Dissertations / Theses on the topic 'Industrial Automation and Control systems'

The next generation of industrial systems (Industry 4.0) will dramatically transform manyproductive sectors, integrating emerging concepts such as Internet of Things, artificialintelligence, big data, cloud robotics and virtual reality, to name a few. Most of thesetechnologies heavily rely on the availability of communication networks able to offernearly–istantaneous, secure and reliable data transfer. In the industrial sector, these tasks are nowadays mainly accomplished by wired networks, that combine the speed ofoptical fiber media with collision–free switching technology. However, driven by the pervasive deployment of mobile devices for personal com-munications in the last years, more and more industrial applications require wireless connectivity, which can bring enormous advantages in terms of cost reduction and flex-ibility. Designing timely, reliable and deterministic industrial wireless networks is a complicated task, due to the nature of the wireless channel, intrinsically error–prone andshared among all the devices transmitting on the same frequency band. In this thesis, several solutions to enhance the performance of wireless networks employed in industrial control applications are proposed. The presented approaches differ in terms of achieved performance and target applications, but they are all characterized by an improvement over existing industrial wireless solutions in terms of timeliness, reliability and determinism. When possible, an experimental validation of the designed solutions is provided. The obtained results prove that significant performance improvements are already possible, often using commercially available devices and preserving compliance to existing standards. Future research efforts, combined with the availability of new chipsets and standards, could lead to a world where wireless links effectively replace most of the existing cables in industrial environments, as it is already the case in the consumer market.<br>La prossima generazione di sistemi industriali (Industria 4.0) rivoluzionera' molti settori produttivi, grazie all'integrazione di concetti emergenti quali Internet delle Cose, intelligenza artificiale, big data, robotica nel cloud e realta' virtuale, tra gli altri. La maggior parte di queste tecnologie necessita di reti di comunicazione in grado di offrire un trasferimento di informazione quasi istantaneo, sicuro e affidabile. Nel settore industriale, ad oggi, cio' reso possibile principalmente da reti cablate, in grado di combinare la velocita' della fibra ottica con l'assenza di collisioni data dalla tecnologia Switched Ethernet. Tuttavia, spinte dall'intensa diffusione, negli ultimi anni, di dispositivi mobili per le comunicazioni interpersonali, sempre piu' applicazioni industriali richiedono connettivita' wireless, che porterebbe enormi vantaggi in termini di riduzione dei costi e flessibilita' . Progettare reti industriali wireless puntuali, affidabili e deterministiche e' molto complicato, a causa della natura del canale radio, incline agli errori e intrinsecamente condiviso tra tutti i dispositivi che trasmettono nella stessa banda di frequenza. In questa tesi sono proposte diverse soluzioni per migliorare le prestazioni di reti wireless impiegate in applicazioni di controllo industriale. Gli approcci presentati si differenziano per prestazioni raggiunte e scenari di utilizzo, ma sono accomunati da un miglioramento rispetto alle soluzioni wireless industriali esistenti in termini di puntualita' , affidabilita' e determinismo. Una verifica sperimentale delle soluzioni progettate e' stata effettuata, quando possibile. I risultati ottenuti dimostrano che si possono gia' ottenere importanti miglioramenti nelle prestazioni, spesso utilizzando dispositivi commerciali e mantenendo la conformita' agli standard esistenti. Le ricerche future, assieme alla disponibilita' di nuovi dispositivi e standard, potranno rendere possibile un mondo in cui i link radio rimpiazzeranno con successo la maggior parte dei cavi esistenti negli ambienti industriali, come gia' avvenuto in ambito consumer.

Orientador: João Maurício Rosário<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica<br>Made available in DSpace on 2018-08-26T01:27:28Z (GMT). No. of bitstreams: 1 Kubiak_Daniel_M.pdf: 11332994 bytes, checksum: 9dd346614b49e0aa29cbb11b5fb2b2b7 (MD5) Previous issue date: 2014<br>Resumo: O objetivo dessa dissertação de mestrado é a proposta de sistema embarcado para supervisão e controle de movimentos de um sistema de posicionamento com 3 GL direcionado a aplicações em dispositivos máquinas ferramenta industriais, que apresentam arquitetura de controle e supervisão aberta que poderão ser integradas a diferentes aplicações da Automação Industrial (sensores, atuadores, sistema de visão e outros), a partir da utilização de ferramentas para prototipagem de sistemas de automação industrial embarcados. O desenvolvimento desse trabalho de pesquisa permitiu a integração de conhecimentos nas diferentes áreas da engenharia, tendo como consequência a implementação de um sistema de controle de posicionamento embarcado, onde essa aplicação poderá ser estendida em outras aplicações de Automação Industrial. No transcorrer desse trabalho foi implementado uma arquitetura de acionamento e controle, e integração com dispositivos embarcados de controle de juntas e sistema de visão e software para geração automática de movimentos, com validação a partir de situações reais. Finalmente, esse trabalho permitiu o desenvolvimento de um ambiente aberto voltado à formação e capacitação profissional de projetos na área de automação industrial, onde os principais conceitos e problemas industriais poderão ser verificados e validados, fornecendo ainda subsídios para a análise e implementação de estratégias para concepção dessas aplicações<br>Abstract: The objective of this master's degree dissertation is the system proposal embarked for supervision and control of movements of a positioning system with 3 DOF addressed to applications in devices machines tool industrial, that present control architecture and open supervision that can be integrated into different applications of the Industrial Automation (sensor, actuators, vision system and other), starting from the use of tools for prototyping of systems of industrial automation embarked. The development of this research work allowed the integration of knowledge in the different areas of the engineering, tends as consequence the implementation of a system of control of embarked positioning, where this application can be extended in other applications of Industrial Automation. In the Course of this work was implemented a drive and control architecture, and integration with embedded devices of control joints and vision system and software for automatic generation of movements, with validation from actual situations. Finally, this work allowed the development of an open architecture returned to the formation and professional training of projects in the area of industrial automation, where the principal concepts and industrial problems can be verified and validated, still supplying subsidies for the analysis and implementation of strategies for conception of these applications<br>Mestrado<br>Mecanica dos Sólidos e Projeto Mecanico<br>Mestre em Engenharia Mecânica

This thesis proposes a novel approach to power electronics system design that is based on the open-architecture distributed digital controller and modular power electronics building blocks (PEBBs). The proposed distributed digital controller partitions the controller in three levels of control authority. The power stage controller, designated as hardware manager, is responsible for low-level hardware oriented tasks; the high level controller, designated as applications manager, performs higher-level application-oriented tasks; and the system level controller handles system control and monitoring functions. Communications between the hardware-oriented controller and the higher-level controller are implemented with the previously proposed 125 Mbits/sec daisy-chained fiber optic communication protocol. Real-time control and status data are communicated by means of communication protocol. The distributed controller on the power converter level makes the system open, flexible and simple to use. Furthermore, this work gives an overview and comparison of current state-of-the-art communication protocols for real-time control applications with emphasis on industrial automation and motion control. All of the studied protocols have been considered as local area networks (LAN) for system-level control in power converter systems. The most promising solution has been chosen for the system level communication protocol. This thesis also provides the details of design and implementation of the distributed controller. The design of both the hardware and software components are explained. A 100 kVA three-phase voltage source inverter (VSI) prototype was built and tested using the distributed controller approach to demonstrate the feasibility of the proposed concept.<br>Master of Science

