering of automated systems. Therefore the typical characteristics of the engineering process are described first, followed by a description how to capture the engineering process and a systematic approach to make these dependencies visible.
13	C. Budaciu, A.E. Balau, C. Lazar, "State space delta GPC for automotive powertrain systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Driveability, the ability to quickly respond to drivers action and a high degree of driving comfort is expected in a modern vehicle. Predictive control strategy in the discrete δ domain, in particular State Space δ GPC algorithm, reffered as SS δ GPC can bring significant improvements in terms of choosing a small sampling period. Moreover, this study is particularly relevant for implementation of control design on embedded systems, where the representation can be restricted to a finite number of bits. A δ state space affine model of automotive transmission system is used in order to illustrate the performances of the GPC design in the δ domain. The SS δ GPC is demonstrated to improve on the system response when it is compared with classical GPC using shift operator.
14	M. Strube, S. Runde, H. Figalist, A. Fay, "Risk minimization in modernization projects of plant automation — A knowledge-based approach by means of semantic web technologies ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In high-wage countries the number of Greenfield projects for plant automation is decreasing. In contrast to this, plant modernization becomes more and more important. The estimation of the costs for a re-engineering of the existing plant automation is an error-prone task which has to be done in the bidding phase of a modernization project. This article describes a knowledge-based approach to reduce the risk potential in the bidding phase of plant modernization projects. Based on a concept for rough plant modeling in CAEX and technologies of the semantic web a concept for a software assistance system is presented.
15	M. Loskyll, J. Schlick, S. Hodek, L. Ollinger, T. Gerber, B. Pirvu, "Semantic service discovery and orchestration for manufacturing processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The growing competition between manufacturers demands a higher versatility of factory automation technology. Component based automation principles propose an opportunity to address these challenges by encapsulating the functionality of mechatronic components in an abstract way. Service-oriented approaches depict a promising possibility to realize such architectures. Service discovery and orchestration are the key functionalities of such systems. However, standard web service technologies alone are not suited for the creation of highly-flexible automation systems. We describe a semantic service discovery and orchestration system, which is based on different semantic service technologies, and provide a concept towards the creation of adaptive production processes based on our experiences during practical implementation.
16	C. Legat, C. Seitz, B. Vogel-Heuser, "Unified sensor data provisioning with semantic technologies ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The growing demand for improved reactivity to market trends faces manufacturing systems with new changeability requirements under increasing complexity constraints. Sensors are the ears and eyes of systems controlling automated production processes. Additionally, they provide necessary information to monitoring and maintenance applications which are also forced to be adaptable to system evolution. Semantic technologies are key enabler to foster integration and interoperability of large-scale, heterogeneous data sources. In this paper, we discuss approaches to integrate semantic technology with the upcoming standard OPC-UA and present a solution to taps the full potential of both through semantic-based sensor discovery and automatic sensor data provisioning with OPC-UA.
17	W. Hargassner, B. Dorninger, "Leveraging OSGi and Eclipse technologies for a service oriented middleware in industrial machines ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Eclipse technologies are widely used for desktop and even enterprise solutions. In contrast, the use of Eclipse technologies in automation is less common. Together with our customer, we have developed a service oriented middleware based on OSGi and Eclipse for loosely coupling real-time control software with machine and process visualization applications. We will show the requirements steering us towards these technologies and will elaborate on design, implementation and deployment. The insights gained from these steps show the adequacy of selected Eclipse technologies for serving tasks in machine automation software.
18	D. Schutz, M. Schraufstetter, J. Folmer, B. Vogel-Heuser, T. Gmeiner, K. Shea, "Highly reconfigurable production systems controlled by real-time agents ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Flexible plant components can significantly increase the flexibility of manufacturing systems and enable concepts like mass-customized production. This paper presents an approach for production planning and execution for flexible manufacturing system components, based on software agents. The agents are implemented directly on a PLC, making them capable of real-time operation. Additionally, a service-interface contributes to the vertical integration of the approach into the higher level planning of a flexible production system. Using the presented software agents, flexible plant components can be fully automated and integrated in modern FMS, leading to a higher degree of flexibility and dependability of the overall system. The approach is evaluated on a flexible fixture device as a FMS component, capable of automatic reconfiguration.
19	A. Gellrich, V. Vasyutynskyy, T. Wagner, K. Kabitzsch, "Modeling of transport times in partly observable factory logistic systems based on event logs ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Internal logistic systems are an important part of the modern industry. Their design involves as a rule elaborate simulations. However, during the lifetime of a factory, simulation models of the transport system often become outdated as components are added or removed and the laborious maintenance of the models is neglected. Nonetheless, for performance optimization of the transport system, accurate, up-to-date models are needed. This paper describes an approach to semi-automatically generate a transport time model based on event logs and elementary routing knowledge about a running factory. Both kinds of data are usually readily available and reflect the current system behavior. The purpose of this approach is to establish a basis for revealing optimization potential of transport systems and to lessen the effort of setting up a detailed simulation model.
20	A. Ben Khedher, S. Henry, A. Bouras, "Integration between MES and Product Lifecycle Management ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Today, within the global Product Lifecycle Management (PLM) approach, success of design, industrialization and production activities depends on the ability to improve interaction between information systems that handle such activities. Enterprises deploy mainly PLM system, Enterprise Resource Planning system (ERP) and Manufacturing Execution System (MES) in order to manage sufficient product-related information and provide better customer-products. This paper proposes a methodological approach to integrate product data generated during product design, industrialization and production. This involves the PLM and MES integration. Thus, the proposed approach aims to overcome the problem of data heterogeneity by proposing a mediation system resolving syntactic and semantic conflicts.
21	O. Kleineberg, P. Frohlich, D. Heffernan, "Fault-tolerant Ethernet networks with Audio and Video Bridging ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industrial Ethernet networks are now a common feature on today's factory floors. Vendor-specific technologies, such as Profinet IRT, have demonstrated Ethernet networks with hard real-time (RT) properties. Specified by the IEEE, the Audio and Video Bridging (AVB) technology promises a standardized approach to RT Ethernet. However, AVB has been conceived for other application fields, e.g. home entertainment systems. Several aspects necessary for AVB's potential use in industrial automation solutions are not covered by the standard. One important aspect is the usage of redundant communication paths to increase fault tolerance. In this paper, a method of achieving redundancy with AVB is proposed. It has been verified through simulation and has been proposed to the AVB Task Group for use in future revisions of the standard.
22	S. Bocchino, M. Petracca, P. Pagano, M. Ghibaudi, F. Lertora, "SPEED routing protocol in 6LoWPAN networks ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The integration of the Wireless Sensor Networks (WSNs) technology in the Internet world is one of the biggest challenges to enable the Internet of Things (IoT) vision. In order to really benefit of such kind of integration the IPv6 addressing method and communication protocols adopted in the IoT must be modified to match the WSNs scenario. This adaptation has been standardized with the name of IPv6 over Low power Wireless Personal Area Networks (6LoWPAN). In this paper the first adaptation of the SPEED geographic routing algorithm in a 6LoWPAN scenario is presented and its experimental validation in a real testbed is shown as compared with the AODVprotocol. Avoiding route creation time and showing reduced memory occupation, load balancing and flow shaping properties SPEED is an effective solution to support packet routing in 6LoW-PAN networks.
23	W.M. Sofack, M. Boyer, "Non preemptive static priority with network calculus ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper addresses performance analysis of embedded real time networks. We use network calculus to assess the quality of service of a residual flow in a context of aggregation with non preemptive fixed priority scheduling. The main contribution concerns the evaluation of the residual service, given to the low priority flows. In previous works, the effect of the non-preemption seems to be not well taken into account. In particular, when a non preemptive flow is served, it benefits from the full speed from the server, even if, from a long term point of view, it gets only a fractional part. The modeling of this aspect is the starting point of this work.
24	J. Silvestre-Blanes, P. Pedreiras, R. Marau, "Bandwidth mapping algorithms in distributed media control applications ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industrial media control applications require on-line QoS management services to dynamically allocate the bandwidth among the entities that compose the distributed application. The bandwidth distribution mechanism assigns bandwidth to each entity based on the QoS requirements and the current state of the network. However, mapping that bandwidth into operational parameters that serve the scheduling model of the network is not straightforward. Due to systems constraints, this is not a bijective function, therefore multiple solutions may mathematically represent the same bandwidth value but lead to different application performance levels. This paper presents two mapping algorithms and analyzes their performance in this context. The obtained results show that the selection of this mapping algorithm is highly relevant for the application performance.
25	D.A. Khan, R.I. Davis, N. Navet, "Schedulability analysis of CAN with non-abortable transmission requests ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The analysis of the real-time properties of an embedded communication system relies on finding upper bounds on the Worst-Case Response Time (WCRT) of the messages that are exchanged among the nodes on the network. The classical WCRT analysis of Controller Area Network (CAN) implicitly assumes that at any given time, each node is able to enter its highest priority ready message into arbitration. However, in reality, CAN controllers may have some characteristics, such as non-abortable transmit buffers, which may break this assumption. This paper provides analysis for networks that contain nodes with non-abortable transmit buffers, as well as nodes that meet the requirements of the classical analysis. The impact on message WCRTs due to a limited number of transmission buffers with non-abortable behaviour is examined via two case-studies.
26	M. Short, I. Sheikh, S. Aley, I. Rizvi, "Bandwidth-efficient burst error tolerance in TDMA-based CAN networks ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Many distributed control systems employ TDMA-based communication over CAN in order to meet realtime constraints. Whilst this form of media access control brings several timeliness benefits, studies have also illustrated negative effects on transmission reliability. This paper extends the `window transmission' technique which was recently proposed by the authors to help overcome this problem in TDMA-based networks to include the effects of correlated (burst) errors. This paper employs a simple Markov model to describe burst error behaviors in a CAN network, and the model is used to develop an algorithm for calculating TDMA slot sizes which aim to provide prespecified statistical guarantees of message delivery. Computational results are presented which indicate that the technique can reduce the amount of bandwidth needed for specified reliability levels by a significant factor when compared to the use of message duplicates. The paper is concluded with an empirical study which provides further supportive evidence for the described technique.
27	I.C. Bertolotti, Tingting Hu, "Real-time performance of an open-source protocol stack for low-cost, embedded systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Modern embedded devices often require some form of network connectivity, to offer features like remote configuration, diagnostics, and firmware updates. The availability of open-source, lightweight, and portable protocol stacks, makes this goal relatively easy to accomplish, even on very low-cost devices. Interoperability is guaranteed because they implement, at the very least, the TCP/IP and UDP/IP protocols on an Ethernet interface. However, these applications are quite undemanding for what concerns real-time and, for this reason, little is known about the real-time characteristics of the underlying protocol stacks. This paper shows that an open-source protocol stack, when properly coupled with a real-time operating system and an Ethernet interface, can indeed reach an acceptable performance level and thus support an Ethernet-based field bus protocol on the device side.
28	A. Nagy, R. Exel, P. Loschmidt, G. Gaderer, "Time-based localisation in unsynchronized wireless LAN for industrial automation systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In the recent years, the term wireless factory automation began raising interest. Its probably most appreciated feature, mobility, is yet acknowledged as the key for new applications. Nevertheless, this apparent freedom comes with a palette of requirements, whereof one is localisation. Although locating systems have been an extensive research topic for years, industrial systems impose additional constraints, both in terms of accuracy and scalability. Typically, for state-of-the-art time-based locating systems one assumes that the network infrastructure is perfectly synchronized. However, in large-scale cellular wireless industrial networks this is not achievable without redesigning the complete infrastructure. This paper proposes a differential time difference of arrival based localisation system using IEEE802.11, which eliminates the need for clock synchronization.
29	S. Kabisch, D. Peintner, J. Heuer, H. Kosch, "Optimized XML-based Web service generation for service communication in restricted embedded environments ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Embedded network programming remains a highly complex task for developers since unique characteristics of such networks have to be faced: one of them is the communication between a diversity of resource constraint nodes. Another one is the infrastructure dynamics. The widely-used standardized Web service technologies would perfectly meet such unique characteristics and ease the development of applications. Such technologies that enable, e.g., requesting or subscribing service data, however, process usually plain XML documents which are not suitable for small embedded devices with very limited resources. This is due to XML's verbosity, its bandwidth usage, and its associated processing overhead. The paper addresses these issues and describes an innovative and optimized source code generation technique by means of W3C's Efficient XML Interchange (EXI) format for developing XML-based Web services for the embedded domain. This offers developers a seamless use of the wide-spread service protocols in the embedded domain as well. Evaluation results based on the dataset from the ISO/IEC standardization of the vehicle to grid communication interface (V2G CI) prove the applicability of the generated XML-based Web services of restricted devices in terms of message size, performance, and code footprint.
30	G. Cena, S. Scanzio, A. Valenzano, C. Zunino, "Evaluation of the real-time properties of open-source protocol stacks ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: At present, two important trends in industrial environments are the adoption of Ethernet-based technologies to interconnect devices and the use of PCs provided with open-source real-time operating systems to execute control applications. This makes the implementation of distributed control systems easier and inexpensive. In these cases, it is of utmost importance that response times concerning the messages exchanged over the network be deterministically bounded. In this paper, the contribution to the end-to-end transmission delay which is due to the latencies introduced by the local protocol stack is analysed through experimental evaluation. In particular, two popular stacks have been taken into account, that is the one provided in conventional Linux and RTnet.
31	J. Imtiaz, J. Jasperneite, S. Schriegel, "A proposal to integrate process data communication to IEEE 802.1 Audio Video Bridging (AVB) ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper investigates prospects of the emerging IEEE 802.1 Audio Video Bridging (AVB) Ethernet standard in industrial automation applications. The notion of a small and predictable latency is common for both industrial and multimedia (audio, video) applications. The inbuilt characteristics of 802.1 AVB that includes synchronization, real-time traffic scheduling & shaping and resource reservation makes it a real-time capable Ethernet solution, which can be used for the process control applications as well. This paper presents a way to integrate the industrial process data communication to the lower layer services of IEEE 802.1 AVB, and describes a demonstrator implemented for a proof of concept.
32	L. Seno, S. Vitturi, F. Tramarin, "Experimental evaluation of the service time for industrial hybrid (wired/wireless) networks under non-ideal environmental conditions ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In industrial communication systems, the unavailability of models of real components, in particular of their behavior in the presence of non-ideal channels, often leads to consistent differences between theoretical/simulative analysis and experimental results. In this paper we consider a hybrid (Ethernet/IEEE 802.11) network employing access points from different vendors and measure a specific performance index, namely the service time, for various transmission rates focusing on the effects of both internal component behaviors and channel conditions. The obtained results show how, in case of small payload packets transmitted on noisy channels, the choice of a fixed low transmission rate guarantees better service times. Indeed, decreasing the transmission rate on the wireless segment below 54 Mb/s reveals effective, since it limits the occurrence of packet errors and the consequent retransmissions reducing the service time variability to the intrinsic randomness of the employed devices.
33	J.A. Palazon, M. Sepulcre, J. Gozalvez, J. Orozco, O. Lopez, "Heterogeneous wireless connectivity for fixed and mobile sensing applications in industrial environments ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Improving the workers' health and safety should be a key priority in the design and development of the Factory of the Future concept. To this aim, ICT and wireless communication technologies in particular, can represent very valuable tools to implement distributed and mobile sensing applications capable to continuously sense the working environment and the workers' health and safety conditions. However, the harsh propagation conditions that can characterise industrial environments can complicate the efficient and reliable deployment of wireless solutions in factories. In this context, this paper evaluates the reliability and connectivity of heterogeneous wireless technologies that can be used for implementing fixed and mobile sensing applications.
34	E. Toscano, L.L. Bello, "Probabilistic feasibility assessment of real-time wireless networks for factory automation with mobile nodes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper proposes a framework for probabilistic schedulability assessment of a real-time wireless factory automation network consisting of multiple automation cells, in the presence of mobile nodes that roam from one cell to another one to accomplish application tasks along a set of predefined paths. The paper contribution is an offline analysis which, on the basis of information about the parameters of the real-time flows, the network topology and the movement patterns of mobile nodes, allows the designer to obtain the probability that the network, at runtime and in the absence of faults, will be schedulable. A case study shows how to apply the proposed analysis to offline dimensioning of the wireless network.
35	M. Short, "Improved schedulability analysis of implicit deadline tasks under limited preemption EDF scheduling ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Limited-preemption forms of uniprocessor scheduling provide a practical trade-off between flexibility and system overheads in embedded kernels. This paper considers the limited-preemption scheduling of implicit deadline tasks using the EDF algorithm. Upper bounds for the occurrence of a deadline miss in these task sets are derived, and employed to create several sufficient schedulability tests of increasing complexity and tightness. Exact analysis is then considered, and an algorithm with polynomial-time complexity is developed for situations in which the CPU utilization is bounded to be less than unity. Experimentally, the sufficient tests are shown to have acceptance ratios increasing from ≈60% up to ≈ 99%, and the number of evaluated deadlines required for the exact test is reduced by several orders of magnitude over previously known techniques.
36	M. Negrean, M. Neukirchner, S. Stein, S. Schliecker, R. Ernst, "Bounding mode change transition latencies for multi-mode real-time distributed applications ," ETFA 2011, pp. 1 - 10 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Predicting timing behaviour is essential for the design of embedded real-time systems that can switch between different operational modes at runtime. The settling time of a mode change, called mode change transition latency, is an important system parameter. Known approaches that address the problem of timing analysis for multi-mode real-time systems are restricted to applications without communicating tasks. Also, these assume that transitions are initiated only during a steady state, however, without indicating when a system executes in a steady state. In this paper, we present an analysis algorithm which gives a maximum bound on each mode change transition latency of multi-mode distributed applications thereby overcoming limitations of previous work. We explain the algorithm, prove its correctness, illustrate the steps and provide experimental data that show its usefulness.
37	S. Mubeen, J. Mam-Turja, M. Sjodin, "Extending schedulability analysis of Controller Area Network (CAN) for mixed (periodic/sporadic) messages ," ETFA 2011, pp. 1 - 10 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The schedulability analysis of Controller Area Network (CAN) developed by the research community is able to compute the response times of CAN messages that are queued for transmission periodically or sporadically. However, there are a few high-level protocols for CAN such as CANopen and Hägglunds Controller Area Network (HCAN) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. Thus, it does not exhibit a periodic activation pattern. The existing analysis of CAN does not support the analysis of mixed messages. We extend the existing analysis to compute the response times of mixed messages. The extended analysis is generally applicable to any high level protocol for CAN that uses any combination of periodic, event and mixed (periodic/event) transmission of messages.
38	J. Akerberg, F. Reichenbach, M. Gidlund, M. Bjorkman, "Measurements on an industrial wireless HART network supporting PROFIsafe: A case study ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Contrary to the various theoretic publications on safety-critical communication over wireless, this paper will show the actual performance of safety-critical communication in a real plant with all its environmental influences. We used PROFIsafe as a functional safety profile on top of the WirelessHART protocol. Separately these technologies are widely used in industry for safety and wireless communication respectively, but it has never been shown that the combination of them is feasible for safety-critical communication. The main focus of this work is to measure and analyze the round-trip time and the bit error rate of the safety-critical communication in order to identify whether the certification requirements of PROFIsafe holds. We will show that it is technically feasible to run safety-critical data over wireless links. However, long round trip times and high noise in the channel at certain locations in the plant are unacceptable with respect to certification and need further investigations.
39	F. Fauberteau, S. Midonnet, L. George, "Laxity-based restricted-migration scheduling ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: We focus on the real-time multiprocessor scheduling of periodic tasksets. We propose a new static priority scheduling algorithm based on the restricted-migration approach. Restricted-migration approach is a global scheduling approach for which the number of migrations is bounded just by one migration per job at most. Our algorithm uses the laxity of already admitted jobs to decide the admission of newly arrived jobs. We prove that this algorithm is predictable. We give a feasible interval and we propose a utilization bound for this algorithm. We also compare our algorithm to other global algorithms in terms of schedulability by simulations.
40	L. Santinelli, P.M. Yomsi, D. Maxim, L. Cucu-Grosjean, "A component-based framework for modeling and analyzing probabilistic real-time systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A challenging research issue of analyzing a real-time system is to model the tasks composing the system and the resource provided to the system. In this paper, we propose a probabilistic component-based model which abstracts in the interfaces both the functional and non-functional requirements of such systems. This approach allows designers to unify in the same framework probabilistic scheduling techniques and compositional guarantees that go from soft to hard real-time. We provide sufficient schedulability tests for task systems using such framework when the scheduler is either preemptive Fixed-Priority or Earliest Deadline First.
41	M. Marouf, Y. Sorel, "Scheduling non-preemptive hard real-time tasks with strict periods ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Non-preemptive real-time scheduling and the corresponding schedulability analyses have received considerable less attention in the research community, compared to preemptive real-time scheduling. However, non-preemptive scheduling is widely used in industry, especially in the case of hard real-time systems where missing deadlines leads to catastrophic situations and where resources must not be wasted. In many industries such as avionics tasks may have strict periods, i.e. the start times of their executions must be separated by a fixed period. Indeed, this strict periodicity is generally required by sensors and actuators which may have accurate periods. In this paper we consider separately the case where tasks have harmonic periods and the case where tasks have non-harmonic periods. Thus, the general case becomes a combination of both cases. In the harmonic case we give schedulability conditions to verify that a set of tasks is schedulable. In the non-harmonic case, in order to prove that a set of tasks is schedulable we propose local schedulability conditions that we apply iteratively to each task of the set in order to verify that this current task, added to a sub-set of tasks already scheduled, leads to a schedulable set of tasks.
