Advancement in robot programming with specific reference to graphical methods

This research study is concerned with the derivation of advanced robot programming methods. The methods include the use of proprietary simulation modelling and design software tools for the off-line programming of industrial robots. The study has involved the generation of integration software to facilitate the co-operative operation of these software tools. The three major researcli'themes7of "ease of usage", calibration and the integration of product design data have been followed to advance robot programming. The "ease of usage" is concerned with enhancements in the man-machine interface for robo t simulation systems in terms of computer assisted solid modelling and computer assisted task generation. Robot simulation models represent an idealised situation, and any off-line robot programs generated from'them may contain'discrepancies which could seriously effect thq programs' performance; Calibration techniques have therefore been investigated as 'a method of overcoming discrepancies between the simulation model and the real world. At the present time, most computer aided design systems operate as isolated islands of computer technology, whereas their product databases should be used to support decision making processes and ultimately facilitate the generation of machine programs. Thus the integration of product design data has been studied as an important step towards truly computer integrated manufacturing. The functionality of the three areas of study have been generalised and form the basis for recommended enhancements to future robot programming systems

OSS architecture for mixed-criticality systems – a dual view from a software and system engineering perspective

Computer-based automation in industrial appliances led to a growing number of logically dependent, but physically separated embedded control units per appliance. Many of those components are safety-critical systems, and require adherence to safety standards, which is inconsonant with the relentless demand for features in those appliances. Features lead to a growing amount of control units per appliance, and to a increasing complexity of the overall software stack, being unfavourable for safety certifications. Modern CPUs provide means to revise traditional separation of concerns design primitives: the consolidation of systems, which yields new engineering challenges that concern the entire software and system stack. Multi-core CPUs favour economic consolidation of formerly separated systems with one efficient single hardware unit. Nonetheless, the system architecture must provide means to guarantee the freedom from interference between domains of different criticality. System consolidation demands for architectural and engineering strategies to fulfil requirements (e.g., real-time or certifiability criteria) in safety-critical environments. In parallel, there is an ongoing trend to substitute ordinary proprietary base platform software components by mature OSS variants for economic and engineering reasons. There are fundamental differences of processual properties in development processes of OSS and proprietary software. OSS in safety-critical systems requires development process assessment techniques to build an evidence-based fundament for certification efforts that is based upon empirical software engineering methods. In this thesis, I will approach from both sides: the software and system engineering perspective. In the first part of this thesis, I focus on the assessment of OSS components: I develop software engineering techniques that allow to quantify characteristics of distributed OSS development processes. I show that ex-post analyses of software development processes can be used to serve as a foundation for certification efforts, as it is required for safety-critical systems. In the second part of this thesis, I present a system architecture based on OSS components that allows for consolidation of mixed-criticality systems on a single platform. Therefore, I exploit virtualisation extensions of modern CPUs to strictly isolate domains of different criticality. The proposed architecture shall eradicate any remaining hypervisor activity in order to preserve real-time capabilities of the hardware by design, while guaranteeing strict isolation across domains.Computergestützte Automatisierung industrieller Systeme führt zu einer wachsenden Anzahl an logisch abhängigen, aber physisch voneinander getrennten Steuergeräten pro System. Viele der Einzelgeräte sind sicherheitskritische Systeme, welche die Einhaltung von Sicherheitsstandards erfordern, was durch die unermüdliche Nachfrage an Funktionalitäten erschwert wird. Diese führt zu einer wachsenden Gesamtzahl an Steuergeräten, einhergehend mit wachsender Komplexität des gesamten Softwarekorpus, wodurch Zertifizierungsvorhaben erschwert werden. Moderne Prozessoren stellen Mittel zur Verfügung, welche es ermöglichen, das traditionelle >Trennung von Belangen< Designprinzip zu erneuern: die Systemkonsolidierung. Sie stellt neue ingenieurstechnische Herausforderungen, die den gesamten Software und Systemstapel betreffen. Mehrkernprozessoren begünstigen die ökonomische und effiziente Konsolidierung vormals getrennter Systemen zu einer effizienten Hardwareeinheit. Geeignete Systemarchitekturen müssen jedoch die Rückwirkungsfreiheit zwischen Domänen unterschiedlicher Kritikalität sicherstellen. Die Konsolidierung erfordert architektonische, als auch ingenieurstechnische Strategien um die Anforderungen (etwa Echtzeit- oder Zertifizierbarkeitskriterien) in sicherheitskritischen Umgebungen erfüllen zu können. Zunehmend werden herkömmliche proprietär entwickelte Basisplattformkomponenten aus ökonomischen und technischen Gründen vermehrt durch ausgereifte OSS Alternativen ersetzt. Jedoch hindern fundamentale Unterschiede bei prozessualen Eigenschaften des Entwicklungsprozesses bei OSS den Einsatz in sicherheitskritischen Systemen. Dieser erfordert Techniken, welche es erlauben die Entwicklungsprozesse zu bewerten um ein evidenzbasiertes Fundament für Zertifizierungsvorhaben basierend auf empirischen Methoden des Software Engineerings zur Verfügung zu stellen. In dieser Arbeit nähere ich mich von beiden Seiten: der Softwaretechnik, und der Systemarchitektur. Im ersten Teil befasse ich mich mit der Beurteilung von OSS Komponenten: Ich entwickle Softwareanalysetechniken, welche es ermöglichen, prozessuale Charakteristika von verteilten OSS Entwicklungsvorhaben zu quantifizieren. Ich zeige, dass rückschauende Analysen des Entwicklungsprozess als Grundlage für Softwarezertifizierungsvorhaben genutzt werden können. Im zweiten Teil dieser Arbeit widme ich mich der Systemarchitektur. Ich stelle eine OSS-basierte Systemarchitektur vor, welche die Konsolidierung von Systemen gemischter Kritikalität auf einer alleinstehenden Plattform ermöglicht. Dazu nutze ich Virtualisierungserweiterungen moderner Prozessoren aus, um die Hardware in strikt voneinander isolierten Rechendomänen unterschiedlicher Kritikalität unterteilen zu können. Die vorgeschlagene Architektur soll jegliche Betriebsstörungen des Hypervisors beseitigen, um die Echtzeitfähigkeiten der Hardware bauartbedingt aufrecht zu erhalten, während strikte Isolierung zwischen Domänen stets sicher gestellt ist