Este trabalho aborda os sistemas de montagem auto-organizados baseados em agentes para o ambiente industrial. Para isso, traz uma visão ampla dos paradigmas atuais para a manufatura que usam o conceito de agente e que promovem auto-organização, mas é focado no paradigma de sistemas de montagem e de produção evolutivos. Além da autoorganização, aspectos de auto-otimização nestes sistemas também são considerados. Portanto, este trabalho aborda os aspectos teóricos e práticos de sistemas evolutivos e, em particular, propõe uma plataforma multiagente que usa o conceito de agente mecatrônico para permitir o desenvolvimento de sistemas auto-organizados e que também possuam a capacidade de otimizar autonomamente algum recurso interno ao sistema. Um agente mecatrônico é uma entidade capaz de ação autônoma num sistema de manufatura, devido a uma decisão própria ou à solicitação de ação por outros agentes, e tal é conseguido através da definição e execução de funcionalidades pelos agentes mecatrônicos. A plataforma multiagente proposta foi implementada e validada no âmbito de um projeto da União Europeia o qual possui parceiros acadêmicos e industriais e visa a criação de sistemas evolutivos auto-organizados em um cenário industrial real.<br>This work deals with agent-based self-organized assembly systems for manufac– turing. Although the text aims to provide a comprehensive overview on current paradigms to manufactiuring systems development and execution that use the concept of agent and promote self-organization, the thesis main focus lies in evolvable production and assembly systems paradigms. Beyond self-organization, self-optimization aspects of evolvable systems are also considered. Therefore, this thesis discusses theoretical and practical aspects of evolvable systems and, in particular, develops a multi-agent platform that uses the mechatronic agent concept to enable the development of self-organized systems and has the capacity of autonomously to optimize some internal resource of the system. A mechatronic agent is an entity that is capable of autonomous action on a manufacturing system due to this own reasoning or by reacting to a requested action from other agents. The proposed platform was implemented and validated within the scope of a research project funded by the European Union that has both academic and industrial partners and it goals the building of self-organized evolvable assembly systems for a real industrial scenario.

Industrial robots have been identified as one of the most effective solutions for optimising output and quality within many industries. However, there are a number of manufacturing applications involving complex tasks and inconstant components which prohibit the use of fully automated solutions in the foreseeable future. A breakthrough in robotic technologies and changes in safety legislations have supported the creation of robots that coexist and assist humans in industrial applications. It has been broadly recognised that human-robot collaborative systems would be a realistic solution as an advanced production system with wide range of applications and high economic impact. This type of system can utilise the best of both worlds, where the robot can perform simple tasks that require high repeatability while the human performs tasks that require judgement and dexterity of the human hands. Robots in such system will operate as “intelligent assistants”. In a collaborative working environment, robot and human share the same working area, and interact with each other. This level of interface will require effective ways of communication and collaboration to avoid unwanted conflicts. This project aims to create a user interface for industrial collaborative robot system through integration of current robotic technologies. The robotic system is designed for seamless collaboration with a human in close proximity. The system is capable to communicate with the human via the exchange of gestures, as well as visual signal which operators can observe and comprehend at a glance. The main objective of this PhD is to develop a Human-Robot Interface (HRI) for communication with an industrial collaborative robot during collaboration in proximity. The system is developed in conjunction with a small scale collaborative robot system which has been integrated using off-the-shelf components. The system should be capable of receiving input from the human user via an intuitive method as well as indicating its status to the user ii effectively. The HRI will be developed using a combination of hardware integrations and software developments. The software and the control framework were developed in a way that is applicable to other industrial robots in the future. The developed gesture command system is demonstrated on a heavy duty industrial robot.

The price of inertial platforms (based on MEMS sensors) is dropping, permitting the use of these sensors in various field, like, for instance, the industrial one. The inertial measurements can be used raw or can be elaborated in order to obtain high level information like the orientation of an object. The thesis approach the problem of using the inertial platforms firstly as orientation sensor, showing some algorithms for the estimation, and then as a way to increase the performance of a mechatronic system. The first application shows an innovative anti sway system for bridge crane, which uses the inertial platform as angle sensor; the estimated oscillation angle is then used inside a control loop to move the crane without sway, increasing the safety and the productivity. To be noted that the control is invisible to the operator, leading to the so called Human In the Loop (HIL) structure. Then, a condition assessment algorithm, based on the analysis of the spectrogram of the acceleration using the Dynamic Time Warping, is explained for a circuit breaker. The last chapter shows an impact detection algorithm for an automatic access gate, based on a sensor fusion between acceleration and the motor torque in order to estimate the friction coefficient and, on this parameter, evaluate the presence of the impact. All the solutions proposed aim to show how these inertial sensors can be used in an innovative way to attain better performance from an industrial mechatronic system.

This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.

Orientador: João Maurício Rosário<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica<br>Made available in DSpace on 2018-08-18T16:56:33Z (GMT). No. of bitstreams: 1 AmayaHurtado_Dario_D.pdf: 5192765 bytes, checksum: 89d3ef5674348dbdd917c1bb3df3b85d (MD5) Previous issue date: 2011<br>Resumo: Com o avanço da tecnologia têm sido incrementados a complexidade dos sistemas de produção industrial. Essa complexidade está marcada pela interação das variáveis que respondem a uma dinâmica baseada em eventos discretos e as variáveis que são descritas em relação ao tempo. Isto levou para uma mudança no paradigma dos sistemas automáticos de controle industrial, onde tradicionalmente essas dinâmicas são analisadas de maneira independente, para propor uma estratégia de modelagem e controle na que levem em consideração a interação das duas dinâmicas constituindo um sistema de dinâmica hibrida. Neste trabalho se desenvolve uma proposta de modelagem e controle para sistemas que respondem a uma dinâmica de arquitetura híbrida. A proposta esta baseada no recente formalismo desenvolvido como método de integração para Equações diferenciais ordinárias, denominado sistema de estado quantificado (QSS), que foi utilizado na discretização das variáveis de estado que descrevem a dinâmica continua de um sistema. Além disso, foi utilizado o formalismo de especificação de eventos discretos (DEVS), com o proposito de representar a dinâmica regida pela ocorrência de eventos e a interação com a dinâmica regida em relação ao tempo em um único modelo, permitindo projetar estratégias de controle. Com o proposito de validar a proposta, foram realizados dois estudos de caso aplicados em um processo de manufatura industrial, levando em consideração sua arquitetura dinâmica híbrida permitindo a implementação em sistemas embarcados utilizando o conceito da prototipagem rápida<br>Abstract: With the advancement of technology has been enhanced complexity of industrial production systems. This complexity is characterized by the interaction of variables that respond to a dynamic and discrete event based on the variables that are described in relation to time. This led to a paradigm shift in industrial automatic control systems, where traditionally these dynamics are analyzed independently, to propose a strategy for the modeling and control that take into account the dynamic interaction of the two forming a hybrid dynamic system. In this work a proposed modeling and control systems that respond to a dynamic hybrid architecture. The proposal is based on the formalism recently developed as a method of integration for ordinary differential equations, called quantified state system (QSS), which was used in the discretization of state variables that describe the dynamics of a system continues. In addition, we used the formalism of discrete event specification (DEVS) with the purpose of representing the dynamics governed by the occurrence of events and interaction with the dynamics governed over time in a single model, allowing to design control strategies. In order to validate the proposal, were carried out two case studies used in a process of industrial manufacturing, taking into account its dynamic hybrid architecture allowing the implementation in embedded systems using the concept of rapid prototyping<br>Doutorado<br>Mecanica dos Sólidos e Projeto Mecanico<br>Doutor em Engenharia Mecânica