42	M. Forget, E. Grolleau, C. Pagetti, P. Richard, "Dynamic priority scheduling of periodic tasks with extended precedences ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The software architecture of a critical embedded control system generally consists of a set of multi-periodic communicating tasks. In order to be able to describe such a system, we define the notion of semaphore precedence constraint, which supports multi-rate communications that follow regular repetitive patterns. We propose a feasibility test for EDF and we study three implementations, for periodic task sets related by such extended precedences on monoprocessor architectures.
43	R. Inam, J. Maki-Turja, M. Sjodin, S.M.H. Ashjaei, S. Afshar, "Support for hierarchical scheduling in FreeRTOS ," ETFA 2011, pp. 1 - 10 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents the implementation of a Hierarchical Scheduling Framework (HSF) on an open source real-time operating system (FreeRTOS) to support the temporal isolation between a number of applications, on a single processor. The goal is to achieve predictable integration and reusability of independently developed components or applications. We present the initial results of the HSF implementation by running it on an AVR 32-bit board EVK1100. The paper addresses the fixed-priority preemptive scheduling at both global and local scheduling levels. It describes the detailed design of HSF with the emphasis of doing minimal changes to the underlying FreeRTOS kernel and keeping its API intact. Finally it provides (and compares) the results for the performance measures of idling and deferrable servers with respect to the overhead of the implementation.
44	M. Lauer, J. Ermont, F. Boniol, C. Pagetti, "Latency and freshness analysis on IMA systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The Integrated Modular Avionics (IMA) architectures have been defined for sharing communication and computation resources. The aim of this paper is to evaluate latency and freshness properties of functions implemented on IMA platforms. The two contributions are : (1) a modeling approach for IMA platforms based on the tagged signal model and the abstraction of the network, (2) the definition of an evaluation method for these properties based on Integer Linear Programming (ILP). The industrial applicability of the method is showed on an Airbus A380-like platform. We propose a discussion on the significance of the over-approximations induced by the abstraction. This work is supported by the French National Research Agency within the Satrimmap project.
45	M. Marinoni, M. Bambagini, F. Prosperi, F. Esposito, G. Franchino, L. Santinelli, G. Buttazzo, "Platform-aware bandwidth-oriented energy management algorithm for real-time embedded systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A crucial objective in battery operated embedded systems is to work under the minimal power consumption that provides a desired level of performance. Dynamic Voltage and Frequency Scaling (DVFS) and Dynamic Power Management (DPM) are typical techniques used on processors and devices to reduce the power consumption through speed variations and power switching, respectively. The effectiveness of DVFS and DPM methods needs to be considered in the development of a power management policy for systems that consist of DVFS-enabled or DPM-enabled components. This paper explores how to efficiently reduce the power consumption of real-time applications with constrained resources, like energy, CPU and transmission bandwidth. A combined DVFS-DPM approach with a reduced complexity is proposed to make use of on-line strategies for embedded systems.
46	N.M. Khalilzad, T. Nolte, M. Behnam, M. Asberg, "Towards adaptive hierarchical scheduling of real-time systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Hierarchical scheduling provides a modular framework for integrating, scheduling and guaranteeing timing constraints of compositional real-time systems. In such a scheduling framework, all modules should receive a sufficient portion of the shared CPU to be able to guarantee timing constraints of their internal parts. In dynamic systems i.e., systems where the execution time of tasks are subjected to sudden and drastic changes during run-time, assigning fixed CPU portions to the modules is conducive to either low CPU utilization or numerous task deadline misses. In this paper, in order to address this problem, we propose an adaptive CPU allocation method which dynamically assigns CPU portions to the modules during runtime based on their current CPU demand. Besides, the presented approach is evaluated using a series of different simulations. In addition, we present a method for scheduling modules in situations when the CPU resource is not sufficient for scheduling all modules. We introduce the notion of module (subsystem) criticality, and in an overload situation we distribute the CPU resource based on the criticality of modules.
47	J. Chen, L.L. Ferreira, E. Tovar, "An Explicit GTS allocation algorithm for IEEE 802.15.4 ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The IEEE 802.15.4 standard provides appealing features to simultaneously support real-time and non realtime traffic, but it is only capable of supporting real-time communications from at most seven devices. Additionally, it cannot guarantee delay bounds lower than the superframe duration. Motivated by this problem, in this paper we propose an Explicit Guaranteed time slot Sharing and Allocation scheme (EGSA) for beacon-enabled IEEE 802.15.4 networks. This scheme is capable of providing tighter delay bounds for real-time communications by splitting the Contention Free access Period (CFP) into smaller mini time slots and by means of a new guaranteed bandwidth allocation scheme for a set of devices with periodic messages. At the same the novel bandwidth allocation scheme can maximize the duration of the CFP for non real-time communications. Performance analysis results show that the EGSA scheme works efficiently and outperforms competitor schemes both in terms of guaranteed delay and bandwidth utilization.
48	M. Behnam, R. Marau, P. Pedreiras, "Analysis and optimization of the MTU in real-time communications over Switched Ethernet ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The Flexible Time-Triggered communication over Switched Ethernet protocol (FTT-SE) was proposed to overcome the limitation of guaranteeing the real-time communication requirements of conventional switches, and at the same time to support reconfiguration of dynamic adaptive systems. The protocol fragments large messages into a sequence of packets that are individually scheduled. The maximum transmission unit (MTU), that restricts the packets size, has a significant effect on the schedulability of the packets. In this paper, we investigate the problem of selecting the optimal MTU size that maximizes the schedulability of real-time messages. We propose two algorithms to find optimal/sub-optimal values of MTU; the first one finds an optimal solution but exhibits high computational complexity, while the second one is sub-optimal but exhibits a lower computational complexity. Finally, we evaluate our proposed algorithms by means of simulation studies and compare their results with the results of assigning MTU to the maximum packet size that the protocol can allow.
49	A. Azim, S. Fischmeister, "Resolving state inconsistency in distributed fault-tolerant real-time dynamic TDMA architectures ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: State consistency in safety-critical distributed systems is mandatory for synchronizing distributed decisions as found in dynamic time division multiple access (TDMA) schedules in the presence of faults. A TDMA schedule that supports networked systems making decisions at run time is sensitive to transient faults, because stations can make incorrect local decisions at run time and cause state inconsistency and collisions. We refer to this type of TDMA schedule as a dynamic TDMA schedule. Faulty decisions are especially undesirable for safety-critical systems with hard real-time constraints. Hence, real-time communication schedules must have the capability of detecting state inconsistency within a fixed amount of time. In this paper, we show through experimentation that state inconsistency is a real problem, and we propose a solution for resolving state inconsistency in TDMA schedules.
50	P. Marti, M. Velasco, J. Yepez, E.X. Martin, "Lowering traffic without sacrificing performance in Networked Control Systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In Networked Control Systems (NCS), the amount of control data exchanged between sensors, controllers and actuators nodes highly depends on the control performance specifications given to each networked control loop. The periodic execution of each loop helps meeting the control specifications while imposing a static network traffic. This paper presents an alternative execution mechanism for each networked control loop that permits to dynamically lower the traffic while ensuring the same or better control performance than the achieved by the periodic case. Simulation results illustrate the theoretical analysis.
51	J.-C. Billaut, "New scheduling problems with perishable raw materials constraints ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In production manufacturing systems, raw materials that are required for the production process are supposed to be present in sufficient quantities. The ordering of these products is given by an inventory management policy. We consider in this paper raw materials, that are present in sufficient quantities and that can be stored for a long time in containers under specific conditions (temperature, pressure, ...). The peculiarity is that the quality of these raw materials decreases as soon as they are open for being used. At this moment, the product has to be used before a given deadline, or it is lost. Two types of objective functions are associated to the use of such raw materials: the total cost of lost products (economic objective) and the total quantity of lost products (environmental objective). We present in this paper this new scheduling framework, which brings new constraints and new objective functions. We show that the single machine problem with equal-length jobs and only one product is already NP-hard and we propose mathematical formulations for two single-machine problems and an MIP model, which is briefly evaluated.
52	M.R. Shoaei, S. Miremadi, K. Bengtsson, B. Lennartson, "Reduced-order synthesis of operation sequences ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In flexible manufacturing systems a large number of operations need to be coordinated and supervised to avoid blocking and deadlock situations. The synthesis of such supervisors soon becomes unmanageable for industrial manufacturing systems, due to state space explosion. In this paper we therefore develop some reduction principles for a recently presented model based on self-contained operations and sequences of operations. First sequential operation behaviors are identified and related operation models are simplified into one model. Then local transitions without interaction with other operation models are removed. This reduction principle is applied to a synthesis of non-blocking operation sequences, where collisions among moving devices are guaranteed to be avoided by a flexible booking process. The number of states in the synthesis procedure and the computation time is reduced dramatically by the suggested reduction principle.
53	J.-C. Billaut, P. Lopez, "Characterization of all ρ-approximated sequences for some scheduling problems ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Some scheduling problems present the peculiarity to be solvable in polynomial time and to have a huge number of optimal solutions. In the disturbed environment of a production manufacturing system, where the forecasted schedule is going to change because of unexpected events or uncertainties, it can be interesting not only to know one or several optimal sequences, but the characteristics of `good' sequences. In this paper, we focus on the characterization of all the ρ-approximated sequences, which are solutions of a scheduling problem with a performance not worse than a given distance from the value of the optimal solution. With the support of the lattice of permutations, we define the characteristics of the optimal sequences for some particular scheduling problems. We present a method which is able, for some specific scheduling problems, to give the characteristics of all the ρ-approximated sequences. A computational experience is carried out to evaluate the performance of the proposed method.
54	YuFeng Chen, ZhiWu Li, K. Barkaoui, "Optimal Petri net supervisor with lowest implemental cost for flexible manufacturing systems ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper develops a place invariant based deadlock prevention method to obtain an optimal Petri net supervisor by considering its implemental cost. A supervisor is expressed by control places and the arcs connecting control places to transitions. We assign an implemental cost for each control place and arc. Maximally permissiveness can be achieved by designing place invariants that make all legal markings reachable while all first-met bad marking unreachable. By solving an integer linear programming problem (ILPP), a set of optimal control places are obtained and the objective function is used to minimize the implemental cost of the final supervisor. A vector covering approach is used to reduce the number of constraints and variables in the ILPP, aiming to reduce the computational overhead of the proposed method. Finally, a number of examples are used to illustrate the proposed approach.
55	B. Svensson, N.K. Nia, F. Danielsson, B. Lennartson, "Sheet-metal press line parameter tuning using a combined DIRECT and Nelder-Mead algorithm ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: It is a great challenge to obtain an efficient algorithm for global optimisation of nonlinear, nonconvex and high dimensional objective functions. This paper shows how the combination of DIRECT and Nelder-Mead algorithms can improve the efficiency in the parameter tuning of a sheet-metal press line. A combined optimisation algorithm is proposed that determines and utilises all local optimal points from DIRECT algorithm as Nelder-Mead starting points. To reduce the total optimisation time, all Nelder-Mead optimisations can be executed in parallel. Additionally, a Collision Inspection Method is implemented in the simulation model to reduce the evaluation time. Altogether, this results in an industrially useful parameter tuning method. Improvements of an increased production rate of 7% and 40% smoother robot motions have been achieved.
56	J.C. Gonzalez-Castolo, E. Lopez-Mellado, "State estimation of partially observable des using Fuzzy timed Petri Nets ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper addresses state estimation of partially observable discrete event systems exhibiting variations on the duration of activities; the system state is approximated by the marking of Fuzzy timed Petri Net (FtPN) models. For this purpose a definition of FtPN is presented in which fuzzy sets are associated to non-observable places for representing the ending time uncertainty of activities. The marking uncertainty for two subclasses of FtPN is analyzed: marked graphs and state machines. Afterwards the marking uncertainty bound of such models including observable places is studied for obtaining an evaluation on the quality of the state estimation.
57	S. Darmoul, H. Pierreval, S. Hajri-Gabouj, "Using ontologies to capture and structure knowledge about disruptions in manufacturing systems: An immune driven approach ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Artificial immune systems have recently been identified as a promising approach to assist decision makers in managing occurrences of unexpected disruptions in manufacturing systems. However, the design of such systems requires capturing and structuring knowledge related to disruptions. Such knowledge consists of manufacturing system specificities, control principles, disruption features, etc. Based on biological immune concepts, we design a generic ontology framework to capture this knowledge. This framework can be used as an initial basis to incorporate more specific disruption knowledge models in specific domain applications. An ontology implementation is proposed using the OWL language and Protégé ontology editor.
58	J. Rossmann, K. Eilers, "Translating robot programming language flow control into Petri nets ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper describes how structures for the flow control in robot programming languages can be translated into Petri nets. Structures common to many robot programming languages are identified and their representation in the realm of Petri nets is described. This common representation of robot programs allows us to apply to them techniques originally developed for Petri nets. An example of how to combine the single structures into Petri nets representing larger robot programs and future prospects of these efforts conclude the work.
59	R. Zanasi, F. Grossi, N. Giuliani, "Dynamic modeling and control of a new automatic corking machine for threaded plastic caps ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The aim of this work is to model a new electromechanical system for applications in the field of automated corking machines. The paper presents the dynamic modeling of a new automatic corking machine for threaded plastic caps. The model is obtained using the energy-based modeling technique named “Power-OrientedGraphs” (POG). The considered corking machine is an electromechanical system with two degrees of freedom composed by two electrical motors moving a ball screw/spline that realizes the linear/rotary motion necessary to screw a plastic cap on a bottle. The paper presents the dynamic model of the machine and the interaction between the cap and the bottle. In the paper a control algorithm is proposed. Some simulation results are presented and compared to experimental results.
60	S. Schreiber, A. Fay, "Requirements for the benchmarking of decentralized manufacturing control systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The research community of manufacturing control systems has a high demand for reference systems to evaluate and compare their algorithms. Most of the reference systems used in scientific works are not fully described in publications or even undefined, making valid comparisons of different algorithms impossible. In this article, we evaluate the state-of-the-art in reference systems and derive requirements for benchmarking such systems to increase comparability. Based on these requirements, we define three Complexity Dimensions: operational scenario, plant scenario, and transport system scenario. We utilize these Complexity Dimensions to generate a set of 36 scenarios to be used in reference systems for making them more suitable for comparison and evaluation of manufacturing control algorithms.
61	A.P. Estrada-Vargas, J.-J. Lesage, E. Lopez-Mellado, "Stepwise identification of automated discrete manufacturing systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper deals with the identification of discrete event systems that are automated through a programmable logic controller (PLC). The behavior of the closed loop system (PLC and Plant) is observed during its operation and is represented by a single long sequence of input/output vectors. The proposed method allows building stepwise an interpreted Petri net model, which is updated when new behavior is observed. The identification strategy is composed of several polynomial time algorithms implemented in a software tool that creates and draws the IPN model.
62	M. Teixeira, J.E.R. Cury, M.H. de Queiroz, "Local modular Supervisory Control of DES with distinguishers ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Among the several extensions of Supervisory Control Theory, local modular control (LMC) is shown to be a computationally efficient approach for the synthesis of supervisors in composite Discrete Event Systems (DES) with multiple specifications. In the same way, the use of distinguishers is an approach that refines each event into a set representing specific instances of its occurrences. This new alphabet is chosen to make feasible the modeling of complex specifications. This paper shows that LMC and distinguishers can be combined in such a way that each modular supervisor can be computed locally either using the distinguishers or not whenever appropriate. Our main result shows that this combination leads to the same global behavior as the solution of the LMC with equivalent complex specifications in the non-refined alphabet. The contributions are illustrated in the context of a manufacturing line.
63	J. Lopez-Grao, J. Colom, "On the deadlock analysis of multithreaded control software ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The long interest in finding efficient solutions to deadlock occurrence induced by resource sharing is persistent in the context of concurrent control software production. Petri net-based correction techniques which were traditionally applied in the context of flexible manufacturing systems (FMS) constitute a promising new approach. In this vein, Gadara nets were introduced as an attempt to import the strengths of these techniques into the software domain. In this paper, we prove that these Petri nets are close to a subclass of S⁴PR (a widely-exploited class in the context of FMS) and provide some related equivalence results. Some limitations which Gadara nets present for the modelling and automated correction of software are also unveiled. Last but no least, we present formal proofs of the theorems characterising non-liveness in Gadara nets. To our knowledge, no such proofs were published before.
64	G. Faraut, L. Pietrac, E. Niel, "Process tracking by equivalent states in modal supervisory control ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper proposes an extension of the process tracking in modal supervisory control that takes into account the models of the controlled processes which are not trimmed. Indeed, in Supervisory Control Theory (SCT), when a process is not controllable to respect the specifications, the controlled process is computed by the algorithm of the supremal controllable sublanguage. However, the final step of the algorithm of the supremal controllable sublanguage computes the trim of the model. This is coherent to remove states that are neither accessible nor co-accessible because the process is a unique model. Nevertheless, in the case where the design is done with many models, like in modal approach, some inaccessible states in a mode can be accessible from another one. The proposed framework identifies the accessible states, called equivalent states, by other models. This identification uses the name of states to determine their equivalents among models of modes. The aim is to improve switching modes, not only by using languages, but also the name of states in the automata.
65	F. Basile, P. Chiacchio, J. Coppola, "A hybrid model for the control and the analysis of complex automated warehouse systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: An automated warehouse system has two main components: an automated storage and retrieval subsystem consisting of a number of aisles, each one served by a crane, and a picking area which is formed by bays where stock units coming from the aisles are partially emptied by human operators. These two components are connected via an interface area consisting of carousels, conveyors and buffers. This area is usually modeled as a discrete event system, while the overall system performance depends also on continuous time phenomena. A hybrid model focusing on the interface area is proposed in this paper to improve the control and the analysis of complex automated warehouse systems. A real case study is considered to show the effectiveness of the approach.
66	P. Lacomme, N. Tchernev, M.J. Huguet, "Dedicated constraint propagation for Job-Shop problem with generic time-lags ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper addresses the Job-Shop scheduling problem with generic time-lags (JSPGTL). This problem is a generalization of the Job-Shop scheduling problem where extra (minimum and maximum) delays can be introduced between any operations. First a state of the art on the job-shop scheduling with time-lags is provided and we outline that the determination of a feasible solution for the JSPGTL is clearly a difficult problem as contrary to more basic time-lags problems. Secondly we propose some dedicated constraint propagation rules witch aim to detect some inconsistancies for the JSPGTL. The efficiency of these rules is illustrated on a small example. These propagation rules can be included in a heuristic method for the acceleration of the search for feasible solution thanks to early detection of certain inconsistancies. This work is the first step of a collaboration which aims to propose a new feature for the resolution of JSPGTL.
67	T. Klotz, B. Straube, E. Fordran, J. Haufe, F. Schulze, K. Turek, T. Schmidt, "An approach to the verification of material handling systems ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The development of correctly working logistic systems is a tedious task. On the one hand, the developer is faced with the increasing complexity of systems and shrinking time-to-markets, but on the other hand, the need for reliability and safety of the implemented controls becomes more and more important. Formal verification techniques such as model checking allow for proving whether a system completely fulfills its specification. Existing work, though, considered only the verification of single controllers, but did not analyze the behavior of a complete logistic system. In this paper, an approach to the formal verification of material handling systems is presented. The approach is based on the definition of material handling system elements and their interconnection. Experimental results show that the approach can ensure the correct functionality of logistic systems.
68	G. Rosati, M. Faccio, A. Carli, A. Rossi, "Convenience analysis and validation of a fully flexible assembly system ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Flexible automatic assembly is an emerging need in several industries in the developed countries, owing to the growing market request of small batch productions. This paper introduces a new class of flexible assembly systems, that we define as fully-flexible assembly systems (F-FAS), and addresses the problem of comparing their direct production costs to that of a generic flexible robotized work cell, whose reconfiguration for batch change requires time. Conversely, the F-FAS is a fully-flexible system, able to handle a highly mixed production order in which the size of the batch may be as small as one piece. Convenience analysis revealed that the F-FAS becomes more convenient in certain conditions, especially with complex assemblies and small batch sizes. First experimental data are presented to demonstrate the viability of the fully-flexible system.
69	A. Rossi, G. Rosati, S. Cenci, A. Carli, V.G. Riello, A. Foroni, M. Mantovani, "Flexible assembly system for heat exchanger coils ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper introduces the design and experimental validation of a flexible robotized work cell for automated assembly of bends on top of a heat exchanger coil. This automatic system is based on the use of a specifically designed end-effector, able to store several bends together and to singularize and insert them in the tubes. In this way the pick-and-place operations that are typical in automated assembly are eliminated, thus dramatically reducing cycle time. Automatic bowl-feeders are used to serialize bends in the tool crib, where the end-effectors are refilled in hidden time after each tool change. A machine vision system identifies tube positions and detects defects on tube tops, to avoid insertion in damaged tubes. The insertion scheme is derived by comparing tube positions to those stored in a database, so the work cell can produce a highly variable product mix.
