Kommunikation und Bildverarbeitung in der Automation

In diesem Open-Access-Tagungsband sind die besten Beiträge des 9. Jahreskolloquiums "Kommunikation in der Automation" (KommA 2018) und des 6. Jahreskolloquiums "Bildverarbeitung in der Automation" (BVAu 2018) enthalten. Die Kolloquien fanden am 20. und 21. November 2018 in der SmartFactoryOWL, einer gemeinsamen Einrichtung des Fraunhofer IOSB-INA und der Technischen Hochschule Ostwestfalen-Lippe statt. Die vorgestellten neuesten Forschungsergebnisse auf den Gebieten der industriellen Kommunikationstechnik und Bildverarbeitung erweitern den aktuellen Stand der Forschung und Technik. Die in den Beiträgen enthaltenen anschaulichen Beispiele aus dem Bereich der Automation setzen die Ergebnisse in den direkten Anwendungsbezug

TOWARDS THE GROUNDING OF ABSTRACT CATEGORIES IN COGNITIVE ROBOTS

The grounding of language in humanoid robots is a fundamental problem, especially in social scenarios which involve the interaction of robots with human beings. Indeed, natural language represents the most natural interface for humans to interact and exchange information about concrete entities like KNIFE, HAMMER and abstract concepts such as MAKE, USE. This research domain is very important not only for the advances that it can produce in the design of human-robot communication systems, but also for the implication that it can have on cognitive science. Abstract words are used in daily conversations among people to describe events and situations that occur in the environment. Many scholars have suggested that the distinction between concrete and abstract words is a continuum according to which all entities can be varied in their level of abstractness. The work presented herein aimed to ground abstract concepts, similarly to concrete ones, in perception and action systems. This permitted to investigate how different behavioural and cognitive capabilities can be integrated in a humanoid robot in order to bootstrap the development of higher-order skills such as the acquisition of abstract words. To this end, three neuro-robotics models were implemented. The first neuro-robotics experiment consisted in training a humanoid robot to perform a set of motor primitives (e.g. PUSH, PULL, etc.) that hierarchically combined led to the acquisition of higher-order words (e.g. ACCEPT, REJECT). The implementation of this model, based on a feed-forward artificial neural networks, permitted the assessment of the training methodology adopted for the grounding of language in humanoid robots. In the second experiment, the architecture used for carrying out the first study was reimplemented employing recurrent artificial neural networks that enabled the temporal specification of the action primitives to be executed by the robot. This permitted to increase the combinations of actions that can be taught to the robot for the generation of more complex movements. For the third experiment, a model based on recurrent neural networks that integrated multi-modal inputs (i.e. language, vision and proprioception) was implemented for the grounding of abstract action words (e.g. USE, MAKE). Abstract representations of actions ("one-hot" encoding) used in the other two experiments, were replaced with the joints values recorded from the iCub robot sensors. Experimental results showed that motor primitives have different activation patterns according to the action's sequence in which they are embedded. Furthermore, the performed simulations suggested that the acquisition of concepts related to abstract action words requires the reactivation of similar internal representations activated during the acquisition of the basic concepts, directly grounded in perceptual and sensorimotor knowledge, contained in the hierarchical structure of the words used to ground the abstract action words.This study was financed by the EU project RobotDoC (235065) from the Seventh Framework Programme (FP7), Marie Curie Actions Initial Training Network