Submitted by Geyciane Santos (geyciane_thamires@hotmail.com) on 2015-07-15T15:57:53Z No. of bitstreams: 1 Dissertação - Victor Enrique Lauria Valenzuela.pdf: 5796083 bytes, checksum: 3c0dc048049ae6179326dc7fbe8aa9ae (MD5)<br>Approved for entry into archive by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2015-07-20T15:41:40Z (GMT) No. of bitstreams: 1 Dissertação - Victor Enrique Lauria Valenzuela.pdf: 5796083 bytes, checksum: 3c0dc048049ae6179326dc7fbe8aa9ae (MD5)<br>Approved for entry into archive by Divisão de Documentação/BC Biblioteca Central (ddbc@ufam.edu.br) on 2015-07-20T15:45:09Z (GMT) No. of bitstreams: 1 Dissertação - Victor Enrique Lauria Valenzuela.pdf: 5796083 bytes, checksum: 3c0dc048049ae6179326dc7fbe8aa9ae (MD5)<br>Made available in DSpace on 2015-07-20T15:45:09Z (GMT). No. of bitstreams: 1 Dissertação - Victor Enrique Lauria Valenzuela.pdf: 5796083 bytes, checksum: 3c0dc048049ae6179326dc7fbe8aa9ae (MD5) Previous issue date: 2013-06-18<br>CAPES - Coordenação de Aperfeiçoamento de Pessoal de Nível Superior<br>As market demands increased worldwide in response to economic growth, industrial automation systems became larger and more complex in order to meet these demands. This also increased the number of failures and maintenance necessity. However, solutions in automation often involve proprietary setups from manufacturers of industrial devices, preventing automation systems to be reused in different industrial applications without large efforts of development. Thus, systems that can be applied to a large number of industrial applications are desired by many companies, since they can reduce costs with deployment, maintenance and training, and even more if these systems also enable remote collection of information from their operation status. This work proposes a reusable hardware and software architecture to monitor and control industrial automation systems, which is not limited to a single industrial application; instead, it can be connected to any other one, as long as a communication port is available to access the process automation protocol. This is achieved by utilizing standardized technologies in the interfaces between components of the architecture, as well as by defining the structures of the software running on the hardware devices. A prototype was developed based on the proposed architecture and its application cases are later shown in a voice-activated coffee dispenser with a CANOpen protocol and in a wireless network of sensors and actuators with ZigBee-enabled devices. Finally, the deployment procedures of the prototype are described in a generalized application case.<br>Com o aumento das demandas de mercado a nível mundial, em resposta ao crescimento econômico, os sistemas de automação industrial tornaram-se maiores e mais complexos a fim de atendê-las, o que também aumentou o número de falhas e a necessidade de manutenção. No entanto, as soluções em automação muitas vezes envolvem configurações proprietárias dos fabricantes de equipamentos industriais, prevenindo sistemas de automação de serem reutilizados em diferentes aplicações industriais sem grandes esforços de desenvolvimento. Então, sistemas reutilizáveis em um grande número de aplicações industriais diferentes são desejados por muitas empresas, visto que se podem reduzir os custos com o desenvolvimento, manutenção e treinamento, ainda mais se também permitem coleta remota de informação sobre seu estado de funcionamento. O presente trabalho apresenta uma arquitetura reutilizável, composta de hardware e de software, para monitorar e controlar os sistemas de automação. Esta, por sua vez, não se limita a uma única aplicação, podendo ser ligada a outras, desde que uma porta de acesso ao protocolo de automação esteja disponível. Isto é alcançado através da utilização de tecnologias padronizadas nas interfaces entre os componentes da arquitetura, bem como definindo as estruturas para o software em execução nos mesmos. Um protótipo foi desenvolvido com base na arquitetura proposta e seus casos de aplicação são apresentados em uma máquina industrial de café, ativada por voz e com protocolo CANOpen, bem como em uma rede de sensores e atuadores sem fio, com dispositivos ZigBee. Finalmente, o processo de implantação é descrito em um caso de aplicação generalizado.

166f.<br>Submitted by Suelen Reis (suziy.ellen@gmail.com) on 2013-04-10T19:35:07Z No. of bitstreams: 1 Luciana Pacheco seg.pdf: 3529890 bytes, checksum: 13857ac04543f1bbc9fd4d7ed9849eba (MD5)<br>Approved for entry into archive by Rodrigo Meirelles(rodrigomei@ufba.br) on 2013-05-11T15:30:28Z (GMT) No. of bitstreams: 1 Luciana Pacheco seg.pdf: 3529890 bytes, checksum: 13857ac04543f1bbc9fd4d7ed9849eba (MD5)<br>Made available in DSpace on 2013-05-11T15:30:28Z (GMT). No. of bitstreams: 1 Luciana Pacheco seg.pdf: 3529890 bytes, checksum: 13857ac04543f1bbc9fd4d7ed9849eba (MD5) Previous issue date: 2011<br>Em sistemas industriais automatizados, a inatividade provocada pela escassez não planejada de recursos, ou por falhas de processo, tem grande influência no desempenho dos sistemas por conta das descontinuidades e instabilidades geradas. Sistemas de controle distribuídos e autônomos podem ajudar a lidar com esses tipos de problemas devido à melhoria de desempenho possibilitada. Entretanto, aspectos relativos à segurança e ao tempo de resposta devem ser bem tratados nesses sistemas devido aos riscos envolvidos (humanos, financeiros e ambientais). A proposta de sistemas autônomos e distribuídos visa a que decisões de controle sejam tomadas mais próximas do objeto controlado, reduzindo assim o tempo de atuação no processo e sistematizando algumas decisões, antes tomadas de forma empírica. Consequentemente, se espera aumentar a disponibilidade e a continuidade do processo, bem como garantir os aspectos de confiabilidade. Entretanto, quando tais sistemas se tornam mais autônomos e distribuídos, podem tender ao comportamento global caótico, caso suas interações não estejam bem definidas. Assim, é importante que seja avaliado e dimensionado o acoplamento entre os sistemas autônomos relacionados. O grau de inteligência de um sistema pode variar de uma entidade completamente controlada a entidades completamente autônomas. O primeiro nível de inteligência é verificado quando um sistema é capaz de gerenciar suas próprias informações, obtidas por meio de sensores e demais técnicas e dispositivos, e não somente manipular informações. Em um segundo nível, o sistema pode notificar o seu gestor quando há um problema. Em um terceiro nível, o sistema já é capaz de tomar decisões e se autogerenciar, mesmo sem intervenção externa. Neste caso, o sistema tem controle total sobre suas tarefas e não há nenhum controle externo a ele. A alternativa proposta pelo GCAD visa a que Sistemas Industriais Automatizados atinjam até o terceiro nível de inteligência, sendo que intervenções externas podem ser admitidas nos casos em que uma ação puramente local e autônoma de fato não é recomendável ou não é possível, por exemplo, havendo necessidade de substituição de equipamentos ou dispositivos. O GCAD propõe um módulo de controle inteligente instanciado predominantemente em nível local que visa a permitir que cada Sistema Industrial Automatizado, distribuído em células, tome decisões críticas de uma forma autônoma. Adicionalmente, um módulo remoto deve gerenciar situações mais complexas que estão além da capacidade de decisão ou atuação do sistema de controle local. O modelo proposto visa a permitir ajustes automáticos e autônomos no sistema, a fim de melhorar seu desempenho, e prevenir ou tratar as falhas inesperadas,assegurando a continuidade da operação.<br>Salvador

The aim of this study is to examine the feasibility of the multichannel strategy in a B2B complex product context through an in-depth case study on ABB control systems. Firstly, the study focused on investigating the channel strategy for the current ABB control systems. The channel structure and sales cycle have been identified. Secondly, the study identified the challenges which have existed in the channels for ABB control systems. Channel conflicts and lack of channel integration have been recognized as the major challenges. Finally, the thesis proposed improvement suggestions on how to reduce channel conflicts and increase channel integrations for ABB control systems.

Utilização de experimentos com relés para identificação de pontos da resposta em freqüência de sistemas multivariáveis quadrados e sintonia de controladores PID descentralizados.<br>It use relay experiments for square multivariable system frequency response and decentralized PID controller tunning.

The overall purpose of this research is to develop a real-time ultrasound based system for controlling robotic weld quality by monitoring the weld pool. The concept of real-time weld quality control is quite broad, and this work focuses on weld penetration depth monitoring and control with laser ultrasonics. The weld penetration depth is one of the most important geometric parameters that define the weld quality, hence remains a key control quantity. This research focuses on the implementation and optimization of the laser phased array generation unit and the development of signal analysis algorithms to extract the weld penetration depth information from the received ultrasonic signals. The system developed is based on using the phased array technique to generate ultrasound, and an Electro-Magnetic Acoustic Transducer (EMAT) as a receiver. The generated ultrasound propagates through the weld pool and is picked up by the EMAT. A transient FE model is built to predict the temperature distribution during welding. An analytical model is developed to understand the propagation of ultrasound during real-time welding and the curved rays are numerically traced. The cross-correlation technique has been applied to estimate the Time-of-Flight (ToF) of the ultrasound. The ToF is then correlated to the measured weld penetration depth. The analytical relationship between the ToF and penetration depth, obtained by a ray-tracing algorithm and geometric analysis, matches the experimental results. The real-time weld sensing technique developed is efficient and can readily be deployed for commercial applications. The successful completion of this research will remove the major obstacle to a fully automated robotic welding process. An on-line welding monitoring and control system will facilitate mass production characterized by consistency, high quality, and low costs. Such a system will increase the precision of the welding process, resulting in quality control of the weld beads. Moreover, in-process control will relieve human operators of tedious, repetitive, and hazardous welding tasks, thus reducing welding-related injures.