70	E. Carpanzano, A. Orlandini, A. Valente, A. Cesta, R. Rasconi, "Closed-loop production and automation scheduling in RMSs ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Highly reconfigurable and agile production systems are selected to operate in production contexts often characterized by changes of the production requirements or changes of the part family demand. The operational level for such system architecture is expected to manage the short term production planning while guaranteeing the automation layer enables physical devices to exploit logic control tasks within the specific time buckets. The proposed work outlines an integrated approach supporting the operational level for RMSs in which the scheduling of production jobs and the scheduling of corresponding automation tasks are dynamically coupled. Connections with consolidated constraint-based representation and solving techniques are also discussed. The integrated scheduling approach has been validated with reference to a Finishing Robotic Cell (FRC) operating in a pilot assembly line.
71	A. Bensmaine, M. Dahane, L. Benyoucef, "Simulation-based NSGA-II approach for multi-unit process plans generation in reconfigurable manufacturing system ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In response to the limitations of existing manufacturing systems and the fast changing environments, reconfigurable manufacturing systems (RMSs) have been proposed as a promising means for companies to manufacture products while meeting individualized customer requirements. In this paper, a simulation based Non dominated Sorting Genetic Algorithm (NSGA-II) approach is proposed to solve the problem of process plans generation for multi-unit single-product type observed in RMS. More specifically, multi-unit macro-level process plans are established in order to schedule different parts/operations on several machines, and where a process plan is associated to each unit in a reconfigurable environment. To demonstrate the applicability of the proposed approach, an illustrative example is presented and the numerical results discussed.
72	M. Masmoudi, E.W. Hans, A. Hait, "Fuzzy tactical project planning: Application to helicopter maintenance ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Inspired by a helicopter maintenance planning problem, we study the integration of uncertainties into tactical multi-resource, multi-project planning (Rough Cut Capacity Planning). We model uncertainty by a fuzzy/possibilistic approach instead of a stochastic approach to be able to develop robust plans in situations where very limited data is available. We refer to the problem as the Fuzzy Rough Cut Capacity Problem (FR-CCP). We propose an adaptation of periodic workload to fuzziness, and develop a simulated annealing meta-heuristic to solve the capacity planning problem. We apply this method to the helicopter maintenance activity within the frame of a French industrial project called Helimaintenance.
73	J. Kocian, J. Koziorek, M. Pokorny, "Implementation of fuzzy logic control based on PLC ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A substantial portion of the literature on fuzzy control deals with the usage of fuzzy rules to implement PID type control and also fuzzy supervisory control. Fuzzy models have received significant attention from various fields of interest. Especially so called the Takagi-Sugeno-type fuzzy model which superbly describes a nonlinear system. In this paper we present implementation of universal fuzzy PS/PD function block implemented to the PLC Simatic S7 300/400. We also present implementation of universal function block of fuzzy expert system and PID regulator for PLC Simatic S7 300/400. Control system with implemented fuzzy expert system and PID regulator and control system with implemented PS/PD regulator with visualizations are designed.
74	M. Pies, S. Ozana, P. Nevriva, "Control circuit of the heat exchanger and its verification on real operation data ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper deals with the description of the control circuit of the power plant output superheater. Presented control circuit is modeled based on documentation provided by a power plant operator. Its verification is done through testing the mathematical model with real measured operational data. Output power plant superheater is described by a set of partial differential equations of the first order. These equations describe heat exchange between media through a wall with unspecified proportions. Equations are assigned into Simulink S-functions. The Simulink models act as mathematical model of the set consisting of the heat exchangers, on which the experiments are carried out. Actuating device of the regulating circuit is mathematical model of the injection water/steam which keeps the required temperature of the steam at the superheater output. This injection is also implemented as S-function in Simulink.
75	D. Garcia-Alvarez, M.J. Fuente, G. Sainz, "Design of residuals in a model-based Fault Detection and Isolation system using Statistical Process Control techniques ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In the work presented in this paper Statistical Process Control (SPC) techniques are applied to a model-based Fault Detection and Isolation (FDI) approach. The residuals, produced as outputs from the FDI system, are manipulated with typical SPC charts to improve the overall diagnosis process. The charts explained in this work: Shewhart control chart, Cumulative Sum (CUSUM) control chart and Exponentially Weighted Moving Average (EWMA) charts are able to accurately determine significant deviations in the residuals. The integration of model-based tools with SPC supervision can be a step towards robustness and effectiveness in fault detection. This scheme reduces the number of false alarms, which is an important aspect in FDI tasks, and can reduce the fault isolation time. This approach has been applied to a laboratory plant with real data, obtaining interesting results.
76	T.C. Foletto, U.F. Moreno, A.M. Lopes, "Comparison of packet loss compensation in nonlinear Networked Control Systems using the methods Extended Kalman Filter and Unscented Kalman Filter ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper, the performance of two nonlinear estimators is compared to deal with packet loss in Networked Control Systems (NCS). The evaluated nonlinear estimation methods are: Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). In this article, it is shown that modifications are required in order to keep the convergence of the estimators when there is packet loss in NCS. In particular it is shown that, for this kind of applications, the UKF can perform as well as EKF.
77	A. Agrawal, K. Nagaraj, R. Karthik, "Non-destructive acoustic based moisture measurement system for cashew nuts ," ETFA 2011, pp. 1 - 5 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A novel acoustic based moisture meter has been designed with the specific purpose of measuring moisture in raw cashew nuts. The meter employs pattern matching techniques to determine the moisture content. The meter applies non-invasive, non-destructive methods and the techniques are easily scalable to perform online measurements suitable in an industrial set up. For test trials, a set 15-20 cashew nuts of varying size and weight were considered for our system training and testing. The feature vectors for our training algorithm were based on the acoustic signature of shell to shell impact of cashew nuts. Algorithmic implementation and the electronic and mechanical aspects of the system prototype are discussed. By this method, we were able to distinguish between the dry and wet cashew nuts with high correlation accuracy.
78	Z. Hidayat, R. Babuska, B. De Schutter, A. Nunez, "Decentralized Kalman filter comparison for distributed-parameter systems: A case study for a 1D heat conduction process ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper we compare four methods for decentralized Kalman filtering for distributed-parameter systems, which after spatial and temporal discretization, result in large-scale linear discrete-time systems. These methods are: parallel information filter, distributed information filter, distributed Kalman filter with consensus filter, and distributed Kalman filter with weighted averaging. These filters are suitable for sensor networks, where the sensor nodes perform not only sensing and computations, but also communicate estimates among each other. We consider an application of sensor networks to a heat conduction process. The performance of the decentralized filters is evaluated and compared to the centralized Kalman filter.
79	A. Navarro, O. Begovich, G. Besancon, "Calibration of Fitting Loss Coefficients for modelling purpose of a plastic pipeline ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Motivated by the sensitivity of model-based monitoring algorithms to the so-called Equivalent Straight Length (ESL) of a pipeline, this paper proposes an experiment-based calibration of this parameter and also for the values of the Fitting Loss Coefficients (FLC). This comes as an alternative to achieve a better description of the real flow behavior in a pipeline than the modelling obtained by using the FLC from the manufacturer data-sheet. The proposed calibration method relies on a flow modelling, and Kalman observer-based estimation of the FLC of a pipeline. The friction coefficient in the model is estimated by the explicit so-called Swamee-Jain equation. The approach only assumes sensors of flow and pressure at the ends of the duct. Experimental results are presented.
80	L. Christiansen, A. Fay, B. Opgenoorth, J. Neidig, "Improved diagnosis by combining structural and process knowledge ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents an approach for using process knowledge in addition to structural knowledge for plant-wide diagnosis. System diagnosis based on fault-detection and fault-diagnosis often uses structural knowledge (e.g. hierarchies of sub-systems and components) to identify the root cause of faults and malfunctions. The structural knowledge describes the internal relationships of a plant and is particularly suitable for diagnosis if an assembly or component breaks down, which affects other parts of the system. However, the root cause of faults cannot always be identified based on structural knowledge alone, but information about the processes (e.g. production processes) is required in addition. Based on an integration of the VDI/VDE-guideline 3682 “Formalized process description” the authors present a method to consider process knowledge for an improved system diagnosis.
81	H.R. Concepcion, M. Meneses, R. Vilanova, "Control strategies and wastewater treatment plants performance: Effect of controllers parameters variation ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper ten control strategies are tested, starting from a default tuning of the controllers, to evaluate its results in terms of general plant performance indicators such as the effluent quality index (EQI) and the operating cost index (OCI). Using the Benchmark simulation No 1 (BSM1), many simulations are done to determine the most sensitive parameter of the proportional-integral (PI) controllers implemented. The most sensitive parameter is selected by evaluating the influence of the proportional gain (K_p) and the integral time (T) in the general performance of the plant when they are changed into the proposed ranges. From the simulation study, Ti is selected as the most sensitive parameter. A comparison between the results in terms of EQI vs OCI graphics, varying K_p and Ti and the results varying only T_i, shows similar behaviours on the plant performance for all strategies.
82	Bo Zhang, A. Kruszewski, J.-P. Richard, "Tracking improvement based on the proxy control scheme for bilateral teleoperation system under time-varying delays ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper addresses the problem of the position/force tracking in teleoperation system and proposes a haptic proxy control scheme. Compared to previous works, communication delays are assumed to be both time-varying and asymmetric, and the response of the synchronization and the transparency are improved. The control design is performed using Linear Matrix Inequality (LMI) optimization based on Lyapunov-Krasovskii functionals (LKF) and H_∞ control theory. With the designed controllers, the simulations of different working conditions, such as abrupt motion and wall contact, are performed and show the effectiveness of the proposed solution.
83	D.S. Diaz, R. De Keyser, "WinCC® application via OPC communication to MatLab® for integrated systems ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper focuses on implementing an application for the integration of systems. The possibilities of the OPC communication regarding applications in control, identification and failure detection are shown. Two processes are discussed: a DC motor and a fed-batch reactor. An application with the SCADA WinCC^® system, which communicates with applications in MatLab^®/Simulink, allows the identification of a DC motor, which is identified in MatLab^® for failure detection; and sensitivity to initial conditions is analysed in a nonlinear fed-batch reactor, which is simulated in MatLab^® to know future operation.
84	S. Soares, R. Araujo, P. Sousa, F. Souza, "Design and application of Soft Sensor using Ensemble Methods ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industries are faced with the choice of suitable process control policies to improve costs, quality and raw material consumption. In the paper pulp industry, it is important to estimate quickly the Chemical Oxygen Demand (COD), a parameter that is highly correlated to product quality. Soft Sensors (SSs) have been established as alternative to hardware sensors and laboratory measurements for monitoring and control purposes. However, in real setups it is often difficult to get sufficient data for SS development. This work proposes Ensemble Methods (EMs) as a way to improve the SS performance for small datasets. EMs use a set of models to obtain better prediction. Their success is usually attributed to the diversity. Bootstrap and noise injection are used to produce diverse models. Several combinations of EMs are compared. The SS is successfully applied to estimate COD in a pulp process.
85	C.F. Caruntu, C. Lazar, "Modeling and predictive control for compensating network-induced time-varying delays ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The goal of this paper is to provide a control design methodology that can assure the closed-loop performances of a physical plant, while compensating the time-varying delays introduced by the communication network that links the controller with the remote process. Firstly, the error caused by the time-varying delays is modeled as a disturbance and a novel method of bounding the disturbances is proposed. Then, a robust one step ahead predictive controller based on flexible control Lyapunov functions is designed, which explicitly takes into account the bounds of the disturbances caused by time-varying delays and guarantees also the input-to-state stability of the system in a non-conservative way. Moreover, it is shown that by choosing an appropriately Lyapunov function, the MPC algorithm amounts solving a single, low-complexity linear program each sampling instant. The modeling method and the control strategy were tested on a vehicle drivetrain controlled through CAN, with the aim of damping driveline oscillations, which is crucial in improving driveability and passenger comfort. Several True-Time simulations based on realistic scenarios show that the proposed control scheme can handle both the performance/physical constraints and the strict limitations on the computational complexity.
86	J. Mendes, R. Seco, R. Araujo, "Automatic extraction of the fuzzy control system for industrial processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper proposes a new method to automatically extract all fuzzy parameters of a Fuzzy Logic Controller (FLC) in order to control nonlinear industrial processes. The learning of the FLC is performed from controller input/output data and by a hierarchical genetic algorithm (HGA). The algorithm is composed by a five level structure, where the first level is responsible for the selection of an adequate set of input variables. The second level considers the encoding of the membership functions. The individual rules are defined on the third level. The set of rules are obtained on the fourth level, and finally, the fifth level, selects the elements of the previous levels, as well as, the t-norm operator, inference engine and defuzzifier methods which constitute the FLC. To demonstrate and validate the effectiveness of the proposed algorithm, it is applied to control a simulated water tank level process.
87	L.F. Recalde, R. Katebi, P. Katebi, "PID controller design for networked control systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: When PID controllers receive the sensor information or transmit its outputs through a communication network, its parameters are difficult to tune using classical PID tuning methods. This is due to stochastic delays introduced by the network in the feedback loop. This paper proposes a design method to compensate the effects of this delay using a constrained optimization to find the PID parameters. The design is based on a polytopic description of the system, which can be formulated using a pdf distribution of the delay. Simulation results are presented to demonstrate the performance of the proposed method.
88	S. Thomas, D. Regis, D. Faura, M. Gatti, G. Duc, J. Danger, "Non intrusive fault detection through electromagnetism analysis ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper we introduce a fully non intrusive test method which is based on the Differential Electro-Magnetic Analysis (EMA). Our objective is to demonstrate the capability of this new method to detect stuck-at-0 faults voluntary injected in a full-custom circuit. This detection is carried out by comparing a reference trace, called Reference Signature, with a differential trace representing the observed electromagnetic activity. The results show the efficiency of the proposed method. We will then introduce the possibility offered by EM measurement to be used to detect degradation of physical parameters on equipments where no intrusions are allowed.
89	J. Mendes, N. Sousa, R. Araujo, "Adaptive predictive control with recurrent fuzzy neural network for industrial processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper proposes an adaptive fuzzy predictive control method. The proposed controller is based on the Generalized predictive control (GPC) algorithm, and a recurrent fuzzy neural network (RFNN) is used to approximate the unknown nonlinear plant. To provide good accuracy in identification of unknown model parameters, an online adaptive law is proposed to adapt the consequent part of the RFNN, and its antecedent part is adapted by back-propagation method. The stability of closed-loop control system is studied and proved via the Lyapunov stability theory. A nonlinear lab oratory-scale liquid-level process is used to validate and demonstrate the performance of the proposed control. The simulation results show that the proposed method has good performance and disturbance rejection capacity in industrial processes and outperforms the PID and the classical GPC controllers.
90	J. Mendes, R. Araujo, "Stable indirect adaptive predictive fuzzy control for industrial processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper proposes a stable indirect adaptive fuzzy predictive control, which is based on a discrete-time Takagi-Sugeno (T-S) fuzzy model and on the Generalized predictive control (GPC) algorithm. The T-S fuzzy model is used to approximate the unknown nonlinear plant, that to provide good accuracy in identification of unknown model parameters, three online adaptive laws are proposed. It is demonstrated that the tracking error remains bounded. The stability of closed-loop control system is studied and proved via the Lyapunov stability theory. To validate the theoretical developments and to demonstrate the performance of the proposed control, the controller is applied on a nonlinear simulated laboratory-scale liquid-level process. The simulation results show that the proposed method has a good performance and disturbance rejection capacity in industrial processes.
91	D. Klar, M. Huhn, J. Gruhser, "Symptom propagation and transformation analysis: A pragmatic model for system-level diagnosis of large automation systems ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In automation systems, the diagnostic task is to efficiently deduce candidates for replacement or repair from centrally available observations. Often, classic model-based diagnosis cannot provide a practical solution as it requires in-depth knowledge of system components and their functions and interactions. Such detailed data is seldom readily available. Our approach to system-level diagnosis adopts a purely non-functional view of the system, similar to field-tested safety assessment techniques, e.g. fault trees or FMEA, but goes beyond that to support core diagnostic analyses (runtime diagnosis and diagnosability). We propose a new component-based model that is solely focused on faults and causal propagation and the transformation of symptoms. Modeling is now an iterative process that supports refinement as new data becomes available. We evaluate our approach on a small-scale rail automation example.
92	F. Ferracuti, A. Giantomassi, S. Longhi, N. Bergantino, "Multi-scale PCA based fault diagnosis on a paper mill plant ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In paper mill plants, the competition for increasing efficiency and reducing costs is a primary purpose. Fault detection and diagnosis can help by minimize the loss of production. In particular for the stock preparation sub-process a signal based fault detection and isolation procedure is developed. Multi-Scale Principal Component Analysis (MSPCA) is used to monitor some critical variables of the stock preparation of a paper mill plant in order to diagnose faults and malfunctions. MSPCA simultaneously extracts both, cross correlation across the sensors (PCA approach) and auto-correlation within a sensor (Wavelet approach). The advantage of MSPCA is validated on considered paper mill plant where several sensors are installed to control and monitor the automation system.
93	V. Fossi, A. Giantomassi, G. Ippoliti, S. Longhi, G. Orlando, M.L. Corradini, "Discrete time sliding mode control of robotic manipulators: Development and experimental validation ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a discrete-time sliding mode control based on prediction compensation of uncertainties for planar robotic manipulators. Autoregressive models, identified on-line by Kalman Filters, are used to learn about uncertainties affecting the system. The analysis of the control stability is given and the controller is evaluated on the ERICC robot arm. Experiments show that the proposed controller produces good trajectory tracking performance and it is robust in the presence of model inaccuracies.
94	M.G. Skarpetis, F.N. Koumboulis, A.S. Ntellis, "Longitudinal flight multi condition control using robust PID controllers ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A multi flight condition aircraft control autopilot system is proposed to control the horizontal flight of an aircraft involving atmospheric gusts. The control system involves a robust PID controller that stabilizes the closed loop system for various flight conditions. Considering the stability derivatives of the aircraft and the velocity of the aircraft to be uncertain parameters the robust stabilizing and disturbance attenuation controller is designed to cover full envelop pitch control. The robust PID controller parameters are computed using a finite step algorithm based on a Hurwitz invariability technique. Solvability conditions are derived. Simulation results for four different flight conditions are presented indicating the satisfactory performance of the robust controller in the presence of atmospheric gusts.
95	F.N. Koumboulis, N.D. Kouvakas, "Block decoupling of general neutral multi delay systems ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The problem of block decoupling is studied for the case of general neutral multi delay systems. The system is not restricted to be square and invertible. The controller is of the general neutral dynamic type involving a dynamic feedback and dynamic precompensator. Two different cases of feedback are studied. The first is the case of measurable output feedback and second is the case of performance output feedback. The controller is restricted to be realizable. The necessary and sufficient conditions for the problem to be solvable are established. The general class of the realizable controllers solving the problem is derived. The closed loop transfer function is proven to have arbitrary characteristic polynomial thus facilitating command tracking and stability.
96	J.J. Gude, E. Kahoraho, "Control considerations in a drum level control prototype ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The main objective of this paper is to present a drum level control prototype, paying special attention to its conceptualization and its possibilities for the theoretical-practical training. Emphasis is placed on the role of the control, industrial instrumentation, and automation issues applied to this prototype. Considerations over the control issues applied to the process are explained in detail. Extensive experimental results are also described. Some comments related to industrial practice are offered in this context.
97	G. Reynoso-Meza, J. Sanchis, X. Blasco, J.M. Herrero, "Handling control engineer preferences: Getting the most of PI controllers ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: By today, PI-PID controllers remain as reliable control solutions in a wide variety of industrial applications. Several tuning techniques have been designed and proposed successfully over the years. However the difficulty for tuning procedures increase as multiple requirements and criteria to evaluate the closed loop performance are demanded to be fulfilled. In this work, two approaches to incorporate control engineering preferences into an optimization statement for PI controller tuning are used. Their applicability is validated through simulation studies of well-known benchmark process.
98	T. Bentrcia, L.H. Mouss, M.D. Mouss, M.E. Benbouzid, "Modeling and evaluation of single machine flexibility using fuzzy entropy and genetic algorithm based approach ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Flexibility has long been recognized as a manufacturing capability that has the potential to impact mainly the competitive position of an organization. The entropy approach, which was extended from information theory, fell in handling problems with incomplete and uncertain data, because it depicts only the stochastic aspects included with measured observations. In order to get a global view, this work proposes a new approach based on fuzzy entropy concept. The development of the fuzzy model results in a set of nonlinear constrained problems to be solved using a metaheuristics method. The applicability of our approach is illustrated through a flexible manufacturing cell. By adopting such framework, both dimensions of uncertainty in system modeling, expressed by stochastic variability and imprecision, can be taken into consideration.