Enabling Technologies for Internet of Things: Licensed and Unlicensed Techniques

The Internet of Things (IoT) is a novel paradigm which is shaping the evolution of the future Internet. According to the vision underlying the IoT, the next step in increasing the ubiquity of the Internet, after connecting people anytime and everywhere, is to connect inanimate objects. By providing objects with embedded communication capabilities and a common addressing scheme, a highly distributed and ubiquitous network of seamlessly connected heterogeneous devices is formed, which can be fully integrated into the current Internet and mobile networks, thus allowing for the development of new intelligent services available anytime, anywhere, by anyone and anything. Such a vision is also becoming known under the name of Machine-to-Machine (M2M), where the absence of human interaction in the system dynamics is further emphasized. A massive number of wireless devices will have the ability to connect to the Internat through the IoT framework. With the accelerating pace of marketing such framework, the new wireless communications standards are studying/proposing solutions to incorporate the services needed for the IoT. However, with an estimate of 30 billion connected devices, a lot of challenges are facing the current wireless technology. In our research, we address a variety of technology candidates for enabling such a massive framework. Mainly, we focus on the nderlay cognitive radio networks as the unlicensed candidate for IoT. On the other hand, we look into the current efforts done by the standardization bodies to accommodate the requirements of the IoT into the current cellular networks. Specifically, we survey the new features and the new user equipment categories added to the physical layer of the LTE-A. In particular, we study the performance of a dual-hop cognitive radio network sharing the spectrum of a primary network in an underlay fashion. In particular, the cognitive network consists of a source, a destination, and multiple nodes employed as amplify-and-forward relays. To improve the spectral efficiency, all relays are allowed to instantaneously transmit to the destination over the same frequency band. We present the optimal power allocation that maximizes the received signal-to-noise ratio (SNR) at the destination while satisfying the interference constrains of the primary network. The optimal power allocation is obtained through an eigen-solution of a channel-dependent matrix, and is shown to transform the transmission over the non-orthogonal relays into parallel channels. Furthermore, while the secondary destination is equipped with multiple antennas, we propose an antenna selection scheme to select the antenna with the highest SNR. To this end, we propose a clustering scheme to subgroup the available relays and use antenna selection at the receiver to extract the same diversity order. We show that random clustering causes the system to lose some of the available degrees of freedom. We provide analytical expression of the outage probability of the system for the random clustering and the proposed maximum-SNR clustering scheme with antenna selection. In addition, we adapt our design to increase the energy-efficiency of the overall network without significant loss in the data rate. In the second part of this thesis, we will look into the current efforts done by the standardization bodies to accommodate the equirements of the IoT into the current cellular networks. Specifically, we present the new features and the new user equipment categories added to the physical layer of the LTE-A. We study some of the challenges facing the LTE-A when dealing with Machine Type communications (MTC). Specifically, the MTC Physical Downlink control channel (MPDCCH) is among the newly introduced features in the LTE-A that carries the downlink control information (DCI) for MTC devices. Correctly decoding the PDCCH, mainly depends on the channel estimation used to compensate for the channel errors during transmission, and the choice of such technique will affect both the complexity and the performance of the user equipment. We propose and assess the performance of a simple channel estimation technique depends in essence on the Least Squares (LS) estimates of the pilots signal and linear interpolations for low-Doppler channels associated with the MTC application

Managing Event-Driven Applications in Heterogeneous Fog Infrastructures

The steady increase in digitalization propelled by the Internet of Things (IoT) has led to a deluge of generated data at unprecedented pace. Thereby, the promise to realize data-driven decision-making is a major innovation driver in a myriad of industries. Based on the widely used event processing paradigm, event-driven applications allow to analyze data in the form of event streams in order to extract relevant information in a timely manner. Most recently, graphical flow-based approaches in no-code event processing systems have been introduced to significantly lower technological entry barriers. This empowers non-technical citizen technologists to create event-driven applications comprised of multiple interconnected event-driven processing services. Still, today’s event-driven applications are focused on centralized cloud deployments that come with inevitable drawbacks, especially in the context of IoT scenarios that require fast results, are limited by the available bandwidth, or are bound by the regulations in terms of privacy and security. Despite recent advances in the area of fog computing which mitigate these shortcomings by extending the cloud and moving certain processing closer to the event source, these approaches are hardly established in existing systems. Inherent fog computing characteristics, especially the heterogeneity of resources alongside novel application management demands, particularly the aspects of geo-distribution and dynamic adaptation, pose challenges that are currently insufficiently addressed and hinder the transition to a next generation of no-code event processing systems. The contributions of this thesis enable citizen technologists to manage event-driven applications in heterogeneous fog infrastructures along the application life cycle. Therefore, an approach for a holistic application management is proposed which abstracts citizen technologists from underlying technicalities. This allows to evolve present event processing systems and advances the democratization of event-driven application management in fog computing. Individual contributions of this thesis are summarized as follows: 1. A model, manifested in a geo-distributed system architecture, to semantically describe characteristics specific to node resources, event-driven applications and their management to blend application-centric and infrastructure-centric realms. 2. Concepts for geo-distributed deployment and operation of event-driven applications alongside strategies for flexible event stream management. 3. A methodology to support the evolution of event-driven applications including methods to dynamically reconfigure, migrate and offload individual event-driven processing services at run-time. The contributions are introduced, applied and evaluated along two scenarios from the manufacturing and logistics domain