The aim of this thesis is to develop a stereo vision system to locate and classify objects moving on a conveyor belt. The vision system determines the locations of the objects with respect to a world coordinate system and class of the objects. In order to estimate the locations of the objects, two cameras placed at different locations are used. Image processing algorithms are employed to extract some features of the objects. These features are fed to stereo matching and classifier algorithms. The results of stereo matching algorithm are combined with the calibration parameters of the cameras to determine the object locations. Pattern classification techniques (Bayes and Nearest Neighbor classifiers) are used to classify the objects. The linear velocity of the objects is determined by using an encoder mounted to the shaft of the motor driving the conveyor belt. A robot can plan a sequence of motion to pick the object from the conveyor belt by using the output of the proposed system.

La industria manufacturera en el Perú tiene una alta participación en la economía del país, conformando un 75% de la industria según la Sociedad Nacional de Industrias. Entre los principales rubros en apogeo se encuentra la producción de plásticos. Asimismo, una de las actividades económicas más demandantes en el 2016 fue la fabricación de productos hecho a base de polímeros. De esta manera, el aumento de pedidos relacionados con plásticos genera que las empresas dedicadas al rubro aumenten su producción mediante máquinas más especializadas, donde la infraestructura adicional que tienen estas máquinas facilita la producción de piezas de plástico; sin embargo, no todas tienen las mismas capacidades. En efecto, la empresa Firings E.I.R.L. cuenta con una máquina inyectora de plástico capaz de fabricar piezas hechas en polietileno; sin embargo, la infraestructura mecánica, eléctrica e hidráulica no se encuentra adaptada para soportar sus principales procesos, como la calibración de resistencias o el enfriamiento de las piezas fabricadas, causando retraso en la producción y exposición al operario a solventar estas carencias manualmente. De esta manera, el objetivo principal del proyecto consiste en desarrollar un sistema de automatización industrial para el proceso de fabricación y enfriamiento de piezas de plástico, mediante 3 etapas de desarrollo: un sistema de control en la unidad de inyección, un sistema de enfriamiento, y un cúmulo de interfaces visuales en tiempo real, con el propósito de reducir el tiempo perdido en la fabricación manual, y evitar accidentes eléctricos hacia el operario.<br>The manufacturing industry in Peru has a high participation in the country's economy, making up 75% of the industry according to the National Society of Industries. Plastics production is among the main booming industries. Also, one of the most demanding economic activities in 2016 was the manufacture of polymer-based products. In this way, the increase in orders related to plastics generates that the companies dedicated to the sector increase their production through more specialized machines, where the additional infrastructure that these machines have facilitates the production of plastic parts; however, not all have the same capabilities. Indeed, Firings E.I.R.L. It has a plastic injection machine capable of manufacturing parts made of polyethylene; However, the mechanical, electrical, and hydraulic infrastructure is not adapted to withstand certain factors, such as resistance calibration or cooling of the manufactured parts, causing delay in production and exposure to the operator to solve these deficiencies manually. In this way, the main objective of the project is to develop an industrial automation system for the manufacturing and cooling process of plastic parts, through 3 development stages: a control system in the injection unit, a cooling system, and a host of visual interfaces in real time, to reduce the time lost in manual manufacturing and avoid electrical accidents to the operator.<br>Tesis

<p>Industrial robot manipulators are general-purpose machines used for industrial automation in order to increase productivity, flexibility, and quality. Other reasons for using industrial robots are cost saving, and elimination of heavy and health-hazardous work. Robot motion control is a key competence for robot manufacturers, and the current development is focused on increasing the robot performance, reducing the robot cost, improving safety, and introducing new functionalities. Therefore, there is a need to continuously improve the models and control methods in order to fulfil all conflicting requirements, such as increased performance for a robot with lower weight, and thus lower mechanical stiffness and more complicated vibration modes. One reason for this development of the robot mechanical structure is of course cost-reduction, but other benefits are lower power consumption, improved dexterity, safety issues, and low environmental impact.</p><p>This thesis deals with three different aspects of modeling and control of flexible, i.e., elastic, manipulators. For an accurate description of a modern industrial manipulator, the traditional flexible joint model, described in literature, is not sufficient. An improved model where the elasticity is described by a number of localized multidimensional spring-damper pairs is therefore proposed. This model is called the extended flexible joint model. This work describes identification, feedforward control, and feedback control, using this model.</p><p>The proposed identification method is a frequency-domain non-linear gray-box method, which is evaluated by the identification of a modern six-axes robot manipulator. The identified model gives a good description of the global behavior of this robot.</p><p>The inverse dynamics control problem is discussed, and a solution methodology is proposed. This methodology is based on a differential algebraic equation (DAE) formulation of the problem. Feedforward control of a two-axes manipulator is then studied using this DAE approach.</p><p>Finally, a benchmark problem for robust feedback control of a single-axis extended flexible joint model is presented and some proposed solutions are analyzed.</p>

Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible and intuitive to most users, is still a difficult task. There remain a number of unmet needs. For example, many existing solutions today are proprietary, which makes widespread adoption of a single solution difficult to achieve. Also, most approaches are highly targeted to a specific implementation. But it is not clear that these approaches will generalize to a wider range of problems and applications. To address these issues, we define the Interaction Space, or the space created by the interaction between robots and humans. This space is used to classify relevant existing work, and to conceptualize these unmet needs. GTax, a knowledge transfer framework, is presented as a solution that is able to span the Interaction Space. The framework is based on SysML, a standard used in many different systems, which provides a formalized representation and verification. Through this work, we demonstrate that by generalizing across the Interaction Space, we can simplify robot programming and enable knowledge transfer between processes, systems and application domains.