99	S. Aouaouda, K.M. Tarek, T. Bouarar, D. Ichalal, M. Chadli, "Fault tolerant tracking controller design for T-S fuzzy disturbed systems with uncertainties subject to actuator faults ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The investigated fault tolerant control (FTC) problem for uncertain nonlinear systems with external disturbances against actuator faults is addressed. The aim is to synthesize a fault tolerant controller ensuring trajectory tracking for a class of nonlinear systems represented by Takagi-Sugeno (T-S) models with measurable premise variables. In order to design the FTC law a proportional integral observer (PIO) is adopted which estimate both of the faults and the faulty system states. Based on Lyapunov theory, and L₂ optimization, the trajectory tracking performance and the stability of the closed loop system are analyzed. Sufficient conditions are obtained in terms of linear matrix inequalities (LMI). Simulation results show the effectiveness of the proposed method.
100	J.J. Cardenas, A. Garcia, J.L. Romeral, K. Kampouropoulos, "Evolutive ANFIS training for energy load profile forecast for an IEMS in an automated factory ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper an evolutive algorithm is used to train an adaptative-network-based fuzzy inference system (ANFIS), particularly a genetic algorithm (GA). The GA is able to train the antecedent and consequent parameters of an ANFIS, which is used for energy load profile forecasting in an automated factory. This load forecasting is useful to support an intelligent energy management system (IEMS), which enables the user to optimize the energy consumptions by means of getting the optimal work points, scheduling the production according to these points, etc. The proposed training algorithm showed excellent results with complex plants like industrial energy consumers in the user-side, where the randomness of the loads is higher than in utility loads. Real data from an automated car factory were used to test the presented algorithms. Appropriated results were obtained.
101	A. Vodencarevic, H. Kleine Buning, O. Niggemann, A. Maier, "Identifying behavior models for process plants ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The increasing complexity of today's production systems and the variety of model-based approaches to their monitoring, diagnosis and testing emphasize the importance of the modeling step. Modeling is mostly done manually, in a costly and time-consuming way. In this paper, an alternative that comes from the learning theory is given: an automated procedure for identifying behavior models from recorded observations. Assuming the system's structure is known, the algorithm presented here is capable of learning behavior models for its components. The algorithm accounts for probabilistic, timing, discrete and continuous aspects of the given system, using the modeling formalism of hybrid automata. The practical usability of identified models is demonstrated using an anomaly detection application for a real production system.
102	C. Briand, J. Billaut, "Cooperative project scheduling with controllable processing times: A game theory framework ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper considers a project-scheduling environment assuming that the activities of the project network are distributed among a set of actors (or agents). Activity durations are modeled as time intervals and are controllable, meaning that every actor is allowed to shorten the duration of some activities by adding extra-money. For performing the project, actors have to collaborate with each other intending to satisfy a desired project duration. In this work, every actor's payoff corresponds to a given ratio of the total customer's payment, which itself depends on the ability of the actors to achieve the project in time, provided daily penalty costs are applied in case of tardiness. This problem can be modeled as a game, where players (actors) have to select a strategy (a duration vector for their activities) intending to maximize their profit. In this paper, the focus is put on the modeling of this project game, and on the connections between various decision problems, arising either in decision or game theory. We also study the particular case where each activity is assigned to one specific agent and a polynomial-time algorithm is proposed for finding Nash equilibrium with the smallest project makespan.
103	C. Schwenke, V. Vasyutynskyy, K. Kabitzsch, "Analysis and simulation of sales receipt data in supermarkets ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: For the prediction of product sales, simulations of interactions of different individual customer behaviors in supermarkets are an appropriate approach. In order to parameterize the simulation close to reality, analysis of shopping baskets based on real sales receipt data is one of the key steps. The combination of the data analysis and simulation is in the scope of this paper Analysis of real sales receipt data was done by determining so-called customer prototypes, which are representatives of different customer classes. In order to make the simulation insensitive against short transient changes, longitudinal analysis and clustering was carried out, additionally to the common cross section analysis. Longitudinal analysis was necessary to calculate similarities between shopping basket clusters of different points in time. The resulting stabile customer prototypes then were used to parameterize a supermarket simulation. As result, this paper shows the analysis of consumer data as well as the parameterizing and validation of a supermarket simulation. The combining of data mining with simulation results in a better accuracy of analysis and the ability to evaluate influencing factors that can not be extracted directly through data mining.
104	F. Souza, R. Araujo, "Variable and time-lag selection using empirical data ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper proposes a method to select the best variables and respective time-lags for industrial applications when the objective is the estimation of a target variable using the information content of empirical data. No further information is assumed about the process. The problem of jointly selecting the best variables and the respective time-lags is treated as a variable selection problem. This assumption implies an increase of input dimensionality and multicollinearity into input space. Then, a multidimensional mutual information estimator based on the l-nearest neighbor algorithm is used in a forward search procedure to select the best variables and and respective time-lags. To verify the performance of selected variables and delays, the method was successfully applied in two data sets. A least squares support vector machine was used as the main model for the soft sensor in both cases.
105	F. Souza, T. Matias, R. Araujo, "Co-evolutionary genetic Multilayer Perceptron for feature selection and model design ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper proposes a method for Soft Sensors design using a Multilayer Perceptron model based on co-evolutionary genetic algorithms, called CEV-MLP. This method jointly and automatically selects the best input variables and the best configuration of the network for the prediction setting. The CEV-MLP is constituted by three levels, the first level selects the best input variables and respective delays set, the second level is composed by the parameters of hidden layers to be optimized (number of neurons in the hidden layers and transfer function), and the third level is the combination of first and second level. The method was successfully applied, and compared with two state-of-the-art methods, in three real datasets. In all the experiments, the proposed method shows the best approximation accuracy, while all the design of the prediction setting is performed automatically.
106	F.S. de Lima, D.R.C. Silva, L.A.H.G. de Oliveira, "A qualitative balance of shape descriptors on dynamometer cards ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The precision and the fast identification of abnormalities of bottom hole are essential to prevent damage and increase production in the oil industry. This article presents a study about a new automatic approach to the detection and the diagnosis of faults in the Sucker-rod Pumping through dynamometric cards of bottom hole. The main idea is the recognition of the well production status through the image processing of the bottom's hole dynamometric card (Boundary Descriptors) and Euclidean Distance. This proposal was implemented to oilfields cards of PETROBRAS with success.
107	Gan Yahui, Dai Xianzhong, "Kinematic cooperation analysis and trajectory teaching in multiple robots system for welding ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Multiple robots cooperation system has been widely used across the robotic research field, and many effective cooperation control strategies have been presented. However, few studies have been devoted to the application research for multiple robot cooperation system in industrial field, such as the flexible welding system. The problem of kinematic cooperation analysis and trajectory teaching for multiple robot flexible welding system is considered in this paper. An analytical solution to the problem is found, it gives the kinematic relation between cooperated robots in cartesian space. Based on our conclusion, a new trajectory teaching method for multiple robot flexible welding system is proposed in this paper. Finally, the work is completed with a set of simulations using two Puma 560 robots, in order to validate numerically the theoretical developments.
108	A. Hace, M. Franc, "Sliding mode control for robotic teleoperation system with a haptic interface ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper deals with teleoperated robotic systems which are commanded by a human operator via a command interface that provides task feedback information. Advanced task performance requires not only a visual but also a haptic feedback that is more intuitive. Such command interface with the haptic feedback is called a haptic interface and the teleoperator system is controlled bilaterally. The paper proposes a novel bilateral control scheme which is designed based on a modal decomposition to decouple force and position coordinates for the vivid haptic interface. The control algorithm is derived following the sliding mode control approach which guarantees robustness to model perturbation, parameters uncertainty and system disturbance. It was experimentally validated on a simple master-slave teleoperator with 1DOF robotic systems.
109	M. Kloetzer, C. Mahulea, O. Pastravanu, "A probabilistic abstraction approach for planning and controlling mobile robots ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper presents a procedure for creating a probabilistic finite-state model for a mobile robot and for finding a sequence of controllers ensuring the highest probability for reaching a desired region. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite representation with history-based probabilities on transition. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a target region is found. This probabilistic framework is suitable for controlling mobile robots based on more complex specifications.
110	R. Munguia, A. Grau, "An Attitude and Heading Reference System (AHRS) based in a dual filter ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on a Dual Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. Attitude determination systems are essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms become necessary for an acceptable performance. For the proposed approach, a low cost Inertial Measurement Unit (IMU), formed by 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer, provides the input measurements. Experimental results with real data show that the proposed algorithm is able to maintain an accurate and drift-free attitude and heading estimation.
111	Y. Liu, J.H. Draper, A.P. Gay, C.N. Howarth, R.R. Martin, "Choosing the number of labels in image segmentation ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Image segmentation is a fundamental yet challenging step during image analysis. In this paper we propose a novel method for choosing the number of labels during automatic image segmentation. It minimizes an objective function based on the number of labels, the segmentation errors, and consistency of labels between neighboring pixels. An experimental study on representative data shows encouraging results.
112	C. Lopez-Limom, A. Cervantes-Herrera, J. Ruiz-Leon, A. Ramiez-Trevino, "Formation and trajectory tracking of a class of nonlinear systems with super twisting control ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This work proposes a decentralized super twisting control scheme for group formation and trajectory tracking of multi-agent system networks with a fixed topology. Each agent dynamics is represented by a single-input single-output nonlinear system in its normal form and the information required by each controller is the output of the others agents. It is proved that output consensus and trajectory tracking can be achieved with the proposed super twisting control. Moreover, the state space representation of the agents dynamics is not restricted to be of the same dimension, as usually assumed in the literature. The stability of the controlled system is proved using a Lyapunov function and a simulation example is provided in order to illustrate the application of the proposed control.
113	J. Arvanitakis, G. Nikolakopoulos, D. Zermas, A. Tzes, "On the adaptive performance improvement of a trajectory tracking controller for non-holonomic mobile robots ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this article a novel performance improvement scheme is being presented for the problem of designing a trajectory tracking controller for non-holonomic mobile robots with differential drive. Based on the robot kinematic equations, an error dynamics controller is being utilized for allowing the robot to follow an a priori defined reference path, with a desired velocity profile. The main novelty of this article stems from the utilization of a gradient based adaptive scheme that is able to adapt the controller's gain ruling the rising and settling time of the robot and up to now has been ad-hoc selected. The proposed adaptation scheme is based on the robot's path tracking errors and is able to provide an on-line adjustment for the performance improvement, independently of the selected path type. Multiple experimental test cases, including the movement of the robot on various path profiles, prove the efficacy of the proposed scheme.
114	D. Flavigne, M. Taix, "Interactive locomotion animation using path planning ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a method aimed at enhancing interaction between a path planning algorithm and a user to guide a robot motion task in a virtual environment. Existing works use a two-step decomposition which limits the interaction between the user and the ongoing process. We propose a modification of a classic motion planning method, the Rapidly-exploring Random Tree to build a Interactive-RRT. This method is based on exchanging forces between the algorithm and the user, and on data gathering (labels) from the virtual scene. The Interactive-RRT is combined with a locomotion controller and then applied to a virtual character for generating a locomotion movement along a path suggested by the user.
115	M. Schleipen, M. Schenk, "Intelligent environment for mechatronic, cross-discipline plant engineering ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The plant planning process is a complex process with many different disciplines involved. It consists of multiple process steps which are executed sequentially. All the different disciplines work on the common planning object - the plant - consisting of complex mechatronic objects and parts. Nevertheless, the disciplines work spatially and technically separated from each other within their isolated planning steps. Cooperation is only practiced at specific points of the plant planning process. The Digital Engineering Table (DigET) enables the necessary interpersonal and interdisciplinary cooperation in an interactive environment and uses therefore the integrated data exchange format AutomationML. This contribution describes the requirements and decisions for the necessary middleware as coordinating infrastructure.
116	A. Luder, M. Foehr, L. Hundt, M. Hoffmann, Y. Langer, S. Frank, "Aggregation of engineering processes regarding the mechatronic approach ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Within the last few years different process structures for the execution of engineering processes in the field of production systems have been developed and partially standardized. These processes have strong similarities and dependencies enabling the development of a generalized engineering process for production systems. In addition the different engineering processes can highlight the use of mechatronical units. This paper will survey existing engineering processes and will make a first attempt to define such a mechatronic oriented generalized engineering process for production systems. Thereby, it intends to provide a starting point for further discussion on this subject.
117	L. Hundt, A. Luder, A. Kohlein, N. Gewald, "Methodology for the evaluation of tools with respect to its applicability within mechatronical engineering ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Mechatronical engineering is a recent trend within engineering of manufacturing systems. To enable a most efficient and beneficiary application of mechatronical engineering within engineering organizations the mechatronical engineering has to be based on basic concepts realizing the mechatronical thinking and supporting the user. Within this paper an approach to determine and validate basic concepts required for mechatronical engineering using engineering tools is described. Basic concepts which have to be implemented within tools for mechatronical engineering will be named and its realization in tools and data exchange formats is sketched.
118	T. Moser, R. Mordinyi, D. Winkler, M. Melik-Merkumians, S. Biffl, "Efficient automation systems engineering process support based on semantic integration of engineering knowledge ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Modern industrial automation systems engineering (ASE) environments have to accommodate for heterogeneity coming from the engineering disciplines involved, the software tools and their data models, and run-time data collection. In many ASE environments domain experts have to invest considerable effort to bridge the semantic gaps between common project-level engineering concepts and the diverse local data representations. In this paper we discuss the needs for semantic integration and applications of machine-understandable knowledge engineering in three real-world ASE use cases from our industry partners. We provide an evaluation concept with empirical studies to measure the benefits and limitations of the proposed approach compared to the traditional expert-intensive approach. Major result of the initial evaluation is that semantic integration has good potential to make engineering processes more efficient and robust if supported well with user interfaces that end users find usable and useful.
119	M. Weyrich, P. Klein, M. Laurowski, Yongheng Wang, "Mechatronic engineering of novel manufacturing processes implemented by modular and sensor-guided machinery ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Novel manufacturing processes and machine designs can be developed by means of mechatronic modules and their adaptation to the specific manufacturing case. The complexity of these modules must be carefully chosen so that a reuse for different application processes becomes possible. If a mechatronic module is too specific or complex, it cannot be engaged for other machine designs, as it is made only for that specific case. The methodology of axiomatic design is introduced and adapted towards the engineering of mechatronic modules in machine development for special manufacturing processes. The presented approach of systematic modular design allows for the engineering of mechatronic modules and the identification of the required links between modules.
120	B. Bohm, N. Gewald, A. Kohlein, J. Elger, "Mechatronic models as a driver for digital plant engineering ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The digital plant is still a vision since standard engineering tools and systems currently address only specific areas or phases in the engineering process and engineering methodologies are difficult to derive. This paper points out the importance of mechatronic domain models for integrated engineering tool and system landscapes and their significance as a driver for digital plant engineering. A strategy for developing an integrated tool and system landscape is suggested based on user-centric mechatronic domain models. In addition, the definition of mechatronic domain models is discussed.
121	F. Stallinger, R. Neumann, R. Plosch, P. Hehenberger, B. Bohm, A. Kohlein, N. Gewald, "Improving mechatronical engineering: An artifact-assessment-based approach ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industrial engineering as a specialization of systems engineering inherently has mechatronic character. The seamless integration of engineering activities across engineering disciplines and throughout the overall engineering life cycle is a key element for achieving optimal technical as well as economic results and has to be supported by adequate engineering concepts and models. In this paper we present a criteria catalog for the qualitative evaluation of engineering artifacts created in or for engineering projects or contained in mechatronic product catalogs. The criteria catalog forms the basis for an assessment-based approach for evaluating mechatronic objects with the main purposes of providing the basis for characterizing, comparing, and improving them and furthermore for identifying directions for engineering improvements.
122	M. Weyrich, F. Steden, J. Wolf, M. Scharf, "Identification of mechatronic units based on an example of a flexible customized multi lathe machine tool ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper a modularization approach is presented with an example of special purpose machinery and demonstrated by a multi spindle lath machine tool. Thereby a methodology for identification of mechatronic units based on a distinction between different machinery modules is given. The methodology is based on the typical tradeoff between engineering flexibility and standardized manufacturing. The use case supports the analysis on the competing requirements of flexibility in functionality for customized solutions and therefore optimized production processes. The developed methodology helps in decision making during the identification process of the mechatronic units.
123	I. Fernandez, C.E. Borges, Y.K. Penya, "Efficient building load forecasting ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The arrival of the smart grid paradigm has brought a number of novel initiatives that aim at increasing the level of energy efficiency of buildings such as smart metering or demand side management. Still, all of them demand an accurate load estimation. Short-term load forecasting in buildings presents additional requirements, among others the need of prediction models with simple or non-existing parametrisation processes. We extend a previous work that evaluated a number of algorithms to this end. Herewith we present several improvements including a variable data learning window and diverse learning data weighting combinations that further up improve our results. Finally, we have tested all the algorithms and modalities with four different datasets to show how the results hold up.
124	F.I. Vazquez, W. Kastner, C. Reinisch, "Impact of user habits in smart home control ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Lifestyle and habits of users have a direct effect on the energy performance of dwellings and facilities. Hence, in the built environment, advanced control strategies must adapt to user behaviors trying to keep a commitment between energy consumption and comfort requirements. In previous works, the suitability of predictive control based on occupancy profiles for the optimization of HVAC systems has been shown. Resting upon this basis, the present work performs a sensitivity analysis for control strategies based on usage profiles, where the input under variation is the level of habit-regularity of users. Therefore, different hypothetical user models are created and tested. The results of this analysis provide a better understanding of how user behavior affects the energy and comfort performance in dwellings under smart control and paves the way for enhanced controller design.
125	T. Bigler, G. Gaderer, P. Loschmidt, T. Sauter, "SmartFridge: Demand Side Management for the device level ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: With the evolving technologies smart metering, or generalized the smart grid, it becomes reasonable to think about integrating household devices into a Demand Side Management (DSM) network. This paper gives an overview about the state of the art in the area of DSM. Subsequently, it is shown what is needed to convert a standard, commercial-off-the-shelf refrigerator into a networked smart fridge. Following this, a simulation model and a basic algorithm for load control of a refrigerator is presented and analyzed. Finally, possible improvements of hardware and the algorithms are proposed.
126	A. Fernbach, W. Granzer, W. Kastner, "Interoperability at the management level of building automation systems: A case study for BACnet and OPC UA ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In modern building automation systems a plethora of different networking technologies exists. Therefore, interoperability between devices using various technologies is a key requirement. The use of Web Services as a platform-and technological-independent method of communication is a promising approach to address this challenge. Since IP extensions to available technologies are more and more established in building automation systems the network infrastructure and necessary protocols for Web Services communication are already present. However, providing appropriate concepts to model information that can be accessed in a generic way are still missing. OPC Unified Architecture (OPC UA) is a powerful and promising standard that aims at solving this challenge. This work discusses an approach to map the interworking model of BACnet to OPC UA. Using the resulting information model BACnet applications can be represented in OPC UA and, thus, be accessed by OPC UA clients in a standard and well-defined way.
127	J. Ploennigs, H. Dibowski, U. Ryssel, K. Kabitzsch, "Holistic design of wireless building automation systems ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Wireless building automation systems are gaining momentum as they promise an easy installation in old and new buildings. But, the design of wireless building automation systems is still an extensive manual process with little to no tool support. In result, the system commissioning ends in trial-and-error set-ups to identify interoperable devices, to solve issues with wireless signal propagation and to understand energy problems of nodes. This paper introduces a holistic design approach that addresses these common issues in wireless building automation system design. It takes up novel design concepts and tools from wired system design and combines them in a holistic tool environment that supports the engineer in his common work flow to efficiently design reliable wireless building automation systems.
128	Tianmeng Shen, T. Togoshi, H. Nishi, "Implementation and substantiation of energy management systems for terminal buildings ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Many different approaches are currently used in the field of network integrated control systems known as the Smart Grid. We implemented an energy management system with the aim of developing a future standard for this area. It is difficult to connect a heterogeneous system containing different standards, even if standardized technologies are available. A metastandard concept is proposed and substantiated to overcome this problem. The concept was substantiated in an energy management system constructed at the Fukue port terminal building in Goto City, Nagasaki Prefecture. This system uses a variety of devices produced by seven different companies. An air-conditioning control system to reduce carbon dioxide emissions was implemented and substantiated as an application of the proposed system. Our results demonstrate the effects of a common platform and its advantages.
129	I. Kuhl, A. Fay, "A middleware for software evolution of automation software ," ETFA 2011, pp. 1 - 9 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: One of the key factors for automation systems in the domains smart grids, digital factories and modern process systems are the permanently shift of their requirements. Thus, software has to be evolve over time. This issue has been addressed by different solutions for evolving automation software. Though, they have their specific benefits, but lacks on deficiencies like a specific (non-standard) programming model, specific programming languages and a very narrow focus of a specific automation domain. In contrast to this a novel approach will be discussed to provide a more flexible and quite general solution, a common middleware, to reconfigure automation software dynamically with minimal downtime. A middleware to integrate different programming languages, container systems, frameworks, libraries, control applications and drivers as well.