The Digital Transformation of Automotive Businesses: THREE ARTEFACTS TO SUPPORT DIGITAL SERVICE PROVISION AND INNOVATION

Digitalisation and increasing competitive pressure drive original equipment manufacturers (OEMs) to switch their focus towards the provision of digital services and open-up towards increased collaboration and customer integration. This shift implies a significant transformational change from product to product-service providers, where OEMs realign themselves within strategic, business and procedural dimensions. Thus, OEMs must manage digital transformation (DT) processes in order to stay competitive and remain adaptable to changing customer demands. However, OEMs aspiring to become participants or leaders in their domain, struggle to initiate activities as there is a lack of applicable instruments that can guide and support them during this process. Compared to the practical importance of DT, empirical studies are not comprehensive. This study proposes three artefacts, validated within case companies that intend to support automotive OEMs in digital service provisioning. Artefact one, a layered conceptual model for a digital automotive ecosystem, was developed by means of 26 expert interviews. It can serve as a useful instrument for decision makers to strategically plan and outline digital ecosystems. Artefact two is a conceptual reference framework for automotive service systems. The artefact was developed based on an extensive literature review, and the mapping of the business model canvas to the service system domain. The artefact intends to assist OEMs in the efficient conception of digital services under consideration of relevant stakeholders and the necessary infrastructures. Finally, artefact three proposes a methodology by which to transform software readiness assessment processes to fit into the agile software development approach with consideration of the existing operational infrastructure. Overall, the findings contribute to the empirical body of knowledge about the digital transformation of manufacturing industries. The results suggest value creation for digital automotive services occurs in networks among interdependent stakeholders in which customers play an integral role during the services’ life-cycle. The findings further indicate the artefacts as being useful instruments, however, success is dependent on the integration and collaboration of all contributing departments.:Table of Contents Bibliographic Description II Acknowledgment III Table of Contents IV List of Figures VI List of Tables VII List of Abbreviations VIII 1 Introduction 1 1.1 Motivation and Problem Statement 1 1.2 Objective and Research Questions 6 1.3 Research Methodology 7 1.4 Contributions 10 1.5 Outline 12 2 Background 13 2.1 From Interdependent Value Creation to Digital Ecosystems 13 2.1.1 Digitalisation Drives Collaboration 13 2.1.2 Pursuing an Ecosystem Strategy 13 2.1.3 Research Gaps and Strategy Formulation Obstacles 20 2.2 From Products to Product-Service Solutions 22 2.2.1 Digital Service Fulfilment Requires Co-Creational Networks 22 2.2.2 Enhancing Business Models with Digital Services 28 2.2.3 Research Gaps and Service Conception Obstacles 30 2.3 From Linear Development to Continuous Innovation 32 2.3.1 Digital Innovation Demands Digital Transformation 32 2.3.2 Assessing Digital Products 36 2.3.3 Research Gaps and Implementation Obstacles 38 3 Artefact 1: Digital Automotive Ecosystems 41 3.1 Meta Data 41 3.2 Summary 42 3.3 Designing a Layered Conceptual Model of a Digital Ecosystem 45 4 Artefact 2: Conceptual Reference Framework 79 4.1 Meta Data 79 4.2 Summary 80 4.3 On the Move Towards Customer-Centric Automotive Business Models 83 5 Artefact 3: Agile Software Readiness Assessment Procedures 121 5.1 Meta Data 121 5.2 Meta Data 122 5.3 Summary 123 5.4 Adding Agility to Software Readiness Assessment Procedures 126 5.5 Continuous Software Readiness Assessments for Agile Development 147 6 Conclusion and Future Work 158 6.1 Contributions 158 6.1.1 Strategic Dimension: Artefact 1 158 6.1.2 Business Dimension: Artefact 2 159 6.1.3 Process Dimension: Artefact 3 161 6.1.4 Synthesis of Contributions 163 6.2 Implications 167 6.2.1 Scientific Implications 167 6.2.2 Managerial Implications 168 6.2.3 Intelligent Parking Service Example (ParkSpotHelp) 171 6.3 Concluding Remarks 174 6.3.1 Threats to Validity 174 6.3.2 Outlook and Future Research Recommendations 174 Appendix VII Bibliography XX Wissenschaftlicher Werdegang XXXVII Selbständigkeitserklärung XXXVII