[EN] This thesis deals with two characteristic problems in visual feedback robot control: 1) sensor latency; 2) providing suitable trajectories for the robot and for the measurement in the image. All the approaches presented in this work are analyzed and implemented on a 6 DOF industrial robot manipulator or/and a wheeled robot. Focusing on the sensor latency problem, this thesis proposes the use of dual-rate high order holds within the control loop of robots. In this sense, the main contributions are: - Dual-rate high order holds based on primitive functions for robot control (Chapter 3): analysis of the system performance with and without the use of this multi-rate technique from non-conventional control. In addition, as consequence of the use of dual-rate holds, this work obtains and validates multi-rate controllers, especially dual-rate PIDs. - Asynchronous dual-rate high order holds based on primitive functions with time delay compensation (Chapter 3): generalization of asynchronous dual-rate high order holds incorporating an input signal time delay compensation component, improving thus the inter-sampling estimations computed by the hold. It is provided an analysis of the properties of such dual-rate holds with time delay compensation, comparing them with estimations obtained by the equivalent dual-rate holds without this compensation, as well as their implementation and validation within the control loop of a 6 DOF industrial robot manipulator. - Multi-rate nonlinear high order holds (Chapter 4): generalization of the concept of dual-rate high order holds with nonlinear estimation models, which include information about the plant to be controlled, the controller(s) and sensor(s) used, obtained from machine learning techniques. Thus, in order to obtain such a nonlinear hold, it is described a methodology non dependent of the machine technique used, although validated using artificial neural networks. Finally, an analysis of the properties of these new holds is carried out, comparing them with their equivalents based on primitive functions, as well as their implementation and validation within the control loop of an industrial robot manipulator and a wheeled robot. With respect to the problem of providing suitable trajectories for the robot and for the measurement in the image, this thesis presents the novel reference features filtering control strategy and its generalization from a multi-rate point of view. The main contributions in this regard are: - Reference features filtering control strategy (Chapter 5): a new control strategy is proposed to enlarge significantly the solution task reachability of robot visual feedback control. The main idea is to use optimal trajectories proposed by a non-linear EKF predictor-smoother (ERTS), based on Rauch-Tung-Striebel (RTS) algorithm, as new feature references for an underlying visual feedback controller. In this work it is provided both the description of the implementation algorithm and its implementation and validation utilizing an industrial robot manipulator. - Dual-rate Reference features filtering control strategy (Chapter 5): a generalization of the reference features filtering approach from a multi-rate point of view, and a dual Kalman-smoother step based on the relation of the sensor and controller frequencies of the reference filtering control strategy is provided, reducing the computational cost of the former algorithm, as well as addressing the problem of the sensor latency. The implementation algorithms, as well as its analysis, are described.<br>[ES] La presente tesis propone soluciones para dos problemas característicos de los sistemas robóticos cuyo bucle de control se cierra únicamente empleando sensores de visión artificial: 1) la latencia del sensor; 2) la obtención de trayectorias factibles tanto para el robot así como para las medidas obtenidas en la imagen. Todos los métodos propuestos en este trabajo son analizados, validados e implementados utilizando brazo robot industrial de 6 grados de libertad y/o en un robot con ruedas. Atendiendo al problema de la latencia del sensor, esta tesis propone el uso de retenedores bi-frequencia de orden alto dentro de los lazos de control de robots. En este aspecto las principales contribuciones son: -Retenedores bi-frecuencia de orden alto basados en funciones primitivas dentro de lazos de control de robots (Capítulo 3): análisis del comportamiento del sistema con y sin el uso de esta técnica de control no convencional. Además, como consecuencia del empleo de los retenedores, obtención y validación de controladores multi-frequencia, concretamente de PIDs bi-frecuencia. -Retenedores bi-frecuencia asíncronos de orden alto basados en funciones primitivas con compensación de retardos (Capítulo 3): generalización de los retenedores bi-frecuencia asíncronos de orden alto incluyendo una componente de compensación del retardo en la señal de entrada, mejorando así las estimaciones inter-muestreo calculadas por el retenedor. Se proporciona un análisis de las propiedades de los retenedores con compensación del retardo, comparándolas con las obtenidas por sus predecesores sin compensación, así como su implementación y validación en un brazo robot de 6 grados de libertad. -Retenedores multi-frecuencia no lineales de orden alto (Capítulo 4): generalización del concepto de retenedor bi-frecuencia de orden alto con modelos de estimación no lineales, los cuales incluyen información tanto de la planta a controlar, como del controlador(es) y sensor(es) empleado(s), obtenida a partir de técnicas de aprendizaje. Así pues, para obtener dicho retenedor no lineal, se describe una metodología independiente de la herramienta de aprendizaje utilizada, aunque validada con el uso de redes neuronales artificiales. Finalmente se realiza un análisis de las propiedades de estos nuevos retenedores, comparándolos con sus predecesores basados en funciones primitivas, así como su implementación y validación en un brazo robot de 6 grados de libertad y en un robot móvil con ruedas. Por lo que respecta al problema de generación de trayectorias factibles para el robot y para la medida en la imagen, esta tesis propone la nueva estrategia de control basada en el filtrado de la referencia y su generalización desde el punto de vista multi-frecuencial. -Estrategia de control basada en el filtrado de la referencia (Capítulo 5): una nueva estrategia de control se propone para ampliar significativamente el espacio de soluciones de los sistemas robóticos realimentados con sensores de visión artificial. La principal idea es utilizar las trayectorias óptimas obtenidas por una trayectoria predicha por un filtro de Kalman seguido de un suavizado basado en el algoritmo Rauch-Tung-Striebel (RTS) como nuevas referencias para un controlador dado. En este trabajo se proporciona tanto la descripción del algoritmo como su implementación y validación empleando un brazo robótico industrial. -Estrategia de control bi-frecuencia basada en el filtrado de la referencia (Capítulo 5): generalización de la estrategia de control basada en filtrado de la referencia desde un punto de vista multi-frecuencial, con un filtro de Kalman multi-frecuencia y un Kalman-smoother dual basado en la relación existente entre las frecuencias del sensor y del controlador, reduciendo así el coste computacional del algoritmo y, al mismo tiempo, dando solución al problema de la latencia del sensor. La validación se realiza utilizando un barzo robot industria asi<br>[CAT] La present tesis proposa solucions per a dos problemes característics dels sistemes robòtics el els que el bucle de control es tanca únicament utilitzant sensors de visió artificial: 1) la latència del sensor; 2) l'obtenció de trajectòries factibles tant per al robot com per les mesures en la imatge. Tots els mètodes proposats en aquest treball son analitzats, validats e implementats utilitzant un braç robot industrial de 6 graus de llibertat i/o un robot amb rodes. Atenent al problema de la latència del sensor, esta tesis proposa l'ús de retenidors bi-freqüència d'ordre alt a dins del llaços de control de robots. Al respecte, les principals contribucions son: - Retenidors bi-freqüència d'ordre alt basats en funcions primitives a dintre dels llaços de control de robots (Capítol 3): anàlisis del comportament del sistema amb i sense l'ús d'aquesta tècnica de control no convencional. A més a més, com a conseqüència de l'ús dels retenidors, obtenció i validació de controladors multi-freqüència, concretament de PIDs bi-freqüència. - Retenidors bi-freqüència asíncrons d'ordre alt basats en funcions primitives amb compensació de retards (Capítol 3): generalització dels retenidors bi-freqüència asíncrons d'ordre alt inclouen una component de compensació del retràs en la senyal d'entrada al retenidor, millorant així les estimacions inter-mostreig calculades per el retenidor. Es proporciona un anàlisis de les propietats dels retenidors amb compensació del retràs, comparant-les amb les obtingudes per el seus predecessors sense la compensació, així com la seua implementació i validació en un braç robot industrial de 6 graus de llibertat. - Retenidors multi-freqüència no-lineals d'ordre alt (Capítol 4): generalització del concepte de retenidor bi-freqüència d'ordre alt amb models d'estimació no lineals, incloent informació tant de la planta a controlar, com del controlador(s) i sensor(s) utilitzat(s), obtenint-la a partir de tècniques d'aprenentatge. Així doncs, per obtindre el retenidor no lineal, es descriu una metodologia independent de la ferramenta d'aprenentatge utilitzada, però validada amb l'ús de rets neuronals artificials. Finalment es realitza un anàlisis de les propietats d'aquestos nous retenidors, comparant-los amb els seus predecessors basats amb funcions primitives, així com la seua implementació i validació amb un braç robot de 6 graus de llibertat i amb un robot mòbil de rodes. Per el que respecta al problema de generació de trajectòries factibles per al robot i per la mesura en la imatge, aquesta tesis proposa la nova estratègia de control basada amb el filtrat de la referència i la seua generalització des de el punt de vista multi-freqüència. - Estratègia de control basada amb el filtrat de la referència (Capítol 5): una nova estratègia de control es proposada per ampliar significativament l'espai de solucions dels sistemes robòtics realimentats amb sensors de visió artificial. La principal idea es la d'utilitzar les trajectòries optimes obtingudes per una trajectòria predita per un filtre de Kalman seguit d'un suavitzat basat en l'algoritme Rauch-Tung-Striebel (RTS) com noves referències per a un control donat. En aquest treball es proporciona tant la descripció del algoritme així com la seua implementació i validació utilitzant un braç robòtic industrial de 6 graus de llibertat. - Estratègia de control bi-freqüència basada en el filtrat (Capítol 5): generalització de l'estratègia de control basada am filtrat de la referència des de un punt de vista multi freqüència, amb un filtre de Kalman multi freqüència i un Kalman-Smoother dual basat amb la relació existent entre les freqüències del sensor i del controlador, reduint així el cost computacional de l'algoritme i, al mateix temps, donant solució al problema de la latència del sensor. L'algoritme d'implementació d'aquesta tècnica, així com la seua validaci<br>Solanes Galbis, JE. (2015). MULTI-RATE VISUAL FEEDBACK ROBOT CONTROL [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/57951<br>TESIS

An important consideration in discrete event dynamic systems control theory is the selection of a suitable modeling formalism that can capture the complex characteristics of the system and the capability to automatically synthesize a controller based on the system model. Net condition event systems are well suited for modeling complex discrete event dynamic systems owing to their input and output structure, which effectively captures the behavior of the physical devices to be monitored and/or controlled. To date, net condition event systems control models have not been extensively applied to highly automated manufacturing systems and there are few guidelines on how to automatically generate Programmable Logic Controller programming languages from net condition event systems models. This research automatically converted net condition event systems control models into Programmable Logic Controller programming language and evaluated the applicability of the proposed methodology in highly automated manufacturing systems using HAS-200 as a test bed.