130	H. Mersch, U. Epple, "Requirements on distribution management for service-oriented automation systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Current process control and automation systems are statically linked and strictly hierarchical, built between a central engineering station, several PLCs and a wide range of I/O devices. If any intended or unintended changes within this system occur, a large amount of configuration has to be changed. This needs to be reduced by (semi-)automatic mechanisms to establish a self-management and self-configuration environment for such systems. Service-oriented Architecture (SOA) is a widely used concept for developing such a flexible and dynamic system, where even topological and hierarchical changes of software and hardware components could take place during run-time, thus without stopping the production process. This paper describes the requirements for a resource description model, which needs to be investigated to determine (along with their Quality of Service) a suitable and maybe optimal distribution via the different resources of a future SOA-based automation system.
131	W. Mahnke, A. Gossling, M. Graube, L. Urbas, "Information modeling for middleware in automation ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Middleware in automation serves the connection of hardware and software components of applications in automation-like control or human-machine interfaces. To cope with today's flexibility requirements, there is an urgent demand to not only communicate data but to describe the semantics of the distinct elements of the distributed information space. Therefore, middleware in automation needs to provide some means for information modeling. To derive general concepts and recommendations on how to implement information models on middleware in automation, we discuss several relevant standards that provide partial information models. We then identify the fundamental information modeling constructs of these partial models and derive general requirements for the information modeling capabilities of middleware in automation.
132	L. Urbas, A. Krause, S. Pech, P. Gohner, "Function allocation for multi-agent systems and middleware in industrial automation systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The trend towards the integration of application domains and technologies in the field of industrial automation and information technology leads to an increasing complexity of systems and applications. Even though integration has always been one of the major goals of automation, it is still challenging. Both, multi-agent systems and middleware technologies have been successfully used in a number of industrial applications. Each of these technologies have significant advantages in the application domains they are used. The aim of our work is to develop an approach which focuses on the optimal distribution of functionalities between multi-agent systems and middleware. In this paper we discuss the technologies characteristics and identify open questions towards a solution of the function allocation problem.
133	N. Papakonstantinou, S. Sierla, K. Koskinen, "Object oriented extensions of IEC 61131–3 as an enabling technology of software product lines ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Software product lines (SPL) relying on UML technology have been a breakthrough in software reuse in the IT domain. In the industrial automation domain, SPL are not yet established in industrial practice. One reason for this is that conventional function block programming techniques do not adequately support SPL architecture definition and product configuration, while UML tools are not industrially accepted for control software development. In this paper, the use of object oriented (OO) extensions of IEC 61131-3 are used to bridge this gap. The SPL architecture and product specifications are expressed as UML class diagrams, which serve as straightforward specifications for configuring the IEC 61131-3 control application with OO extensions. A product configurator tool has been developed using PLCopen XML technology to support the generation of an executable IEC 61131-3 application according to chosen product options. The approach is demonstrated using a mobile elevating working platform as a case study.
134	G. Bayrak, D. Renzhin, B. Vogel-Heuser, "Integration of control loops in an UML based engineering environment for PLC ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a UML-based engineering environment for the design and implementation of hybrid systems in forming technology. The discrete superordinate steps of forming technology are programmed as an activity diagram (UML). Some process steps include control loops which are modeled in Simulink. The control loops are automatically generated into Continuous Function Chart (CFC) in Programmable Logic Controller (PLC). The paper describes how the controllers can be distributed with different task cycle times and how the performance of these controllers can be ensured during runtime. In the process, the activity diagram is compared with the standard IEC 61499 considering the aspects usability and execution/implementation.
135	C. Catalan, F. Serna, A. Blesa, J.M. Colom, J.M. Rams, "COSME: A distributed control platform for communicating machine tools in Agile Manufacturing Systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Distributed control for Agile Manufacturing Systems (AMSs) is an active research field. Many efforts are focused on the IEC 61499 standard, although there is still work to be done for its adoption by the industry. A part of this work is related to solve its semantic ambiguities derived from implementation-dependent issues. This paper presents the COSME platform, which uses an adapted component model, a specific execution model and a set of communication types for the distributed control of communicating machine tools in the context of Agile Manufacturing Systems. These models can be expressed in IEC 61499 terms. This adaptation facilitates application designing and implementation.
136	G. Moran, F. Perez, D. Orive, E. Estevez, M. Marcos, "Automatic composition of IEC 61499 distributed control applications ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Current complex industrial automation applications demand distribution, flexibility as well as adaptability to changes. On the other hand, the IEC 61499 standard specifically addresses this type of applications. It supports the definition of multidisciplinary views to independently define the functionality of the system from the hardware architecture. Notwithstanding this, although it was specifically defined to support the design of distributed automation applications, it is not being consolidated in industry as it expected. Among others, one of the reasons that can explain this situation is the lack of design methodologies and powerful tools oriented to designers. Using the available frameworks that support this standard, it is necessary to manually introduce the ad-hoc Service Interface Function Block (SIFB) as well as their link to the application Function Blocks (FB). This paper addresses this issue and it proposes a methodology to automatically generate distributed automation applications from the functional and architecture views, i.e. using the appropriated SIFBs from a SIFB repository of templates.
137	A. Schimmel, A. Zoitl, "Distributed online change for IEC 61499 ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Future automation systems exhibit a growing demand for downtimeless evolution. There have been already several approaches for this so called online change but most of them are manly designed to work within a device. The increasing distribution of automation systems needs an efficient mechanism for downtimeless reconfiguration even if the change affects more devices. So this paper will show an approach how this distributed online change can be done for IEC 61499 systems. Distributed reconfiguration needs a synchronisation of the involved devices which will be done in this approach by synchronised clocks. The basis for this paper builds an existing approach for downtimeless reconfiguration (eCEDAC-Approach) which will be extended to get an efficient mechanism for distributed online change.
138	K. Thramboulidis, G. Frey, "An MDD process for IEC 61131-based industrial automation systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Model Driven Development (MDD) has been proved as a quite successful paradigm in general-purpose computing and is currently exploited in the embedded systems domain. On the other hand, the majority of industrial automation systems is developed based on the IEC 61131 standard. This standard defines a model and a set of programming languages for the development of industrial automation software and it is supported by the majority of the commercial tools in this domain. This work proposes an MDD process to increase the productivity and reliability of the development process of industrial automation systems. Piping and instrumentation diagrams are considered as source of requirements for process control engineering and SysML is used to reduce the gap between these diagrams and the 61131 based design specs of the control system. The foundation for a SysML profile to facilitate the exploitation of SysML in this domain is described. This profile will allow the developer to work in higher layers of abstraction than the one supported by IEC 61131 and effectively move from requirement specifications into the implementation model of the system.
139	F. Serna, C. Catalan, A. Blesa, J.M. Colom, J.M. Rams, "“Predictive maintenance surveyor” design pattern for machine tools control software applications ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Software involved in modern control applications is becoming increasingly complex, having to deal with newer and more sophisticated responsibilities. It must be now considered as a very relevant part in the mix of the system complexities and, unfortunately maybe very often, it is also an important source of engineering headaches. Its specific particularities should be conveniently taken into account using common software techniques. Design patterns are one of such techniques, widely used in the software world. The presented design pattern suggests a way to handle predictive maintenance, a service oriented to machine tools containing parts that suffer progressive deterioration which can be indirectly detected. This way, adequate maintenance actions can be scheduled just in time to avoid further problems development.
140	T. Lemattre, B. Denis, J. Faure, P. Salaun, J. Petin, "Using a meta-model to build operational architectures of automation systems for critical processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper addresses the design of the operational architecture of a critical system control. This design results from the allocation of control functions onto physical devices by taking into account numerous constraints such as capability, safety, time performance or reliability constraints. This paper focuses on the two first ones, capability and safety constraints by proposing a method based on reachability analysis in a network of communicating automata. The link with complementary studies about time performance or reliability constraints is established using an UML architecture meta-model that captures and shares information about control architectures. Automata models and their parameters used for reachability analysis are derived from this meta-model and, conversely, generated operational architectures give rise to a set of meta-model instances that can be used as input for complementary evaluation.
141	M. Hofmann, M. Rooker, A. Zoitl, "Improved communication model for an IEC 61499 runtime environment ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: For IEC 61499 distributed control application development the control engineer has to rely mainly on the Compliance Profile for Feasibility Demonstrations for the necessary communication infrastructure. This profile utilizes the TCP/UDP protocols and has some limitations in order to be easily used for industrial automation. With this article we identify these shortcomings and introduce an improved communication model for IEC 61499 control applications. The following three attempts to define communication interaction in IEC 61499 will be presented: (1) by function block type defined protocol, (2) by function block parameter defined protocol, (3) automatic connection. We show the impact of these attempts from the engineer's point of view. Also the required engineering tool features are presented. The result is a profile which enables the engineer to easily use different network protocols within IEC 61499 applications without the limitation to use only the TCP/UDP protocol. Furthermore, this paper shows the implementation of the developed communication profile. The implementation focuses on the runtime environment and shows how the implementation can be used by the engineer and by the engineering tool. The implementation takes strong attention to the re-usability of already implemented protocols. This is achieved by the usage of the ”layered protocol” design pattern.
142	K. Eckert, T. Frank, T. Hadlich, A. Fay, B. Vogel-Heuser, C. Diedrich, "Typical automation functions and their distribution in automation systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The reutilization of proven automation solutions for automation systems is an essential approach to increase the profitability of engineering services. Additionally, distributed systems are increasingly important in automation systems. For this reason, this paper focuses on the aspect of distributed systems combined with the reutilization of automation tasks and solutions in the domains of process and production automation. To address this purpose the research project “Functional application design of Distributed Automation systems” (FAVA) was launched. This paper presents the objective of this research project, identifies deficits of the state-of-the-art and describes automation systems which have been analyzed in the FAVA project to identify automation tasks and their variants regarding to the distribution.
143	F. Maturana, R. Ambre, R. Staron, D. Carnahan, K. Loparo, "Simulation-based environment for modeling distributed agents for smart grid energy management ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: As control systems become more complex, increased levels of testing and validation lead to improvements in control system robustness and reliability. We propose a testing and validation scenario in which control and plant algorithms are executed on real-time targets in a multi-agent distributed simulation environment. This simulation environment is achieved by embedding the simulation into micro controllers thereby allowing realtime interactions between the simulation and controller. In this paper, we discuss a distributed simulation environment that combines control, agents, and simulation in the Matlab xPC target technology for the embeddable simulation part of the environment. We intend to embed the simulation into an ARM-based core micro controller. The simulations and the (Programmable Logic Controller) PLC concurrently interact with each other using a (Common Industrial Protocol) CIP-based tag-level communications protocol. This combination of technologies creates a high fidelity testing environment.
144	M. Obitko, P. Vrba, P. Kadera, V. Jirkovsky, "Visualization of ontologies in multi-agent industrial systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The development in the field of multi-agent systems used in the industrial distributed control systems has demonstrated the possibility of flexibility, fault tolerance and integration. It was shown that using ontologies for explicit description of the world has many advantages, including easier integration and extensibility. However, any more complex system, including multi-agent system, needs visualization for its easier development, debugging and monitoring. The fact that the knowledge in the system is expressed in a standardized semantic way contributes to the possibility of providing a uniform view on the system as a whole as well as on the individual agents. In this paper we describe and discuss possibilities of visualization of the state of the industrial control system based on ontologies. We demonstrate the visualization possibilities on the MAST system.
145	T. Linnenberg, I. Wior, S. Schreiber, A. Fay, "A market-based multi-agent-system for decentralized power and grid control ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Due to an increasingly decentralized fashion of electricity generation from fluctuating, renewable energy sources, new control concepts have to be found to manage a multitude of distributed energy conversion plants and to minimize the amount of power reserve needed. The basic implementation of the `DEcentralized MArket Based POwer Control System' (DEMAPOS) presented in this article applies a market-based, decentralized control of generators and consumers of electrical energy. The control as well as a power system simulation needed for system testing were designed, implemented and validated. The developed, agent-based control communicates via web services with the power system simulation which relies on real-world data. Results from various test runs demonstrate the huge potential of this control strategy.
146	C. Stoegerer, T. Novak, W. Kastner, L. Krammer, "Procedure-based availability SLAs for Traffic Management Systems ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Today's Traffic Management Systems (TMS) shall meet various demands. One of them is availability of service. Failures in the system reduce the level of availability and have direct impact on the total cost of ownership (TCO) because of additional maintenance costs. Consequently, parameters of availability of service are often subject of contracts (so called Service Level Agreements) among system owners, maintenance contractors and component vendors. With the growing complexity of such multi-vendor systems consisting of various subsystems and components interconnected over numerous levels of hierarchy, enforcement of these agreements is becoming a challenging and complex task. Thus, procedure-based reasoning concepts are required in order to correctly map the gathered low-level resource metrics like the liveness of a particular component to the root-cause of the problem from a system perspective and consequently the right application specific SLA-parameters (such as availability of a node or a network). In this paper, we demonstrate the application of the LoM2HiS-framework as an example technology for the automatic enforcement of SLAs concerning availability in the field of TMS. It is illustrated, how the framework could be extended for procedure-based reasoning. Finally, we present first simulation results.
147	P. Valckenaers, J. Van Belle, O. Ali, "PROSA and delegate MAS for open-air engineering processes ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper discusses the application of the PROSA reference architecture and its ant-colony-inspired delegate MAS to the coordination of open-air engineering processes such as open-pit mining, road construction and agriculture farming. The execution of such an open-air engineering process by cooperating mobile equipment needs to be carefully planned for its cost effective and timely completion. The dynamics in the open and distributed operating environment of these processes make the planning complex. This paper presents the design of an on-line planning system. The focus of the presented approach is on improving the process visibility to enable better-informed decision making. The on-line planning system based on PROSA is model-driven.; it uses executable models to reflect the operations and to generate short-term forecasts.
148	S. Theiss, K. Kabitzsch, "Efficient agent interaction in automation networks: A simulation study ," ETFA 2011, pp. 1 - 7 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Multiagent systems (MAS) have widely been recognized as a suitable technology to develop robust, fault tolerant and reconfigurable control systems. However, practical applications, especially on the real-time manufacturing control level are currently limited by the lack of a sufficiently efficient yet unified agent architecture. As agent communication is one of the decisive factors for the overall performance of a MAS, this paper suggests an improved approach to service discovery and inter-agent negotiation, using the well known Contract Net protocol as an example. The approach eliminates the need for a central Directory Facilitator, reduces network load and enables timely decision making. The results are backed by a simulation based performance study.
149	R. Schmitt, T. Pfeifer, M. Stemmer, J. Hubner, A. Pavim, M. Roloff, "Multiagent-based approach for the automation and quality assurance of the small series production ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The dynamic conditions of global markets force manufacturers to invest in flexible production strategies to cope with demanding clients and still survive in a competitive economic scenario. In this sense, small series production appears as a trend for many manufacturing niches and brings many challenges regarding manufacturing and quality assurance aspects. Investing in production flexibility implies increasing production control complexity and planning. This flexibility usually does not correlate with higher degrees of manufacturing automation or with quality assurance strategies. The concept of Cognitive Metrology strives for handling the challenging automation and quality inspection requirements of small series production with a new approach based on self-optimizing systems. This paper introduces the concepts of self-optimization and Cognitive Metrology and focuses especially on a multiagent-based approach for supporting flexible automation and quality assurance in small series production, as a basis for the development of the Cognitive Metrology technology. Initial results of the application of this approach into industrial prototypes are introduced and discussed as well as the migration of this system to different industrial scenarios.
150	K. Mustapha, E. Tranvouez, B. Espinasse, A. Ferrarini, "An agent-based and organisation oriented software architecture for supply chains simulation ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The Supply Chain (SC) organizational structure and related management policies are crucial factors that can be adjusted to improve the SC performance, and tested through simulations. To facilitate the design of these simulations, we have proposed an agent-based methodological framework for SC modelling, taking into account observables of different levels of details and related to these SC organizational aspects. This paper describes an Agent-based software architecture, based on a mediator, enacting this methodological framework at a software level, to allow SC organisational-oriented simulation. This architecture can be seen as the interaction between different simulation platforms.
151	T. Frank, M. Merz, K. Eckert, T. Hadlich, B. Vogel-Heuser, A. Fay, C. Diedrich, "Dealing with non-functional requirements in distributed control systems engineering ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industrial production plants are highly complex mechatronic systems. In today's automation systems a trend for distribution of control functions can be observed. The hereby emerging challenges lead to delays and interruptions in automation projects. Especially non-functional requirements are hard to specify for later engineering phases. Therefore, a holistic engineering approach will be developed. As a first step, important challenges for the development of distributed automation systems are identified in this paper. Based on this, non-functional requirements derived from an information science point of view are adapted to the specifics of automation technology.
152	S. Rohjans, D. Fensel, A. Fensel, "OPC UA goes semantics: Integrated communications in smart grids ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In the energy domain a transition process has begun aiming at the realization of smart grids, where many perspectives on smart grids and thus, different definitions, exist. However, one aspect is widely accepted, namely that ICT is needed to support future smart grids. IT approaches are used to deal with the upcoming data exchange among the different stakeholders. The traditional supply chain, from centralized generation to conventional consumption, has evolved into a multi-dimensional, highly dynamic and complex system. Many new stakeholders such as service providers and prosumers participate in smart grids. Also, automation becomes more and more important, especially novel communication standards like the OPC UA. In this contribution the application of the OPC UA as well as its extension by annotating meta-data to enable semantic web service communication is introduced.
153	F. Schumacher, A. Fay, "Requirements and obstacles for the transformation of GRAFCET specifications into IEC 61131–3 PLC programs ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: GRAFCET is a powerful means for the specification of controllers in discrete event systems. As GRAFCET is a specification language and not a programming language, GRAFCET specifications have to be transformed into executable control programs, e.g. in a programming language according IEC 61131-3. Such a transformation requires consideration of particular characteristics of GRAFCET, such as transient evolutions. In previous research concerning this transformation, only subclasses of GRAFCET have been taken into account, and e.g. time dependencies have been neglected so far. The current research of the authors intends to contribute to a wider acceptance of GRAFCET as a control specification standard by developing algorithms for an unambiguous transformation of GRAFCET constructs into controller programs in accordance with the IEC61131-3 standard.
154	P. Ettler, K. Dedecius, D. Juricic, A. Preglej, "Advanced soft sensor technology to be used for cold rolling mills ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The use of data-driven soft sensors instead of expensive or even non-existent hardware sensors has become increasingly popular in the last two decades. Among others, they allow to reliably substitute the direct measurements with their predictions based on several related measured variables. The reason for such an indirect solution lies mostly in the absence or technical unsuitability of a reliable direct measurement of the variable of interest. This is the case of the real value of the rolling gap which substantially influences strip thickness when processed on a cold rolling mill. Although several successful approaches are being widely used for the thickness control, complementary solutions are sought permanently to improve control quality in anomalous situations and to further reduce off-tolerance parts of the rolled strip. Four partners have joined their expertise to obtain a qualitatively new soft sensor of this type in the framework of an international research project.
155	M. Foehr, A. Luder, T. Jager, A. Fay, T. Wagner, "Development of a method to analyze the impact of manufacturing systems engineering on product quality ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Product quality is one key performance indicator for manufacturing systems with growing importance. Among others it depends strongly on manufacturing properties and parameters defined within the engineering process of the manufacturing system creating these products. Thus, manufacturing systems engineering quality directly influences product quality. To control the reachable product quality within the engineering process, the dependencies between engineering process, manufacturing system, and product have to be known and used within the engineering process as guidance. Within this paper a method is described which can be used to analyze the dependency of product properties and, thereby, product quality from engineering activities.
156	M. Hassan, R.M. Daoud, H.H. Amer, "Passive supervisor for railway fault-tolerant Ethernet networked control systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this study, OPNET simulations are run to study the performance of a single Gigabit Ethernet two-wagon train control network. The network carries both control and entertainment loads. Each wagon has two servers; a Controller to carry the control load and an Entertainment Server to carry the entertainment load. A passive supervisor is interconnected to both wagons. A fault tolerance analysis is presented; it is based on a specific reallocation of the control load. It is proven that the network can survive the failure of both Controllers and both Entertainment Servers. OPNET simulations indicated that the maximum real-time sensor-to-actuator packet end-to-end delay met its constraints and that there were zero packets dropped.
157	M. Wollschlaeger, A. Dennert, L. Rauchhaupt, D. Hasler, A. Schimschar, M. Riedl, "Lifecycle management related model approach for wireless automation ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Although there are already many applications using wireless communication in industrial automation those wireless solutions (WS) are not yet fully integrated into the life cycle (LC) process of automation systems. Since several wireless technologies are candidates to fulfill given automation communication requirements it is almost impossible for automation engineers to select the appropriate solution, to plan wireless solutions, or to perform diagnosis or fault analysis of a wireless network. Wireless specialists are necessary for each potential WS. To overcome this problem a project was started to develop information models for each phase of the life cycle (LC) in order to support automation engineers recording or accessing the appropriate information when required. This paper introduces the objective and the approach of this project.
158	R. zum Beck, D. Kazakov, C. Bruce-Boye, G. Menden, D. Assaf Hohl, N.Z. Zapata, "Middleware based distributed heterogeneous simulation for the steel industry ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper we discuss how a distributed heterogeneous simulation application is implemented. The LabMap^® middleware is used as a data provider and consumer between two distributed simulators which run two depending Dymola simulation models. A simulation setup is presented using an intelligent energy and media solution model for an integrated steel mill. The synchronization mechanism of the distributed simulation and the feasibility and advantages of the utilization of a middleware are shown.