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 13th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2022, held in Hamburg, Germany, in May 2022. The 36 regular papers included in this book were carefully reviewed and selected from 129 submissions. They were organized in topical sections as follows: haptic science; haptic technology; and haptic applications

Enhancement of Power System Dynamic Performance by Coordinated Design of PSS and FACTS Damping Controllers

Due to environmental and economical constraints, it is difficult to build new power lines and to reinforce the existing ones. The continued growth in demand for electric power must therefore to a great extent be met by increased loading of available lines. A consequence of this is reduction of power system damping, leading to a risk of poorly damped power oscillations between generators. To suppress these oscillations and maintain power system dynamic performance, one of the conventional, economical and effective solutions is to install a power system stabilizer (PSS). However, in some cases PSS may not provide sufficient damping for the inter-area oscillations in a multi-machine power system. In this context, other possible solutions are needed to be exposed. With the evolution of power electronics, flexible AC transmission systems (FACTS) controllers turn out to be possible solution to alleviate such critical situations by controlling the power flow over the AC transmission line and improving power oscillations damping. However, coordination of conventional PSS with FACTS controllers in aiding of power system oscillations damping is still an open problem. Therefore, it is essential to study the coordinated design of PSS with FACTS controllers in a multi-machine power system. This thesis gives an overview of the modelling and operation of power system with conventional PSS. It gives the introduction to emerging FACTS controllers with emphasis on the TCSC, SVC and STATCOM controllers. The basic modelling and operating principles of the controllers are explained in this thesis, along with the power oscillations damping (POD) stabilizers. The coordination design of PSS and FACTS damping controllers over a wide range of operating conditions is formulated as an optimization problem. The objective function of this optimization problem is framed using system eigen values and it is solved using AAPSO and IWO algorithms. The optimal control parameters of coordinated controllers are obtained at the end of these optimization algorithms. A comprehensive approach to the hybrid coordinated design of PSS with series and shunt FACTS damping controllers is proposed to enhance the overall system dynamic performance. The robustness and effectiveness of proposed hybrid coordinated designs are demonstrated through the eigen value analysis and time-domain simulations. The proposed hybrid designs provide robust dynamic performance under wide range in load condition and providing significant improvement in damping power system oscillations under severe disturbance. The developed hybrid coordinated designs are tested in different multimachine power systems using AAPSO and IWO algorithms. The IWO based hybrid designs and AAPSO based hybrid designs are more effective than other control designs. In addition to this, the proposed designs are implemented and validated in real-time using Opal-RT hardware simulator. The real-time simulations of different test power systems with different proposed designs are carried out for a severe fault disturbance. Finally, the proposed controller simulation results are validated with real-time results