Orientador: João Mauricio Rosario<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-07-23T10:48:51Z (GMT). No. of bitstreams: 1 Araujo_EmersondosSantos_M.pdf: 5032969 bytes, checksum: 9aeefffb066e5bc98604e54f765cdb0d (MD5) Previous issue date: 1997<br>Resumo: Atualmente devido o aumento da competitividade no meio industrial, a automação é uma das soluções utilizadas para se obter flexibilidade e produtos de alta qualidade. Neste trabalho serão apresentadas ferramentas que permitirão a modelagem e descrição da Parte Operativa e Parte Comando de um Sistema Automatizado de Produção, através do diagrama funcional GRAFCET (SFC). Este conceitos serão aplicados nos diversos postos integrantes de uma Plataforma Industrial em Automação, implementada na UNICAMP dentro de um projeto de cooperação científica, cujo o objetivo principal é a implementação e desenvolvimento de métodos e ferramentas para automação das PME's<br>Abstract: Nowadays due the increase of competitive in industries, the automation is one of the solutions to reach flexibility and products of high quality. In this work will describe the concepts the that will allow the modeling and description of the operative and command parts of Manufacturing Automation System, using the GRAFCET (SFC) diagram functional. This ideas will be applied at several posts of the Industrial Platform in Automation, implemented at UNICAMP into a project of scientific cooperation. The aim objective of the platform is development of methods and tools for automation of small and middle size enterprises<br>Mestrado<br>Mecanica dos Sólidos e Projeto Mecanico<br>Mestre em Engenharia Mecânica

The concept of inventory control has been around since the early 20th century and it’s constantly evolving. The importance of inventory management and supply chain management is clear, and companies are constantly trying to evolve their systems and ways of handling inventory control. By having a proper inventory control system with adequate inventory record audits, a company could potentially have several benefits such as reduced tied-up capital, reduced holding costs, reduced/redistributed work hours, better automation and more. Most organisations and companies have some form of inventory control, however not all have full control of their inventory. This includes automatic inventory balance updates, package traceability, automatic replenishment systems and more. To implement these ideas, a company would need to foremost find what factors are currently hindering them from obtaining this and consequently being able to adjust their factors. Since there are several ways to obtain an automatic inventory record update that is adequate, multiple proposals are discussed in this thesis project. This thesis project assessed what the necessary steps that a company needs to perform are through a case study at Scania CV Engine and a benchmarking at Scania Production Angers. Through a collection of scientific literature and empirical data, an attempt to identify the factors that determine whether a company can implement full inventory control or not was made. As a supplement to this, this thesis project also looked over what type of consequences an implementation of full inventory control could have in a company, both when it comes to purely systemic consequences as well as economic consequences.<br>Begreppet saldokontroll har cirkulerat sedan början av 1900-talet och teorierna utvecklas ständigt. Betydelsen av lagerstyrning och Supply Chain Management är idag tydlig och företag försöker ständigt utveckla sina system och sätt att hantera saldokontroll på. Genom att ha ordentlig saldokontroll med adekvata lagerregistreringsrevisioner kan ett företag potentiellt få flertalet fördelar som till exempel reducerat bundet kapital, minskade innehavskostnader, reducerade eller omfördelade arbetstimmar, bättre automatisering och mera. De flesta organisationer och företag har någon form av lagerkontroll, men inte alla har 100% kontroll över sina inventeringar. Detta inkluderar automatiska lagerrevisioner, spårbarhet av paket, automatiska påfyllningssystem och mer. För att genomföra dessa idéer måste ett företag framför allt finna vilka faktorer som för närvarande förhindrar dem från att uppnå 100% saldokontroll och följaktligen kunna justera dessa faktorer. Eftersom det finns flera sätt att uppnå automatiska revisioner av inventeringen som är proper så diskuteras flera förslag i denna avhandling. Denna avhandling försöker bedöma vilka nödvändiga steg som ett företag behöver genomföra är genom en utförd fallstudie på Scania CV Engine tillsammans med en benchmarking på Scania Production Angers. Genom en samling av vetenskapliga studier och empiriska data från fallstudien gjordes ett försök att identifiera de faktorer som avgöra om ett företag kan implementera 100% saldokontroll eller inte. Som ett komplement till detta ser denna rapport även över vilken typ av konsekvenser en sådan implementering kan innebära, båda när det gäller rent systematiska förändringar samt ekonomiska förändringar.

Made available in DSpace on 2016-06-02T19:06:03Z (GMT). No. of bitstreams: 1 4911.pdf: 4490259 bytes, checksum: 94cfbdb804ef2f55cb81e1163b1c6ad4 (MD5) Previous issue date: 2011-07-01<br>Universidade Federal de Sao Carlos<br>Resources sharing is one of the main characteristics of Automated Manufacturing Systems (SMA), this characteristic can be a synonym of advantages but on the other hand it may lead to the problem of deadlock. Several papers have suggested methods and techniques to reduce or eliminate the occurrence of deadlocks in SMA systems. The deadlock resolution strategies suggested in the literature can be classified into the following types: deadlock detection and recovery, deadlock prevention and deadlock avoidance. This work proposes a resolution method for the control of automated manufacturing systems using colored Petri nets, the main goal of the proposed method is to provide a deadlock-free production controller. To model, simulate and implement the technique in a production controller a dedicated software is used to model the Petri Nets. Initially, a model using Colored Petri Nets is proposed, then changes in the model are introduced in order to eliminate the deadlocks, resulting in a Colored Petri net control model of the SMA. Finally the model is implemented in the scenario of a Flexible Manufacturing System for testing and validation of the method.<br>O Compartilhamento de recursos é uma das principais características dos Sistemas de Manufatura Automatizados (SMA), esta característica pode ser um sinônimo de vantagens, mas por outro lado pode levar ao problema de deadlock. Diversos trabalhos têm sugerido métodos e técnicas para reduzir ou eliminar a ocorrência de deadlocks em SMA. As estratégias de resolução de deadlock sugerido na literatura podem ser classificados nos seguintes tipos: detecção e recuperação de deadlocks, prevenção de deadlocks e de deadlock. Este trabalho propõe um método de resolução para o controle de sistemas de manufatura automatizados utilizando redes de Petri coloridas, o principal objetivo do método proposto é obter um controlador da produção livre de deadlocks. Para modelar, simular e implementar a técnica em um controlador de produção um software dedicado é usado para modelar a rede de Petri. Inicialmente, um modelo usando Redes de Petri Coloridas é proposto, então mudanças são introduzidas, a fim de eliminar os deadlocks, resultando em um modelo de rede de Petri de um SMA livre de deadlock. Finalmente o modelo é implementado no cenário de um Sistema de Manufatura Flexível para testes e validação do método.

COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>A área de reconhecimento de imagens é essencial em Sistemas de Automáticos Industriais para a manipulação de peças sem a interferência humana. São apresentadas, neste trabalho, diversas características para reconhecimento de perfis bidimensionais, e selecionadas aquelas que são variantes com a posição. Esta seleção evita o alto custo computacional devido à variação do posicionamento das peças numa esteira rolante. As características selecionadas das imagens digitais de objetos são os monumentos invariantes. A partir destes momentos usa-se uma árvore binária de decisão para classificar os objetos, permitindo, deste modo, a identificação dos mesmos.<br>Image recognition is essential in Industrial Automatic Systems for manipulation of parts without human interference. In this work several features for 2D profile recognition are presented and those independent of position are selected. The selection avoid the high computational cost related to the variable position of the objects on a conveyor belt. The selected characteristics from the digital images of the objects are the invariant moments. On the basis of the extracted features, a binary decision tree is used to classify the objects, allowing the identification of the profiles.