159	C. Mauser, W. Granzer, W. Kastner, "Integrating CCTV systems into BACnet ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Closed-Circuit Television (CCTV) systems are used in modern buildings for different purposes. By the use of smart cameras, dedicated safety or security-critical events that may lead to an alarm condition can be detected autonomously (e.g., safety events like fire or security events like glass break). Integrating CCTV systems into building automation systems provides the opportunity to react to critical events by, for example, informing the operator about the occurrence of such events, providing relevant video data, and most important concurrently initiating appropriate actions (e.g., smoke extraction in case of fire). This paper focuses on the integration of such smart camera systems into BACnet based networks. At first, a short introduction to BACnet and its interworking model is given. Afterwards, a possible way of integrating CCTV systems into BACnet is presented. The functionality of this model is shown by a proof-of-concept implementation which is also described in this paper.
160	F. Andren, T. Strasser, "Distributed open source control with Industrial Ethernet I/O devices ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A trend towards the usage of distributed approaches in industrial automation can be observed during the last decade. The IEC 61499 standard was especially developed for such distributed applications in Industrial Process Measurement and Control Systems (IPMCS). Moreover, Industrial Ethernet becoming more and more popular and replacing step-by-step conventional field bus technology in IPMCS. Therefore, the main objective of this paper is to describe the integration of Ethernet POWER-LINK (EPL) accessing decentralized I/Os via IEC 61499 control applications using open source software.
161	A. Agirre, M. Marcos, E. Estevez, "Distributed component management platform for QoS enabled applications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Industrialized societies are increasingly dependent on distributed real time systems (DRTS) that are getting more and more complex, dynamic, open, while interacting with a progressively more demanding and heterogeneous environment. In such an scenario, middleware technologies that provide real-time or QoS support are gaining importance, as they ease the development and deployment of complex distributed applications in heterogeneous networks while ensuring certain time and QoS constraints. In this sense, distribution middleware technologies like Data Distribution Service (DDS) have emerged, adding extensive QoS support to traditional middleware advantages. This paper proposes an additional middleware layer on top of DDS, based on components, that provides an easy way to deploy, configure and manage component based distributed applications, considering fault tolerance aspects.
162	B. Vogel-Heuser, S. Braun, M. Obermeier, K. Sommer, T. Seidel, C. Johannes, "Modeling order effects on errors in object oriented modeling for machine and plant automation from an educational point of view ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Our goal is to improve the handling of new possibilities given through object-oriented extension of the IEC 61131-3 programming techniques. We already know that modeling of structure is a challenge for automation engineers and often neglected. In an interdisciplinary research team we examined whether the modeling order with the Unified Modeling Language (UML) class diagram for the structural aspect and the UML state chart diagram for the behavioral aspects cause significant differences in model quality. Additionally, often occurring errors were analyzed to find hindering factors in modeling and to learn what was misunderstood. Therefore we combine usability aspects, notational and procedural aspects in PLC programming with learning and educational aspects to find how education and application of modeling notations could be improved.
163	R. Lazzarini, G. Virgilli, C. Stefanelli, M. Tortonesi, "Teorema: An e-maintenance platform for ice cream machines ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In modern manufacturing, the integration of ICT in the maintenance process, led to the development of e-maintenance, that automates management operations. E-maintenance, that initially interested only large plant machinery, is now becoming affordable for mass-produced equipment, thanks to the recent advances in ICT. This paper presents Teorema, an innovative e-maintenance solution for Carpigiani ice cream machines, which provides several services: remote monitoring of machines, automatic notification of malfunctions, diagnostics and prognostics functions, remote assistance interventions, and automated reporting of production data. Teorema is already in production and it is significantly improving the after-sale service to Carpigiani customers.
164	R. Frenzel, R. Lehmann, M. Wollschlaeger, "Handling identification and maintenance information of intelligent field devices using Web Based Enterprise Management ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In modern automation systems, where a large amount of devices and a set of inter-operating heterogeneous field buses exist, the management of all the devices is still done device-by-device. Complex functions like “call device maintainer after reaching a device's service hour counter” for a group of devices within the network are still missing. Common management protocols like SNMP are not suitable for realizing such commands. With the introduction of Web Based Enterprise Management (WBEM) by the Distributed Management Task Force, an extensible system for the management of IT devices has been developed. This paper describes an approach how WBEM can be used for the management of PROFIBUS and PROFINET field bus systems using PROFIBUS International's “Identification & Maintenance” functions.
165	B. Kumar, B. Czybik, J. Jasperneite, "Model based TTCN-3 testing of industrial automation systems — First results ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Model-driven system/protocol engineering has been successfully applied in the industrial automation domain over the recent years. However, its cousin model-based testing (MBT) is relatively a new kid in the block - who is being curiously observed by domain experts. MBT leverages behavior models (e.g. software models) to automatically generate a large set of test cases. Testing industrial communication and automation systems manually for all significant behavioral scenarios is a non-trivial task. Hence, automatic generation of test vectors from formal/semi-formal models is desirable. Here, we report our first step towards the usage of MBT in the industrial automation context.
166	D. Makartetskiy, R. Sisto, "An approach to refinement checking of SysML requirements ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: During last years, the importance of safety aspects in industry has significantly increased. System engineering modeling language SysML is widely used in order to manage increasing complexity of embedded systems. Being just a modeling language, SysML does not provide integrated means of verification and validation for its models. Therefore, additional efforts are needed for checking consistency of models. This work shows efforts towards integrating embedded systems modeling with verification measures, namely, with refinement checking (checking whether a system description is really an implementation of another, more abstract, system description) applied to statemachines linked to SysML requirements. We show how such verification can be done automatically with the help of externally implemented tools.
167	R. Mordinyi, A. Pacha, S. Biffl, "Quality assurance for data from low-tech participants in distributed automation engineering environments ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Participants in modern automation engineering projects typically work distributed and in parallel. Therefore, there are advanced approaches for integrating the data of specific engineering tools and systems. However, in these projects there are also participants who do not work with the specific engineering tool set but provide important data updates, e.g., customer representatives. A major challenge is to provide systematic and efficient quality assurance for these inputs. In this paper we describe an approach to provide efficient quality assurance when importing data from general purpose tools such as Excel into an integrated engineering data set. We report on experiences with initial prototypes and compare the improved with a traditional data import process to discuss advantages, risks, and further improvements.
168	J. Lu, A. Van Den Bossche, E. Campo, "A new beacon scheduling mechanism for mesh Wireless Personal Area Networks based on IEEE 802.15.4 ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: IEEE 802.15.4 protocol is a promising technology for WPANs (Wireless Personal Area Networks) with several issues to be addressed. In particular, the description on how to construct a mesh networking topology is missing. Moreover, an issue is how the router/coordinator can save energy while being effective for the entire network. This paper deals with this problem, discusses the ambiguities regarding the use of mesh topology and proposes a new collision-free beacon scheduling mechanism to construct a suited WPAN. The details of the protocol, ADCF MAC (Adaptive and Distributed Collision-Free Medium Access Control), will be fully described and analyzed.
169	Jong-Seo Kim, Sang-Hun Lee, Hyun-Wook Jin, "Fieldbus virtualization for Integrated Modular Avionics ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The architecture of avionics systems is moving from federated to integrated architecture called Integrated Modular Avionics (IMA). In the IMA architecture, several avionics applications can be transparently integrated on the same computing device and communicate with others without knowing whether others are running on the same node or not. However, the fieldbuses have not been studied thoroughly in the context of IMA architecture though they are quite attractive for implementing avionics data bus. In this paper, we propose a novel design of device-level virtualization to utilize Controller Area Network (CAN) efficiently on various implementations of the IMA architecture. Our proposed device-level virtualization provides virtual CAN devices and emulates the characteristics of CAN bus. We also deal with the issues to support the communication modes defined by ARINC 653¹.
170	H. Trsek, L. Wisniewski, E. Toscano, L.L. Bello, "A flexible approach for real-time wireless communications in adaptable industrial automation systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Due to several advantages, such as flexibility, increased mobility, and lower costs, the deployment of wireless technologies in factory automation systems is rapidly growing. However, current wireless technologies, e. g., IEEE802.11 Wireless Local Area Networks (WLANs), are not able to satisfy the requirements of industrial applications in terms of real-time communication. In this paper medium access control mechanisms in IEEE 802.11 are investigated and a new isochronous MAC is proposed. In combination with a traffic scheduler specifically designed for it, typical constraints of soft real-time flows found on the factory floor can be satisfied. A preliminary analysis shows the effectiveness of the proposed combination.
171	P. Ferrari, A. Flammini, S. Rinaldi, G. Prytz, "Applying PTP-to-SNTP time-gateway to IEC61850 systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper describes the application of an improved Time Gateway for simplifying the integration of old IEC 61850 devices in new IEC 61850 Substation Automation System with IEEE 1588 PTP. Old devices typically retrieve time information with the well-known SNTP protocol which uses very different time representations and synchronization strategies with respect to PTP. Hence, the paper uses a transparent, full-software, Time Gateway for interfacing SNTP devices with a PTP synchronization domain, demonstrating its applicability by means of a prototype based on an FPGA. Experimental results show the Time Gateway improves the overall performance with respect to an SNTP-only system. Moreover, the experiments demonstrate that the synchronization accuracy is limited by the SNTP.
172	Xuan Hung Nguyen, "Networked control systems quality of service aware quality of control adaptation ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: We consider the implementation of simple process control applications through a CAN network. The goal of this paper is to study modifications on-line of controller parameters according to the global time delay in the control loop. Two methods that we use are the phase margin method and the dominant pole one. We evaluate the performances of the two methods in terms of the time response.
173	Hairui Zhou, Jian Li, Fei Hu, Guangyu Hu, Ye-Qiong Song, Lina He, "A novel traffic shaping algorithm with delay jitter constraints for real-time multimedia networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Data traversing packet networks experience varying delays, resulting in noticeable delay jitters. This significantly degrades overall system performance in a real-time multimedia network. This paper proposes TSJC, a novel traffic shaping algorithm with delay jitter constraints for real-time multimedia networks, on the basis of traditional shaping algorithms and their traffic characteristics. TSJC computes the queuing delay and queuing delay variation on line by monitoring the token bucket states, such as the queue length and token arrival rate. TSJC adaptively configures system parameters based on the queuing delay and time jitter, to provide universally low jitter outputs. Simulations have shown that TSJC can both smooth traffic fluctuation and decrease the delay jitter.
174	D. von Rohr, M. Felser, M. Rentschler, "Simplifying the engineering of modular PROFINET IO devices ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: PROFINET IO is designed with a modular structure of the IO devices. Certified modular PROFINET IO devices are usually shipped with a General Station Description (GSD) file that does not contain the actual module configuration of the IO device. With common appliances the modules must subsequently be configured manually in the engineering tool. This can become an elaborate task in large PROFINET IO installations and it would therefore be useful to have some tool support to automatically detect and import the actually installed modules in an IO device. As a solution we propose a GSD file generator that creates the GSD file with the actual module configuration by retrieving the real data from the device via SNMP. This paper presents the implemented mechanism and gives some attention to certification issues.
175	M. Knezic, B. Dokic, Z. Ivanovic, "Increasing EtherCAT performance using frame size optimization algorithm ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: EtherCAT protocol is a popular Real-Time Ethernet solution that offers the highest communication efficiency in a number of operating conditions. However, for huge networks with several hundreds of devices distributed in the field, EtherCAT performance can become a critical factor. In this paper, we propose a solution for increasing EtherCAT performance using a frame size optimization algorithm. The optimization algorithm is described and analyzed for a simple scenario present in typical automation systems.
176	G. Moritz, F. Golatowski, D. Timmermann, "A CoAP based SOAP transport binding ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A huge momentum towards IP enabled Wireless Sensor Networks (WSN) appeared through the emerging 6LoW-PAN protocols (i.e. IPv6 over Low power Wireless Personal Area Networks). By usage of existing cross domain open standards in contrast of proprietary solutions, deployments of WSNs are not tailored too tight for specific applications. Nevertheless, 6LoWPAN is only the first step for the usage of internet protocols in WSNs. Still efforts on higher layers on top of 6LoWPAN are an urgent need to provide seamless connectivity and interaction of highly resource constrained devices with higher valued services. This paper describes a new approach to bind SOAP to the emerging Constrained Application Protocol (CoAP) protocol. Thereby CoAP provides a lightweight but reliable transport binding for SOAP based protocols. Compared to the widespread TCP based HTTP binding, round trip times can be reduced by 43% in an exemplary scenario. Combined with dedicated XML compressors like the Efficient XML Interchange format (EXI), existing heavy weight SOAP based protocols become also applicable in WSNs.
177	P. Neufeld, U. Meier, L. Rauchhaupt, M. Kratzig, "A unified approach for the assessment of industrial wireless solutions ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper describes the preliminary results of a research project that deals with the specification of standard test cases for the evaluation of wireless communication solutions with respect to industrial automation applications. The aim is a unified performance assessment independent of wireless technology or vendor. As a result industrial wireless communication solutions shall be classified by standardised characteristic parameters. The characteristic transmission parameters shall be determined for a target application field. Thus, the applicability of a certain wireless solution (WS) for a certain application can be easily assessed.
178	P. Ferrari, A. Flammini, F. Venturini, A. Augelli, "Large PROFINET IO RT networks for factory automation: A case study ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper presents a case study regarding a real PROFINET IO network for factory automation. The aim of the study is the evaluation of the time related parameter of a real network. A large factory automation plant has been chosen as testbed since PROFINET IO RT Class 1 and 2 (unsynchronized) are mainly used in those applications. The analyzed network has a high number of distributed IO, actuators and sensors; its topology is complex (star and ring); and it is fully operative (in-production). The considered implementation stresses the PROFINET IO communication as no laboratory setup can do, giving meaningful information about real operative conditions on short-term. The results of this case study can be used both to improve simulation models of devices and to verify critical situations in real plants.
179	G. Cena, M. Cereia, A. Valenzano, "Security aspects of safety networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The importance of safe communications in industrial environments has been steadily increasing over the past years and several special-purpose solutions have been developed to this purpose. However, the prevalent trend nowadays is the adoption of standard transmission technologies to support both safe and non-safe data exchanges over the same medium. This exposes safety-aware protocols to the same security threats experienced in conventional communication networks. This paper deals with some security aspects of a popular safety-oriented communication solution, namely Safe-tyNETp. Its main contribution is showing that safety protocols too suffer from security threats and can even make things simpler in carrying out certain types of attacks such as denial of service (DoS).
180	M. Adnan, J.-L. Scharbarg, J. Ermont, C. Fraboul, "An improved timed automata model for computing exact worst-case delays of AFDX periodic flows ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In Avionics Switched Ethernet network (AFDX), guarantees on worst-case end-to-end (E2E) communication delays are obtained thanks to safe upper bounds computed by Network Calculus and Trajectory Approaches. Up to now, the computation of an exact worst-case delay is intractable, except for very small configurations. This paper proposes a modified timed automata approach which increases the size of the configuration for which an exact worst-case can be obtained. This is achieved thanks to a drastic reduction of the search space.
181	D. Gessner, M. Barranco, A. Ballesteros, J. Proenza, "Designing sfiCAN: A star-based physical fault injector for CAN ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents the design and a preliminary implementation of sfiCAN: a physical fault injector for the CAN field-bus that allows the creation of a great variety of complex fault scenarios. The fault injector replaces the CAN bus topology with a star topology, whose central element is a hub with fault injection mechanisms. The fault injector is easily configured, with great flexibility, from a PC connected to a dedicated port of the hub. For this it uses a fault-injection specification, which is translated to a configuration protocol on top of CAN. This protocol is only used in-between fault injection tests and therefore does not interfere with the execution of any test. The purpose of the fault injector is to test the behavior of the nodes of a CAN network in the presence of channel errors, in particular, of the nodes' CAN controllers and the software executing on them, for which the star topology is transparent.
182	I. Calvo, F. Perez, O.G. de Albeniz, I. Etxeberria-Agiriano, "Towards a OMG DDS communication backbone for factory automation applications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Although a few industrial automation systems have also been implemented with DDS, this standard has not yet gained much significance in factory automation applications for several reasons. One of these reasons is that since DDS is aimed at a broad range of application domains and it may be necessary to provide certain guidelines in order to use it efficiently in factory automation applications by automation engineers. This paper fills this gap by analyzing the types of traffic found in this kind of applications and describing how to configure the QoS parameters DDS provides. It also presents an ongoing case study that illustrates the application of DDS as communication backbone in factory automation applications.
183	I. Silva, L.A. Guedes, P. Portugal, F. Vasques, "Preliminary results on the assessment of WirelessHART networks in transient fault scenarios ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: WirelessHART currently appears as a leading solution for interconnection of wireless devices in industrial process control applications. However, the lack of knowledge about the influence of transient faults in WirelessHART networks can lead to the choice of less reliable topologies. In this work, we propose a simulation model to evaluate WirelessHART networks in the presence of transient faults. We assume that these faults result from noisy environments that disturb communications between devices. The model was developed using the Stochastic Petri Net (SPN) formalism, supported by the Mobius tool. For further developments, we target the development of an application that automates the assessment of a WirelessHART network in transient fault scenarios.
184	M. Barranco, J. Proenza, "Towards understanding the sensitivity of the reliability achievable by simplex and replicated star topologies in CAN ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Star-based field buses are gaining importance in the context of highly-dependable systems. However, although the error-containment and fault-tolerance capabilities of different stars have been evaluated, no one had appropriately quantified the system dependability benefits stars actually yield. Thus, in previous work, we quantitatively demonstrated, for the case of CAN, that a simplex and a replicated star called CANcentrate and ReCANcentrate can improve the system reliability when compared with a bus. However, we characterized all the dependability-related aspects of the system and the network to favor whenever possible the bus; except in one case, in which we studied the benefits of the simplex star over the bus depending on the error-containment capabilities of the nodes. Thus, to completely understand the full potential of stars, it is still necessary to assess how variations in each one of those aspects affect the reliability achievable with them when compared with the bus. This paper presents two of the set of analyses we are carrying out in this direction.
185	M. Jager, R. Just, O. Niggemann, "Using automatic topology discovery to diagnose PROFINET networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Due to an increasing degree of automation, industrial communication networks grow in complexity and become more vulnerable to errors. Therefore a reliable network diagnosis is getting more and more important. Although modern industrial communication networks, such as PROFINET, have basic diagnosis mechanisms, they do not cover complex error cases. Furthermore, our work shows that a diagnosis of most error cases requires an automatic detection of a network's topology. In general, PROFINET does support topology discovery by providing the necessary protocols. However, implementing a reliable automatic topology discovery is not a trivial task e.g., because different vendors vary in their interpretation of the standards. This paper presents our approach for discovering the topology of a heterogeneous network. Further, a first approach for using the topology discovery for a high-level PROFINET diagnosis is shown.
186	H. Trsek, S. Schwalowsky, B. Czybik, J. Jasperneite, "Implementation of an advanced IEEE 802.11 WLAN AP for real-time wireless communications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Wireless technologies are increasingly deployed in factory automation systems. They enable completely new application scenarios. Especially, IEEE 802.11 systems are of a high interest, due to their similarities to existing realtime Ethernet networks. However, existing implementations are only offering prioritization of frames and are lacking to meet certain real-time constraints when additional best-effort traffic is present. Therefore, an implementation of an isochronous medium access control is presented in this paper which is able to provide real-time guarantees based on time division multiple access. The hardware and software architecture is introduced and a first preliminary evaluation of the implementation shows its performance in terms of temporal behaviour.
187	S. Fischer, H.D. Doran, "Embedding Real Time Ethernet: EtherNet/IP on resource constricted platforms ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Real Time Ethernet protocols have become commonplace in automation orientated communication. An important applied research question is whether generic embedded applications can benefit from these new protocols. This industry practice paper investigates the “embeddability” of EtherNet/IP on resource constrained platforms. We show that, within the cost structure of RTE implementations in general, EtherNet/IP can be implemented in resource constrained hardware and in fact can be successfully be ported to existing embedded, Ethernet enabled, hardware.
188	M. Barranco, G. Rodriguez-Navas, D. Gessner, J. Proenza, "Towards the integration of flexible-time-triggered communication and replicated star topologies in CAN ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: There is a growing interest in making the CAN field-bus more suitable for dependable applications. In the past years, several dependability limitations of CAN have already been addressed and a significant number of solutions are available. Nevertheless, the integration of these solutions into a single communication infrastructure is still an open issue. In this paper we discuss the integration of two specific solutions: FTT-CAN and ReCANcentrate. FTT-CAN is a higher-layer protocol that guarantees flexible real-time scheduling of CAN messages; whereas ReCANcentrate is a duplicated star topology for CAN that includes several enhanced mechanisms for media fault tolerance. We show how they are integrated into a single architecture that preserves the properties of each solution.