A interoperabilidade entre equipamentos ou aplicativos (software) de tecnologias baseadas em redes de campo (fieldbus) é de suma importância nos sistemas de automação, pois permite a integração dos mesmos, de diferentes fabricantes. A integração é feita por uma linguagem de comunicação comum usada entre as diferentes tecnologias heterogêneas. No nível do software configurador FOUNDATION fieldbus (FF) de dispositivos e de malhas de controle, a linguagem usada para garantir a interoperabilidade entre os dispositivos é provida pela tecnologia de descrição de dispositivos chamada Electronic Device Description (EDD), que é proprietária e de complexo desenvolvimento para o fabricante, definida pela fieldbus Foundation. As tecnologias de software abertas e não-proprietárias têm apresentado um grande crescimento nos últimos anos, em especial a tecnologia eXtensible Markup language (XML), que se tornou mundialmente conhecida devido à integração de aplicativos internet, tornando-os assim interoperáveis uns com os outros. É proposta neste trabalho uma tecnologia de descrição de dispositivos aberta, não-proprietária e de simples desenvolvimento (para o fabricante), baseada na tecnologia XML, que é chamada de Open-EDD (Open Eletronic Device Description). A criação dessa tecnologia engloba a definição da linguagem Open-EDDML (Open Eletronic Device Description Markup Language), a modelagem do XML schema e o projeto e implementação de um interpretador (parser). Para validação dessa tecnologia, é feita a integração da mesma em um configurador real e testes usando dispositivos FF.<br>The interoperability among devices or software based on fieldbus technologies is becoming increasingly requested and demanded because it allows the integration of devices or software from different manufacturers. The integration is implemented through a common communication language used among the different heterogeneous technologies. In the FOUNDATION fieldbus configurator software is used to provide interoperability among devices a proprietary and complex technology (to be developed by manufacturers), known as Electronic Device Description (EDD) that is defined by the fieldbus Foundation. Meanwhile, open and non-proprietary software technologies have presented a great growth in the last years, especially the eXtensible Markup language (XML) technology, which has became worldwide known due to the integration of internet (heterogeneous) applications. This study proposes a new open, non-proprietary and simple (for manufacturer development) device description based on XML, that is named Open-EDD (Open Electronic Device Description). The creation of this technology includes the definition of the language Open-EDDML (Open Electronic Device Description Markup Language), modeling the XML Schema, projecting and implementing the parser. This technology is validated by integrating it to an existent configurator and testing it using FF devices.

Cost of poor quality describes what the lack of quality costs an organization. By understanding what the concept is and how it can be translated into a specific organization, it creates the conditions for eliminating them, and it can generate a saving of up to 30% of the organization's turnover. The study has been carried out at ABB Industrial Automation Control Technologies in Västerås within the group ABB AB. This work has focused on visualizing the problem and how it could be attacked. The purpose of the thesis is, "… to generate evidence about the management of drawings, as well as to propose measures that can improve this process. The aim is also to help ensure that there is a process where suppliers always produce based on the right and most recent edition. " The processes of drawing management have been visualized based on information from interviews, observations and secondary data that have been based on information from routines together with governing documents. Thereafter, deficiencies in this drawing management process have been identified and also the causes. The result from the thesis is a process mapping with identified shortcomings and the causes of these. A specification has been prepared for guidelines on how ABB Industrial Automation Control Technologies will work with improvements on this process.<br>Kvalitetsbristkostnader beskriver vad avsaknaden av kvalitet kostar en organisation. Genom att förstå vad begreppet är och hur det kan översättas till en specifik organisation skapas förutsättningarna för att eliminera dessa samt på så sätt spara upp till 30 % av organisationens omsättning. Studien har genomförts på ABB Industrial Automation Control Technologies i Västerås inom koncernen ABB AB. ABB Industrial Automation Control Technologies har en förståelse om vad kvalitetsbristkostnader är och därmed har ett problemområde presenterats. Detta arbete har inriktats på att visualisera problemet samt hur det skulle kunna angripas. Examensarbetets syfte är, ”Avsikten med detta arbete är att generera underlag kring hantering av ritningar samt att även föreslå åtgärder som kan förbättra denna hantering. Syftet är även att bidra till säkerställandet av att ha en process där leverantörer alltid producerar efter rätt och senaste upplaga av ritningar.” Processen ritningshantering har visualiserats baserat på information från intervjuer, observationer samt baserat på sekundärdata som information om befintliga rutiner och styrande dokument. Därefter har brister inom denna ritningshanteringsprocess identifierats samt medföljande orsaker åskådliggjorts. Studiens resultat är en processkartläggning med identifierade brister och orsakerna till bristerna. En kravspecifikation har tagits fram som skapar grunden till förbättringsarbetet som ABB Industrial Automation Control Technologies står inför.

Mestrado em Engenharia Eletrónica e Telecomunicações<br>In today’s modern industry, the majority of the tasks are getting more automated, and the human intervention reduced. Despite this fact the machines used still need maintenance. This is such an important part of the area, that all industries have specialized personnel just to maintain the automation systems. The reason is that the systems used on nowadays factories are becoming more specific and demanding in technological terms. This translates in a constant interaction between the machine manufacturers and the factory maintenance team. The purpose of this study was to develop a proof of concept prototype, projected to serve as a starting point for a market product in the field of industrial automation. The product aims to bridge the communication gap between manufacturers and industrial plant personnel. The focus of the thesis is in a mobile application for an industrial Tablet PC, in order to provide new tools to the industrial operator. These new tools include technical support functionalities, like remote reprogramming of industrial devices or via video call. They additionally add the possibility to locally access to industrial devices and functionalities seen in commercial “smart” devices, like the use of the camera. The main results of the thesis were to develop a working prototype tested in a real industrial case scenario, as well to find out that no industrial manufacturer provides a turn-key solution with the stated requirements.<br>Atualmente em automação industrial, a maioria das tarefas estão automatizadas, e a intervenção humana é cada vez mais reduzida. Apesar disso as máquinas usadas continuam a precisar de manutenção. Esta é uma parte tão importante da área, que todas as indústrias têm pessoal especializado apenas para manter os sistemas de automação. A razão é que os sistemas utilizados hoje em dia nas fábricas são cada vez mais específicos e exigentes em termos tecnológicos. Isso implica uma interação constante entre os fabricantes das máquinas e a equipa de manutenção da fábrica. O objetivo deste estudo foi desenvolver um protótipo de prova de conceito, para servir como ponto de partida para um produto de mercado na área de automação industrial. O produto visa estreitar a comunicação entre os fabricantes e o pessoal responsável na indústria. O foco do trabalho é uma aplicação móvel para um Tablet PC industrial, a fim de fornecer novas ferramentas para o operador industrial. Estas novas ferramentas incluem funcionalidades de suporte técnico, como a reprogramação remota de dispositivos industriais ou através de chamada de vídeo. Incluem ainda a possibilidade de aceder localmente a dispositivos industriais e funcionalidades oferecidas por dispositivos comerciais "inteligentes", como o uso da câmara. Os principais resultados da tese foram, desenvolver um protótipo testado em ambiente industrial, bem ao descobrir que nenhum fabricante industrial fornece uma solução chave na mão com os requisitos estabelecidos.

In industrial automation systems, there is usually large volume of data which needs to be delivered to right places at the right time. In addition, large number of nodes in the automation systems are usually distributed which increases the complexity that there needs to be more point-to-point Ethernet-connections in the network. Hence, it is necessary to apply data-centric design and reduce the connection complexity. Data Distributed Service for Real-Time Systems (DDS) is a data-centric middleware specification adopted by Object Management Group (OMG). It uses the Real-Time Publish-Subscribe protocol as its wiring protocol and targets for mission- and business-critical systems. The IEC 61499 Standard defines an open architecture for the next generation of distributed control and automation systems. This thesis presents the structure and key features of DDS and builds a model of real-time distributed system based on the IEC 61499 Standard. Then a performance evaluation of the DDS communication based on this model is carried out. The traditional socket-based communication is also evaluated to act as a reference for the DDS communication. The results of the evaluation mostly show that DDS is considered as a good solution to reduce the complexity of the Ethernet connections in distributed systems and can be applied to some classes of industrial automation systems.