189	C. Kunzle, D. Bursic, H.D. Doran, "Embedding Real Time Ethernet: Examining feasibility of separating bus master and application master in industrial POWERLINK implementations ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The standard paradigm in Real Time Ethernet systems is the master/slave configuration and although intrinsically allowed by many protocols, peer-to-peer system architectures have received little exposure. In this paper the authors present a high performance peer-to-peer Ethernet POWERLINK implementation. Instead of using a Managing Node it builds on the concept of a bus master whose sole purpose is to schedule traffic on the bus enabling the nodes to communicate with each other using the cross-traffic facility. The authors present the solution architecture, discuss implementation aspects and propose a change to the POWERLINK standard based on drawn conclusions.
190	G. Rodriguez-Navas, C. Winter, J. Proenza, "Injection of aggregated error flags as a means to guarantee consistent error detection in CAN ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Although the specification of CAN states that this protocol provides data consistency, it is well know that said property does not hold for certain specific error scenarios affecting the last bits of a CAN frame, and a number of solutions have been already suggested. Moreover, for a long time it has been thought that the errors affecting the initial or intermediate bits of a CAN frame cannot cause any inconsistency. In this paper we show that this assumption is false, and that such kinds of message inconsistencies are also possible for certain combinations of multiple channel errors. After describing these unreported scenarios of inconsistency, we present a mechanism that guarantees the consistent detection of said scenarios and eliminates the possibility of suffering this kind of inconsistencies. This mechanism is therefore useful for the design of highly-dependable applications over CAN.
191	V. Baptista, P. Bartolomeu, R. Almeida, P. Mar, J. Fonseca, "A communication protocol for open environment housings ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The growing popularity of wireless communications together with trend of cost reduction is fueling the development of services and technologies aiming at improving the welfare and comfort of people at home. The B-live Wireless system was developed in the scope of an ongoing industry-backed research project that envisages the development of technologies and services to support healthy, productive and active citizens. This paper reports the wireless protocol enabling the support of real-time biosignal monitoring, localization services and event communication in open environment housings.
192	D. Silva, P. Bartolomeu, J. Fonseca, "Wireless parking lot monitoring and guidance ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Currently, energy saving policies are fueling a broad research effort to reduce power consumption and increase energy usage efficiency. Private cars are a key energy consumer and constitute a significant source of greenhouse effect gas emissions. The advent of information technologies and the proliferation of wireless low-power communication technologies have allowed the appearance of several energy saving solutions. One example is parking assistance systems for large parking lots, which allows user guidance to the free parking places. This paper describes one of these systems implemented with an IEEE 802.15.4 network.
193	D. Tsitsipis, S. Dima, A. Kritikakou, C. Panagiotou, S. Koubias, "Data merge: A data aggregation technique for wireless sensor networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The Wireless Sensor Networks (WSNs) have limited power and communication capabilities, combined with the requirement for long network lifetime. To increase it, methods to reduce energy consumption are highly required. To achieve this goal, we study a data aggregation technique without size reduction, i.e. data merge. It is a generic technique, since it is also usable in applications with heterogeneous data and requirements for high accuracy. This study presents the impact of the data merge technique on WSNs applications executed under various realistic data flow scenarios, traffic loads and wait time intervals. Our results show significant reductions in both packet loss and radio energy consumption.
194	D. Dasari, V. Nelis, B. Andersson, "WCET analysis considering contention on memory bus in COTS-based multicores ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The usage of COTS-based multicores is becoming widespread in the field of embedded systems. Providing realtime guarantees at design-time is a pre-requisite to deploy real-time systems on these multicores. This necessitates the consideration of the impact of the contention due to shared low-level hardware resources on the Worst-Case Execution Time (WCET) of the tasks. As a step towards this aim, this paper first identifies the different factors that make the WCET analysis a challenging problem in a typical COTS-based multicore system. Then, we propose and prove, a mathematically correct method to determine tight upper bounds on the WCET of the tasks, when they are co-scheduled on different cores.
195	F. Fiamberti, D. Micucci, F. Tisato, "An architecture for time-aware systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper presents a set of architectural abstractions that allow time-related aspects to be explicitly treated as first-class programming concepts at the application level. Both the temporal behavior of an application and the way it deals with information placed in a temporal context can be modeled by means of such abstractions, thus narrowing the semantic gap between specification and implementation. The paper introduces the abstractions by means of a simplified reference problem and presents the validation of a concrete implementation.
196	V. Brocal, P. Balbastre, R. Ballester, I. Ripoll, "Task period selection to minimize hyperperiod ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper a new task model with periods defined as ranges is proposed with the main goal of drastically reduce the hyperperiod of the task set. The model is focused to be applied in cyclic scheduling, where the length of the major cycle of the plan is determined by the hyperperiod. But it also can be applied in synthetic task sets generation, where having a small hyperperiod reduces complexity and simulation time. A new algorithm, which allows to calculate the minimum hyperperiod of such a set of tasks, is presented. This algorithm calculates the minimum value even with a large number of tasks, where exhaustive search becomes intractable.
197	R. Bourgade, C. Rochange, P. Sainrat, "Predictable bus arbitration schemes for heterogeneous time-critical workloads running on multicore processors ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Multi-core architectures are now considered as possible candidates to implement future time-critical embedded systems. The challenge is to make the worst-case execution time (WCET) of each task predictable. In this paper, we investigate bus arbitration schemes with upper-bounded bus latencies. We focus on heterogeneous workloads in which tasks exhibit distinct requirements in terms of bandwidth. The proposed schemes perform a two-level arbitration: the cores are organized into groups and all the cores in the same group benefit from the same bandwidth. Different algorithms are considered to share the bus slots among the groups. Experimental results (WCET estimates) show an improved global WCET compared to usual round-robin schemes. This will enhance the schedulability of heterogeneous task sets.
198	N. Zingirian, M. Maresca, C. Valenti, "The Click&Find Remote Vehicle Monitoring and Control platform: Architecture, interfaces, applications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper presents the Click & Find platform, specifically designed to support advanced Remote Vehicle Monitoring and Control applications. The platform currently provides the real-time monitoring of over five hundreds fuel delivery tanker trucks working for many Oil Companies in Europe. The paper focuses on the innovative platform features, i.e., the three-tier architecture and the rule-based interface.
199	C.E. Moron, A.D. Malony, "Development of embedded multicore systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The concepts involved in the programming process of multicore systems have been quite well known for decades. The problem is to produce it in a form as easy as sequential programming. This new trend will change the way we think about the whole development process. We will show that it is possible to develop a multicore embedded system application using existing tools and the model-driven development process proposed. To do this, two tools will be used: VisualRTXC (available at www.quadrosbrasil.com.br) for generating the multithread communication/synchronization structures and a performance tool called TAU (available at http://www.cs.uoregon.edu/research/tau/home.php) for the tuning of the final implementation.
200	A. Van Den Bossche, T. Val, R. Dalce, "SISP: A lightweight synchronization protocol for Wireless Sensor Networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a new synchronization protocol suitable for light nodes in a Wireless Sensor Network. This protocol, called SISP, is detailed with its algorithm and its sequence diagram. The simulation results obtained with a dedicated simulator are completed by the results of prototyping. The results show the effectiveness of SISP. Several prospects are discussed in conclusion.
201	F. Bohr, R. Eschbach, "SIMOTEST: A tool for automated testing of hybrid real-time Simulink models ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper is presenting a tool called SIMOTEST. It allows the user to conduct Model Based Testing of MatLab/Simulink models. In particular it allows automatically running and evaluating test cases which got generated from a test model. Test cases which get run from SIMOTEST can be used for testing hybrid realtime systems i.e. systems which have continuous and discrete inputs/outputs which need to fulfill timing requirements. This is achieved by using the IEEE Standard for Signal and Test Definition (IEEE 1641).
202	M. Saadatmand, A. Cicchetti, M. Sjodin, "Enabling trade-off analysis of NFRs on models of embedded systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Satisfaction of Non-Functional Requirements (NFR), is a key factor in successful design of embedded systems. This is mainly due to the constraints and resource limitations in these systems. A design that cannot achieve functionality of the system under these limitations is actually a failure. Therefore, NFRs in design of embedded systems deserve special attention. However, one big issue is that NFRs are interconnected and cannot be considered in isolation; especially that they can have direct impacts on each other such as security and performance. This means that a careful balance and trade-off analysis among NFRs is necessary. In this paper, we focus on this need and identify what information about NFRs is required in order to perform trade-off analysis. We propose and explain our in-progress approach to incorporate this information into system models in order to enable trade-off analysis. Our approach is based on UML profiling method to annotate model elements with necessary information.
203	M. Asberg, N. Forsberg, T. Nolte, S. Kato, "Towards real-time scheduling of virtual machines without kernel modifications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Virtualization is a well used technique in the area of internet server systems for managing several (legacy) applications on a single physical machine. These applications do not have strict time deadlines, which also reflects how these applications are scheduled. Using virtualization in an embedded real-time systems context is of course attractive, since we want to pack as much software as possible on a, as small as possible, hardware platform. The problem is that this kind of software does not easily cope well together, in the aspect of time related properties. Hence, we need a new mechanism, i.e., a scheduler, that can satisfy the timing requirements of each application. However, scheduler implementations typically require modifications to middleware or kernel and this is not acceptable in the area embedded systems, due to stability and reliability reasons. Hence, in this paper, we propose a framework for scheduling (soft real-time) applications residing in separate operating systems (virtual machines) using hierarchical fixed-priority preemptive scheduling, without the requirement of kernel modifications.
204	A. Monot, N. Navet, B. Bavoux, "Impact of clock drifts on CAN frame response time distributions ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The response time distributions of the frames sent on a Controller Area Network (CAN) bus are of prime interest to dimension and validate automotive electronic architectures. However, the existing work on the timing behaviour of the CAN network does not take into account that all the data exchanges between the Electronic Control Units (ECUs) are driven by different and independent clocks which are subject to clock drifts. This paper proposes a model for clock drifts and describes their impact on the CAN frame response time distributions. By implementing the clock drifts in a CAN simulation tool, we show experimentally that the response time distributions converge, for drift values chosen randomly within the same range on all ECUs, whatever the initial phasings between the sending nodes. Furthermore, we show that, as a result of the clock drifts, the situations leading to the worst case response times are transient.
205	S.-M. Dima, J. Gialelis, S. Koubias, "Knowledge based actor to actor coordination in Wireless Sensor and Actor Networks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Wireless Sensor and Actor Networks emphasize the necessity for cooperative communication between actors as well as sensors in order to achieve ubiquitous monitoring and efficient interaction in realistic physical environments and appropriate acting on them. This collaboration aims to assure appropriate decision making related to specific event detection, appropriate classification as well as selection of the optimal actor able to react to the event. Therefore this paper aims to propose a suitable architecture providing a data fusion model necessary for the first goal as well as a task assignment method comprising an essential component for energy efficient communication between the actors so as to allocate the acting tasks.
206	S. Mubeen, J. Mam-Turja, M. Sjodin, "Extending response-time analysis of Controller Area Network (CAN) with FIFO queues for mixed messages ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Existing response-time analysis for Controller Area Network (CAN) messages in networks where some nodes implement FIFO queues while others implement priority queues, assumes that at every node, CAN messages are queued for transmission periodically or sporadically. However, there are a few high level protocols for CAN such as CANopen and Hägglunds Controller Area Network (HCAN) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. The existing analysis of CAN with FIFO queues does not support the analysis of mixed messages. We extend the existing response-time analysis of mixed-type CAN messages. The extended analysis can compute the response-times of mixed (periodic/ sporadic) messages in the CAN network where some nodes use FIFO queues while others use priority queues.
207	M. Tutsch, P. Vojcinak, J. Koziorek, M. Skrepek, "Using automated evaluation of efficiency for photovoltaic power plant ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper deals with the methodology for assessing the production of solar photovoltaic power plant. Operational quality of a solar power is given to early detection of possible failures of individual components. This can be achieved only by constantly monitoring the status of the plant and their proper evaluation. It is described design of whole data acquisition system based on data mining and automatic detection of failures and follow-up evaluation of data. According to a number of newly installed plants, such as in the Czech Republic, it is a very topical issue. The proposed procedures are validated in operation and maintenance of solar power with the performance 350 kWp built in campus of VSB Technical University of Ostrava (also VSB-TUO).
208	Yue Lu, T. Nolte, I. Bate, L. Cucu-Grosjean, "A trace-based statistical worst-case execution time analysis of component-based real-time embedded systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper describes the tool support for a framework for performing statistical WCET analysis of realtime embedded systems by using bootstrapping sampling and Extreme Value Theory (EVT). To be specific, bootstrapping sampling is used to generate timing traces, which not only fulfill the requirements given by statistics and probability theory, but also are robust to use in the context of estimating the WCET of programs. Next, our proposed statistical inference uses EVT to analyze such timing traces, and computes a WCET estimate of the target program, pertaining to a given predictable probability. The evaluation results show that our proposed method could have the potential of being able to provide a tighter upper bound on the WCET estimate of the programs under analysis, when compared to the estimates given by the referenced WCET analysis methods.
209	F. Nemati, R. Inam, T. Nolte, M. Sjodin, "Towards resource sharing by message passing among real-time components on multi-cores ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper we propose a message passing synchronization protocol for resource sharing among real-time applications on multi-core platforms where each application is allocated on a cluster of cores. In this protocol the resources that are only used within an application (local resources) are handled by shared memory synchronization while the resources shared cross applications (global resources) are accessed by means of message passing. In our protocol the global resources are safely accessed without requiring to lock the resources explicitly. The goal is to avoid resource locking using shared memory, since accessing shared memory in multi-cores is very time consuming, whereas message passing has the potential to be much more efficient in systems with deep memory hierarchies.
210	A. Armentia, I. Sarachaga, O.G. de Albeniz, E. Estevez, A. Aguirre, M. Marcos, "Achieving reconfigurable service oriented applications using Model Driven Engineering ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Service Oriented architectures are becoming very popular to meet the requirements of complex current applications demanding distribution and heterogeneity in open environments. In this sense, the iLAND-ARTEMIS project is aimed at the development of a service-based middleware framework capable of supporting deterministic dynamic functional composition and reconfiguration of networked embedded service oriented applications. The approach proposed in this paper uses Model Driven Engineering (MDE) in order to guide the development of the iLAND applications from the specification to the execution through code generation, focusing on reconfiguration behavior at run-time, and assuring that non-functional requirements are met by an adequate resource assignment.
211	N. Anastasiadis, D. Scholle, J. Fredriksson, J. Huselius, "An industrial deployment of a real time power aware scheduler ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Feature content of modern mobile devices is increasing rapidly, followed by a soaring power consumption. We are forced to optimize for power consumption, which impacts design at both hardware and software level. The complexity of the problem increases when considering event driven real time systems where the CPU speed can affect temporal validity. We present an industrial implementation of a real time power aware scheduling algorithm on the Enea OSE operating system. Even sporadic tasks and workloads up to 100% can be scheduled, with significant power saving results. An additional run time mode is also introduced with reduced quality of service towards soft real time tasks, but without jeopardizing hard real time deadlines and further suppressing power consumption in battery critical situations.
212	Hyun-Wook Jin, Sanghyun Han, "Temporal partitioning for mixed-criticality systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In embedded systems, such as aerospace crafts and automobiles, it is desirable to run several real-time applications of different criticality on a single computing board by exploiting temporal partitioning. The applications, however, are usually developed by different organizations independently. Thus providing a seamless way to integrate separate applications on a control board guaranteeing real-time requirements and criticality is a very important issue. In this paper, we suggest a partition model with a mechanism that can decide each partition's period and execution time automatically preserving its criticality level. We show that the suggestion can i) prevent a task in a low-criticality partition preempting a task in a high-criticality partition (i.e., criticality inversion) and ii) provide high system throughput.
213	T. Meireles, J.A. Fonseca, "Safety services in infrastructure based vehicular communications ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The use of communication technologies to increase road safety is rising within the automobile world. Many entities cooperate to find the best solution to add safety services relying on vehicle to vehicle communication systems (V2V) and among vehicles and the infrastructure (V2I) located on the roadside. However due the relatively low vehicle renewal rate and economy restrictions a large transitory period is expected to happen. Safety services, such as collision or emergency electronic brake lights have delay-critical requirements. This work-in-progress paper (WiP) proposes a WAVE (Wireless Access for Vehicular Environment) based architecture and a MAC protocol where Road Side Units (RSUs) play a central role in scheduling vehicles safety message transmission with guaranteed bounded delay.
214	N. Campos, A. Sanchez, "Modelling and implementation of automata-based hierarchical discrete-event controllers using the B-method ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This work uses the formal method B for the implementation of hierarchical control structures for a class of discrete-event systems modelled by Finite State Machines. Given the architecture, their constitutive controllers and communication channels together with their functional specifications, a formal translation is established from the automata-based controllers into abstract machines and relates them with the structuring features of B. Therefore, the implementation can be proved to be correct with respect to the functional specification. The work is illustrated with an example.
215	T. Incirci, D. Tukel, "Automation of patterned and solar glass cutting and stacking line ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In the glass industry, automation is a widely used and well accepted technology in each step of the production. Product modularity and standardization during the design phase allow for easy and fast system integration by combining standard components. Robots work best when the product development and manufacturing processes are designed for robotic application. We define and develop an optimization algorithm based on big bang-big crunch methodology that solves robotized glass cutting problem.
216	A. Ferrarini, A. Cauvin, S. Fournier, "Toward a methodology for disruption management — Reactive planning and scheduling based on a repair approach ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In the current competitive context, the control of disruptions is becoming a major issue to tackle in the management of industrial organizations. In order to minimize disruption impact in present complex organizations, the paper proposes an approach for repairing plans and schedules, based on distributed cooperative solving method. An agent based model of organizations is proposed, where agents operate cooperative repair behaviours in order to determine the solution which minimizes the disruption impact and propose it to the human decision maker. This paper focuses on the description of the methodology for designing the decision support system, the cooperative repair behaviours that agents develop in order to find solutions to disruptions.
217	Jiucheng Xu, B. Archimede, A. Letouzey, "Application of using SCEP model for distributed scheduling with shared resources in hospital system ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The increasing intense of the economic constraints forces the manufacturers to share their resources with other organizations [1]. But the management of the available periods of shared resources causes a problem because it is mostly realized in a centralized way [2]. Therefore, distributed scheduling with shared resources is nowadays an important research topic. In this paper, we present a multi-agent model named SCEP (Supervisor, Customer, Environment and Producer). We also introduce the detailed architecture and behavior of the SCEP model in the context of multi-site and shared resources situation. The SCEP application proposed here, aims at improving the scheduling of shared resources in a hospital framework.
218	I. Nasri, G. Habchi, R. Boukezzoula, "Max-plus-linear model-based predictive control for constrained HVLV manufacturing systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper, a max-plus-linear model predictive control strategy is proposed for High-Variety, Low-Volume (HVLV) systems. Firstly, using the (max,+) algebra, a direct generation of event-timing equations for deterministic and decision-free HVLV manufacturing systems is obtained. Then, a linear optimization method is presented. It is based on canonical forms for Max-Min-Plus-Scaling (MMPS) functions with linear constraints on the inputs. The approach aims at solving several linear programming problems and its validity is illustrated by a simulation example. Finally, a discussion of results, conclusions and perspectives are given.
219	P. Falkman, E. Helander, M. Andersson, "Automatic generation: A way of ensuring PLC and HMI standards ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Preparing an automatic production system takes a lot of time and to be able to decrease this time virtual simulation studies are used more and more frequently. However, even if more work is performed in a virtual environment a problem is still that the same work is done more than one time in different software tools due to the lack of integration between them. The present paper presents a case study that investigates how a newly developed tool called SIMATIC Automation Designer can be used in order to close the gap between the mechanical design and the electrical design. SIMATIC Automation Designer is a Siemens software that can generate PLC code and HMI screens. The result shows that by generating PLC code and HMI screens automatically, it is possible to get the same structure and naming standard in every PLC and HMI project. This will ensure a corporate standard and will be a quality assurance of the PLC code and HMI screens.
220	M. Wienke, S. Faltinski, O. Niggemann, J. Jasperneite, "mINA-DL: A novel description language enabling dynamic reconfiguration in industrial automation ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Production facilities have to cope with fast changing market demands-leading to a need for high adaptability of the manufacturing plant. Especially the manual adaption of the automation systems causes high costs and significant downtimes. Here, an approach for an automatic adaption of the automation system is presented. The major challenges for an automatic adaptability of the automation system are (i) dynamically modifiable networks, (ii) a real-time middleware transporting variables within the network independently of the automation topology, and (iii) a semantic-based mechanism that allows one plant module to identify which signals are needed from another module. This paper describes a real-time middleware for industrial automation (mINA). It focuses especially on problem (iii), the mechanism to discover and identify required process signals. The functionality is based on a newly defined description language (mINA-DL), i.e. the middleware can use further semantic information about the signals. The middleware (ii) communicates by means of a real-time publish/subscribe concept and provides OPC UA compliance which also allows an easy integration with the manufacturing execution system (MES). Furthermore, a first prototypical implementation of the middleware is described and assessed using a test environment.
221	S. Schreiber, A. Fay, "A reference system for the benchmarking of manufacturing control systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The research community of manufacturing control systems has a high demand for reference systems to evaluate and compare their algorithms. Most of the reference systems used in scientific works are not fully described in publications or even undefined, making valid comparisons of different algorithms impossible. Therefore, the authors have defined three Complexity Dimensions that provide different dynamic scenarios for evaluating control algorithms. Within this article, a new reference system is described based on these dimensions that would simplify the comparison of research results in the field of decentralized manufacturing control.