<p>In industrial control systems PID-control remains the prevalent strategy, also for processes that would benefit from model based control. The purpose of this thesis is to evaluate whether model based control can be readily implemented in an industrial control system. To this end a simulated surge tank with a simulated industrial control system is studied. For evaluation two scenarios with specified objectives are selected.</p><p>Following a review of LQR and versions of MPC, Predictive Functional Control (PFC) is considered the most suitable for implementation. PFC is a form of MPC developed with industrial applications in mind and therefore has several advantages for implementation in an industrial control system. Controllers for the surge tank-system are developed and implemented in the control system.</p><p>Basic analysis of stability, sensitivity and robustness suggests that PFC has some advantages that might be important in a non-simulated implementation. Compared with PID-controllers adjusted for control performance, PFC does not show any notable improvements in performance.</p><p>In conclusion, it is possible to implement model based control in an industrial control system and with PFC the implementation is considered easy.</p>

The controlling unit in building management system automation is a PLC. Every device in an installation is connected to the PLC. When a user wants to interact with a system an operator terminal, which is attached to a cabinet where the PLC is installed, is used. With this solution the user needs to be in front of the cabinet to interact with the system. Alarms do not get the user’s attention until the user checks the operator terminal. Using a solution where the communication with the PLC is done with a wireless interface would mean that the user interact with a system from a wider area. The solution should have the same functionality as today with the extension that the PLC should be able to contact the user if something is wrong in the installation. A PDA is used as a replacement for the operator terminal. This PDA uses two different techniques to communicate with the PLC. Bluetooth is used when the user is in the building and interacts with the system in a similar way to the operator terminals. GSM is used when the PLC needs to get the users attention by sending out alarms. With this solution the PDA can be used for several installations and thereby decrease cost. The project has turned out to be a success. The application that has been developed has improved a user’s interaction with a PLC.

The goal of this thesis is to describe the current state of artificial intelligence, and how it can be applied to the industry. Artificial intelligence is considered as one of the major enablers of a movement towards the fourth industrial revolution. It has the potential to increase growth across our global economy, for instance, by automating work and enhancing the performance of humans. It can also be implemented to optimize decision making, and create interconnected supply chains, where the availability of real-time information from multiple facets enables a complete optimization and transparency, which would not be attainable using only currently established methods. While we are yet far from a point where AI could completely replace human workers on a larger scale, it can still be useful for automating certain work activities, which can be identified through an appropriate categorization. In addition to determining current technologies’ potential in automation of work, it is explained, how AI can be used to create a loop between the physical and digital worlds. In practice, this means creating optimized systems, in which continuous information flow and algorithmic decision making enable completely new levels of operational efficiency. When these optimized activity points have been created across a supply chain, they can be connected to create a digital supply network, collapsing the linear flow of a traditional supply chain to an interconnected entity, where real-time flow of information can be leveraged to optimize the entire system, while automating a great deal of decision making between the connection points. This literature review is divided into two major chapters. In the first one, the current stage of technological evolution is covered by going through some of the most essential AI-based solutions and comparing them to a selection of human capabilities. In the latter part, it is discussed how AI can be combined with human workforce to automate various types of work activities. This chapter also includes the part where AI’s potential is covered in terms of optimization and supply chain improvement. After these two major chapters, there’s a discussion about some of the challenges we are going to face while creating these solutions and investing in them. Finally, everything is wrapped up by concluding how these things are seen from the author’s perspective based on insight gained during the writing of this thesis<br>Työn tarkoitus on kuvailla tekoälyn nykytilannetta ja sitä, kuinka tekoälyä voidaan lähteä soveltamaan teollisuuteen. Tekoälyä pidetään yhtenä keskeisistä neljänteen teolliseen vallankumoukseen johtavan liikkeen mahdollistavista tekijöistä. Sillä on potentiaalia luoda talouskasvua muun muassa työn automatisoinnin ja ihmisten suorituskyvyn tehostamisen kautta. Sen käyttöönotolla voidaan myös optimoida päätöksentekoa ja luoda tilaus-toimitusketjuja, joissa useiden tahojen välinen ajantasainen tiedon kulku mahdollistaa järjestelmien täyden läpinäkyvyyden ja optimoinnin, jota ei kyettäisi saavuttamaan pelkästään tämänhetkisiä vakiintuneita menetelmiä käyttämällä. Vaikka olemme vielä kaukana pisteestä, jossa tekoäly voisi korvata ihmiset kokonaan laajassa mittakaavassa, sitä voidaan kuitenkin hyödyntää tiettyjen työtehtävien automatisoimiseen — nämä voidaan tunnistaa oikeanlaisen kategorisoinnin kautta. Työn automatisointipotentiaalin määrittämisen lisäksi käydään läpi, miten tekoälyä voidaan soveltaa fyysisen ja digitaalisen maailman välisen silmukan luomiseen. Käytännössä tällä tarkoitetaan sellaisten optimoitujen järjestelmien luomista, missä jatkuva tiedon kulku ja algoritminen päätöksenteko mahdollistavat täysin uudentasoisen operatiivisen tehokkuuden saavuttamisen. Sen jälkeen, kun näitä optimoituja yksiköitä on luotu ympäri tilaus-toimitusketjua, ne voidaan yhdistää yhdeksi digitaaliseksi verkoksi, jossa perinteinen lineaarisesti etenevä tilaus-toimitusketju hajotetaan siten, että sen kaikki pisteet ovat yhteydessä toisiinsa. Reaaliaikainen tiedon kulku yhteyspisteiden välillä mahdollistaa koko järjestelmän optimoimisen samalla, kun suuri osa päätöksenteosta automatisoidaan tekoälyn avulla. Tämä kirjallisuuskatsaus on jaettu kahteen pääkappaleeseen, joista ensimmäisessä käsitellään tekoälyn teknisen kehityksen nykytilannetta käymällä läpi olennaisia tekoälyyn pohjautuvia ratkaisuja ja vertaamalla niitä valikoituihin inhimillisiin kyvykkyyksiin. Toisessa osassa kerrotaan, kuinka tekoäly voidaan yhdistää työtä tekevien ihmisten kanssa monenlaisten tehtävien automatisoimiseen. Tässä kappaleessa käsitellään myös tekoälyn potentiaalia järjestelmien optimoinnin ja tilaus-toimitusketjun kehittämisen työkaluna. Näiden kahden pääkappaleen jälkeen käydään läpi haasteita, joita tulemme kohtaamaan tekoälyyn pohjautuvien ratkaisujen luomisen ja niihin investoimisen aikana. Työ päättyy yhteenvetoon, johon on tuotu mukaan kirjoittajan omaa näkemystä kirjoittamisen aikana aihepiiristä muodostuneen ymmärryksen pohjalta

The growing demand for products and services puts great pressure on logistics performance and enhances the role that logistics plays in determining a company’s competitiveness. This research focuses on internal logistics systems, which includes all logistics activities and processes within the physical limits of an isolated company. Internal logistics is vital for the overall function of many companies. However, despite its importance, this part of logistics has traditionally not been viewed or developed in a strategic way. Since internal logistics activities are often characterized by a high degree of manual handling and hence strongly affect the cost of operations, there is a large incentive for improvements in this area.   One possible way to improve an internal logistics system is with the help of automation. In many areas, automation is a well-known means to increase productivity and cut costs, thus improving competitiveness. However, automation is not commonly used within internal logistics activities, and there is a lack of knowledge and research within this new application area. The main objective of this research, therefore, is to contribute to an increased understanding of how automation can be used to develop competitive internal logistics systems. Four empirical studies have been performed to investigate how companies perceive and work with their internal logistics systems, specifically in terms of improvements using automation. The empirical studies also aimed at identifying and describing how the studied companies could benefit from automation within internal logistics activities. From the studies, the importance of assessing and being aware of the current state of logistics performance was discovered as a basic requirement that needs to be fulfilled before conducting improvement work. Further, one of the main overall conclusions from this research is the need for a logistics strategy that includes goals and plans for the operation and development of an internal logistics system. As a result of the research, a structure and procedure for the development of a logistics strategy and a framework for conducting an improvement process in internal logistics using automation were developed.<br>Lean Automation