222	P. Ferreira, V. Reyes, J. Mestre, "Control architecture for a supervised industrial robotic workcell integration ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: An integration procedure is essential for the development of modern industry allowing the improvement of manufacturing process. This paper describes the implementation of a workcell integration procedure for a recovered robot manipulator with the development of multiple tasks programming. The adopted methodology is based on the definition of a control architecture incorporating a supervision system. The interoperability between this system and the controller devices is guaranteed by using wireless communication network. This methodology was applied to the manufactured of automotive compressors and has lead to improved manufacturing parameters.
223	B. Kormann, B. Vogel-Heuser, R. Hametner, A. Zoitl, "Engineering process for an online testing process of control software in production systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: An increasing number of functionality in today's machine and plant automation is being shifted from pure mechanics or electronics into software. Therefore the system behavior must be checked for compliance with the demanded software functionality by software tests. The precondition for test case execution is a start state, the system has to take in. In order to evaluate the testability of a system, it must be verified whether the test case triggering system state is reachable. We propose a transformation approach of the control software model and the corresponding environment model (physics) to timed automata for model checking to exploit the power of the query language Timed Computation Tree Logic for start state reachability analysis. The applicability is demonstrated on a laboratory plant.
224	O.L. Asato, F. Junqueira, D.J. dos Santos Filho, P.E. Miyagi, L.O. Araujo, "Control of productive systems with functional flexibility level ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The evolution of tool-machines allowed the aggregation of a larger group of functionalities into these machines that are now named multifunctional machine-tools (MMTs). However, from the viewpoint of productive process there is a limitation of the conventional control solution, i.e., when the productive systems are composed of several MMTs: its functional flexibility is considered only during scheduling, but during the process execution, each MMT is viewed as a traditional machine because the procedure for attribution of functionalities is encapsulated and the multi-functionalities are not explored during the resources allocation. Thus, a new control approach for productive process is proposed here to allocate the resources considering the functional flexibility of MMTs.
225	D. Gomez, J. Becares, J.R. Janeiro, L. Gorostiaga, E. Baeyens, E.J. Moya, "Assessment of Ziegler-Nichols tuned loops using control performance monitoring indices ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Most control and process engineers face a large amount of complex processes found in industry and they usually need tools for assessing their performance. This paper deals with the assessment of real industrial control processes of a pilot process plant using standard control performance monitoring indices. The control loops have been tuned using the well-known Ziegler-Nichols method. A comparison between the implemented indices with those based on the APC (Advanced Process Control) PCS7 library is performed¹.
226	F. Perez, A. Banos, J. Cervera, "Periodic reset control of an in-line pH process ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The aim of this work is to present a periodic reset control application of an in-line pH process. The nonlinear process is linearized around an operation point and a variable reset value is used to improve the performance of base linear systems. The results show how reset controllers have better tracking response than their base linear systems in a noisy environment.
227	G.A. Susto, A. Beghi, C. De Luca, "A Virtual Metrology system for predicting CVD thickness with equipment variables and qualitative clustering ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In semiconductor manufacturing plants, monitoring of all wafers is fundamental in order to maintain good yield and high quality standards. However, this is a costly approach and in practice only few wafers in a lot are actually monitored. With a Virtual Metrology (VM) system it is possible to partly overcome the lack of physical metrology. In a VM scheme, tool data are used to predict, for every wafer, metrology measurements. In this paper, we present a VM system for a Chemical Vapor Deposition (CVD) process. Various data mining techniques are proposed. Due to the huge fragmentation of data derived from CVD's mixed production, several kind of data clustering have been adopted. The proposed models have been tested on real productive industrial data sets.
228	C. Catalan, F. Serna, T. Civera, A. Blesa, J.M. Rams, "Control design for machine tools using Domiciano, an IDE based on software components ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Nowadays, control software is increasing its complexity due to the need to attend diverse kinds of functional and extra-functional concerns. Therefore, it is necessary that the designer has adequate tools to manage this increased complexity. This work describes, as an industrial practice example, the Domiciano IDE. It allows developing control applications for the COSME platform (based on software components) shorting development times. TUROMAS group, a machine tool manufacturer for glass handling, cutting and storage, uses Domiciano to design its control software.
229	J.J.G. Prego, L.V. Seisdedos, "Tailor-made small simulator for a drum boiler control based on linear techniques ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A computational thinking under simulated environment with amendable properties is promoted. It is exemplified on a real drum boiler multi-loop linear control. The model is based on the boiler-turbine plant P16/G16, which is oil-fired and the rated power is 160 MW, at the Sydvenska Kraft AB Plant in Malmö, Sweden. A proficient symbolic and numerical combination points out a fast and very efficient automatic engineering calculation. This contribution aims at tailor-made small simulators on Matlab for those industrial processes which are linked by heat energy. A first application at drum boiler with linear control meets a useful know-how to guide thoughts on how to translate physical fundamentals to Matlab codes for other industrial cases. Some comments relating to industrial practice are offered in this context.
230	M. Wenger, R. Hametner, A. Zoitl, A. Voigt, "Industrial embedded model predictive controller platform ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Operating industrial plants at their maximum energy and resources efficiency often means to operate them close at their design limits. Due to strict safety and process parameter constraints, it is challenging to control them close to the optimal setpoints. Currently process performance improvement projects are realized by application of PC based model predictive controllers as add-ons. Applications of up-to-date optimizing control algorithms are characterized by high requirements on software architecture, numerical computing power and realtime behavior. These requirements are not accomplishable running optimizing control algorithms on Programmable Logic Controllers (PLCs) by current available software architectures. Therefore the aim of the Embedded Energy Efficiency Industrial Controller Platform (E3ICP) project is the development of an infrastructure for running state-of-the-art model predictive controllers on industrial embedded PLCs.
231	S. Ozana, M. Pies, L. Skovajsa, R. Hajovsky, "Modeling heat exchanger by FDM and FEM in C# and Comsol Multiphysics ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The paper deals with modeling and simulation of the heat exchanger by means of finite difference method (FDM) and finite element method (FEM) in C# and Comsol Multiphysics environments. It refers to previously published papers on this problematic while introducing new approaches. The paper brings a short introduction of solution of above mentioned particular approaches in Comsol Multiphysics and C#.
232	F. Coito, L.B. Palma, "Unfalsification based Fault Tolerant Controller ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Unfalsified Control is a data-driven, plant-mo del-free control design approach. It does not require a plant model, only measured input/output data is used, which makes it an interesting approach for the development of multi-controller structures aimed either to the control of non-linear or time-varying processes, or the implementation of Fault Tolerant Controllers. In this paper, we present an Unfalsified Control based multi-controller structure for single-input single-output (SISO) plants. It includes a switching scheme designed without explicit assumptions on the plant model. A switched multi-controller structure is implemented and experimental results are presented. The switched multi-controller structure described shows to present good performance and fast reaction to modifications on the operating conditions.
233	F.N. Koumboulis, D.G. Fragkoulis, P.I. Arsenos, "Towards fault detection in singular Leontief production models ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper the problem of fault detection is investigated for the case of a time varying input-output Leontief model with non measurable total outputs and uncertain net product vector. The capital coefficient matrix is considered to be block diagonal and singular. For this model category the problem of fault detection is solved on the basis of the design an appropriate unknown input observer.
234	L.B. Palma, F.V. Coito, "Tuning PCA controllers based on manual control data ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper an approach for tuning PCA controllers based on manual control data is presented. Closed-loop control can be formulated and implemented within the reduced space defined by a PCA (principal components analysis) model. This PCA controller results in an integral controller. The main contributions of the paper are: a) the tuning approach based on process data obtained with a manual closed loop controller, and on the adjustment of the controller gain; b) the performance evaluation of this new approach, in nominal operating conditions and in faulty situations. Some experimental results obtained with a second order linear plant are presented.
235	V. Carvalho, F. Soares, R. Vasconcelos, M. Belsley, N. Goncalves, "Yarn hairiness determination using image processing techniques ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper presents a method to automatically determine yarn hairiness using Image Processing (IP) techniques. After image acquisition, the samples are analyzed and processed by a custom-made application developed in Lab VIEW from National Instruments with the IMAQ Vision toolkit. The results show that a reliable quantification of the yarn hairiness index can be obtained. This methodology can be used as an efficient alternative to the traditional commercial hairiness testers suppressing their constraints. Step-by-step algorithms used to isolate the yarn core, to highlight the fibres and to measure the hairiness index are described.
236	G. Paravati, A. Sanna, F. Lamberti, C. Celozzi, "A reconfigurable multi-touch framework for teleoperation tasks ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: A wide variety of remotely controlled mobile robots have been developed in the past. Despite the evolution in robotics functionalities, not much effort has been made to customize control interfaces to meet user preferences and needs. General users can find difficulties in controlling mobile robots by standard interfaces. On the other hand, recent advances in multi-touch devices now allow researchers to design and implement intuitive and user friendly interfaces. This paper presents recent efforts to control mobile platforms by using customizable multi-touch gestures drawn on a commonly available hand-held device. In particular, a live stream video coming from an on board camera allows both to automatically and manually control the platform to accomplish target tracking and following tasks.
237	P. Fonseca, A. Neves, J.L. Azevedo, J. Silva, "An heuristic for trajectory generation in mobile robotics ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: We present an heuristic to compute the points in a trajectory in a 2D space based on the trapezoidal velocity profile, where the computed trajectory is subject to the constraints of initial position and velocity, final position and velocity (defined as vectors) and the values for acceleration and plateau speed (defined as scalars). The proposed heuristics are directed at omnidirectional holonomic robots, i.e., robots that are capable of, amongst others, manoeuvring without affecting the orientation. These algorithms are currently being applied to the CAMBADA team RoboCup MSL robots. Although without a formal proof, numerical experiments have shown that the algorithms converged to a viable solution when the data fulfils the necessary conditions.
238	M. Chemnitz, G. Schreck, J. Kruger, "Analyzing energy consumption of industrial robots ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Energy conservation is a key aspect towards sustain-ability and is pursued by both, research and industry. To this end, we present measurements of the power consumption of two industrial robots. Based on a selected motion pattern the velocity and acceleration of the robot is varied and we show that the power is measurable with good repeatability. The energy of these motions is calculated from the power time series. Contrary to expectations it turns out that slow motions are not necessarily the most energy efficient. Finally, we show that the best strategy for energy conservation depends heavily on the robot model.
239	M. Urbano, J. Fonseca, U. Nunes, H. Zeilinger, "Extending a smart wheelchair navigation by stress sensors ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This paper discusses the adaptation of a novel bionic approach of AI to an Assisted Powered Wheelchair (APW) controller, in order to facilitate its driving by people with severe impairments. The control unit offers three modes of operation and this proposal refers to the second control that assists the wheelchair user in driving tasks like passing a door or avoiding obstacles. The user's psychic condition is considered in the APW navigation decision and it is determined by a stress detection system composed by electrocardiogram and skin conductance sensors. The control unit has to deal with environmental and stress data and must trigger actuating commands. The prototype implementation will be done within the platform STAGE and afterwards it will be embedded in a real powered wheelchair.
240	Dohyung Hwang, JongSuk Choi, "TDOA map adaptation in sound source localization ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Recently, many researchers have studied about adaptation methods of various environments since intelligent service robots generally have to interact with human beings in any environments. In this paper, an adaptation method of angle-TDOA map is proposed which can be applied to a sound localization system when a certain configuration error or deviation is brought up by the change of environments. In addition, two cases of situation are defined along with two suggested methods respectively to solve the problem. The first method is building an angle-TDOA map with a test signal generated at know positions when a microphone array is randomly placed. The second one is an on-line adaptation method for the real-time sound localization. In this method, we will use a vision system to find out the real direction of sound sources and the angle-TDOA map is learned from the difference between map and actual value of TDOAs. We use a face detection module to update an angle-TDOA map and assume the detected person is generating sounds. Finally experiments show the effect of the adaptation in both cases.
241	M. Kjaergaard, N.A. Andersen, O. Ravn, P.A. Kristensen, "Towards competitive commercial autonomous robots: The configuration problem ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: This article presents a framework for configuring the individual components used in component based robot control systems. Using smart parameters that adapt to the respective robot system makes it possible to obtain optimal parameter values while reusing the software components, without expert knowledge about the underlying algorithms. The framework also makes it possible for the robot to autonomously calibrate itself, resulting in higher stability of the robot and less development time required. The work is a result of an industrial research project aimed at lowering development costs and improving robustness of autonomous robot applications.
242	J. Ferreira, J. Machado, V. Moreira, F. Soares, "Biomedical device for spasticity quantification based on the velocity dependence of the Stretch Reflex threshold ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Spasticity is a common and complex motor disorder that affects more than 12 million persons in the world. There are several studies on spasticity quantification in the literature but there is still a need for measurement improvements. This paper presents the validation, in clinical environment, of a mechatronic medical device, dedicated, and specially designed and constructed for spasticity quantification, in joint of ankle, elbow and knees. This approach is based on the velocity-dependent of the Stretch Reflex threshold. The relevant variables, the measurement range and the adequate measurement systems are indicated. The reliability of the developed mechatronic medical system is confirmed by data acquisition and analysis, following a systematic methodology, also presented in the paper.
243	J. Lambrecht, M. Kleinsorge, J. Kruger, "Markerless gesture-based motion control and programming of industrial robots ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Gesture-based control systems for industrial robotics benefit from a natural form of human machine interaction. Among the high costs of such systems, there are high requirements for safety, robustness of the gesture recognition and general applicability in the industrial environment. Novel consumer electronic sensors provide a robust recognition, reliability and adequate accuracies at low costs. We present our work on gesture-based control and programming with an emphasis on a natural definition of complex trajectories. Besides standard online programming methods, we introduce a programming technique, which enables the worker to define a movement by his body parts, e.g. the hand. Imitating the human movement, the robot can move its end-effector relatively from a starting point.
244	E. Guerra, Y. Bolea, A. Grau, R. Munguia, "New approach on bearing-only SLAM for indoor environments ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group's works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.
245	O. Dohndorf, J. Kruger, H. Krumm, C. Fiehe, A. Litvina, I. Luck, F.-J. Stewing, "Adaptive and reliable binding in ambient service systems ," ETFA 2011, pp. 1 - 4 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Supported by an automated runtime management system even critical applications, like healthcare applications, can be build upon the interaction with ambient services. They are provided by mobile resource-constrained devices and subject to frequently changing environmental conditions and exceptions. The runtime management has to ensure stable bindings between interacting services and applications, thus it has to provide the monitoring and control functionality necessary for binding reconfiguration and adaption. Furthermore, due to the resource restriction of mobile devices like, for example mobile phones, such a management system must have a small footprint to be implementable on these devices. To realize a management system fulfilling these requirements, we follow the approach of model-based management which divides the overall management process in a planning phase and a runtime phase. This paper concentrates on the presentation of how bindings and their management are planned and how the binding policies governing the management are derived in the planning phase. Furthermore, it gives an overview of how these low-level binding policies are enforced in the runtime phase.
246	C. Beckel, H. Serfas, E. Zeeb, G. Moritz, F. Golatowski, D. Timmermann, "Requirements for smart home applications and realization with WS4D-PipesBox ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The increasing level of device connectivity in today's homes and buildings enables numerous opportunities for home owners, building managers, device manufacturers and solution providers. Standardized communication protocols (e.g., ZigBee, Bluetooth) provide physical connectivity and thus serve as a basis for smart home applications. However, beyond physical connectivity, real interoperability to effectively develop such applications requires additional efforts. It requires harmonizing multiple protocol standards, dealing with a heterogeneous device landscape, different data formats, managing resource constraints of devices and providing means to react quickly when devices and applications leave or join the system. We propose to address these application-specific requirements in multiple layers of abstraction. Our research has shown that each layer is used by different types of developers (e.g., device supplier, service provider, home owner) with specific tool support. The paper provides a classification and detailed analysis of requirements that have to be addressed in order to enable application development in smart homes. It further proposes and analyzes WS4D-PipesBox, a multi-layer framework, to illustrate how applications could be developed using multiple layers of abstraction.
247	A. Kliem, J. Hansel, M. Hovestadt, M. John, O. Kao, "Towards self-organization of networked medical devices ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Soaring costs and an aging society originate the need for novel technologies in health care sector. Especially telemedicine and AAL systems are often promoted as such. Enabling patients to stay in their domestic environment while reducing costs due to hospital visits seems to be an evaluable opportunity on the one hand but introduces a lot of challenges, like interoperability and security, on the other. Interoperability is the main challenge to put emphasis on, when thinking of networks of medical devices recording patients vital data while acting in a plug-and-play manner. Thus, standards are needed that enable manufacturers to build interoperable medical devices and provide solutions for cost effective and easy to use telemedicine systems. Therefore this paper analyzes the ISO/IEEE11073 PHD standard towards its applicability in such environments, where the focus lies on self-organization and plug-and-play functionality. Furthermore we want to present research done on telemedicine/AAL systems during the SmartSenior project as well as introduce our own ISO/IEEE11073 implementation, which served as a basis for our analysis.
248	D. Morand, I. Garcia, P. Lalanda, "Autonomic enterprise service bus ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: In this paper, we describe the work that has been realized in order to add autonomic features to Cilia, an open source mediation framework developed jointly by the LIG/Adele team at Grenoble University and Orange Labs. Cilia has been designed for data and application mediation and is used in several industrial use cases. This paper, in particular, develops the notion of state variables and action variables adapted from control theory. It shows how they can be used to follow the state of integration chains and to bring changes at runtime.
249	A. Chapko, M. Grasle, A. Emrich, D. Werth, C. Rust, N. Laum, C. Lerche, "User-generated mobile services for health and fitness ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The ITEA2 research project uService is building a framework to enable end users to create small, sharply focused mobile services directly on the mobile device. By this, end users are no longer only consumers of mobile services but also producers and providers, so-called `mobile super prosumers'. In the project, the scenario `uRun' serves as an application example for the uService framework in the field of health and fitness mobile applications. The goal is to provide a mobile assistant for runners, for the times before, during and after a run. In this article, we present our survey results on experienced runners' expectations on beneficial mobile services. We then describe how end users can create mobile services in the running application domain by means of the uService framework and explain the envisioned business models.
250	L. Lindemann, M. Thron, T. Bangemann, O.S. Grosser, "Integration of medical equipment into SOA — Enabling technology for efficient workflow management ," ETFA 2011, pp. 1 - 8 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Within each hospital, medical equipment of diverse manufacturers is used. Due to strong competition, a large variety in self diagnosis functions and communication interfaces for technical equipment data have to be noticed. There is no common service interface available. This situation limits the capabilities of in-house maintenance personnel as well as the efficiency of external service providers. This paper shortly presents a concept of a manufacture independent architecture for medical equipment service management and a more detailed introduction to an approach for the integration of non-Web Service (legacy) enabled devices and sources of service related information.
251	M. Fischer, R. Tonjes, R. Lasch, "A new approach for automatic generation of tests for next generation network communication services ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: The provisioning of value-added services in next generation networks (NGN) is a very difficult and error-prone task. Various service architectures combined with the complexity of the protocols for NGN networks poses a vast number of possibilities for mistakes during the development of new services. Therefore it is important to test services before they are deployed in a life system. For this reason, this paper proposes a Test Creation Environment (TCE), which will allow to automatically generate various test cases in the TTCN-3 (Testing and Test Control Notation Version 3) [3][4] testing language on a base of a Service Behaviour Model. Automatic provisioning is linked with a test execution framework to ensure only test certified services are deployed on the network of the service provider.
252	N. Dai, W. Thronicke, A.R. Lopez, F.C. Latasa, E. Zeeb, C. Fiehe, A. Litvina, "OSAMI Commons — An open dynamic services platform for ambient intelligence ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Today we live in an environment surrounded with networked converging devices. Human computer interactions are becoming personalized and a new concept of a global and cross-domain platform is emerging to exploit the full potential of the network in all business areas. In this convergence process, the software platform should be able to personalize itself dynamically in devices according to the context. OSAmI-Commons, an ITEA2 project for developing an open-source common approach to such a dynamic service-based platform, allows any type of device to connect and exchange information and services. OSAMI consortium is contributing to defining the foundations of a cross-platform open-services ecosystem. The sustainability of this platform is an objective beyond the project duration.
253	L.L. Ferreira, G. Silva, L.M. Pinho, "Service offloading in adaptive real-time systems ," ETFA 2011, pp. 1 - 6 , 5-9 Sept. 2011. Abstract Link Full Text Abstract: Smartphones and other internet enabled devices are now common on our everyday life, thus unsurprisingly a current trend is to adapt desktop PC applications to execute on them. However, since most of these applications have quality of service (QoS) requirements, their execution on resource-constrained mobile devices presents several challenges. One solution to support more stringent applications is to offload some of the applications' services to surrogate devices nearby. Therefore, in this paper, we propose an adaptable offloading mechanism which takes into account the QoS requirements of the application being executed (particularly its real-time requirements), whilst allowing offloading services to several surrogate nodes. We also present how the proposed computing model can be implemented in an Android environment.