Transforming our World through Universal Design for Human Development

An environment, or any building product or service in it, should ideally be designed to meet the needs of all those who wish to use it. Universal Design is the design and composition of environments, products, and services so that they can be accessed, understood and used to the greatest extent possible by all people, regardless of their age, size, ability or disability. It creates products, services and environments that meet people’s needs. In short, Universal Design is good design. This book presents the proceedings of UD2022, the 6th International Conference on Universal Design, held from 7 - 9 September 2022 in Brescia, Italy.The conference is targeted at professionals and academics interested in the theme of universal design as related to the built environment and the wellbeing of users, but also covers mobility and urban environments, knowledge, and information transfer, bringing together research knowledge and best practice from all over the world. The book contains 72 papers from 13 countries, grouped into 8 sections and covering topics including the design of inclusive natural environments and urban spaces, communities, neighborhoods and cities; housing; healthcare; mobility and transport systems; and universally- designed learning environments, work places, cultural and recreational spaces. One section is devoted to universal design and cultural heritage, which had a particular focus at this edition of the conference. The book reflects the professional and disciplinary diversity represented in the UD movement, and will be of interest to all those whose work involves inclusive design

A Building Information Modeling (BIM)-centric Digital Ecosystem for Smart Airport Life Cycle Management

An increasing number of new airport infrastructure construction and improvement projects are being delivered in today\u27s modern world. However, value creation is a recurring issue due to inefficiencies in managing capital expenditures (CapEx) and operating expenses (OpEx), while trying to optimize project constraints of scope, time, cost, quality, and resources. In this new era of smart infrastructure, digitalization transforms the way projects are planned and delivered. Building Information Modeling (BIM) is a key digital process technique that has become an imperative for today\u27s Architecture, Engineering, Construction and Operations (AECO) sector. This research suggests a BIM-centric digital ecosystem by detailing technical and strategic aspects of Airport BIM implementation and digital technology integration from a life cycle perspective. This research provides a novel approach for consistent and continuous use of digital information between business and functional levels of an airport by developing a digital platform solution that will enable seamless flow of information across functions. Accordingly, this study targets to achieve three objectives: 1- To provide a scalable know-how of BIM-enabled digital transformation; 2- To guide airport owners and major stakeholders towards converging information siloes for airport life cycle data management by an Airport BIM Framework; 3- To develop a BIM-based digital platform architecture towards realization of an airport digital twin for airport infrastructure life cycle management. Airport infrastructures can be considered as a System of Systems (SoS). As such, Model Based Systems Engineering (MBSE) with Systems Modeling Language (SysML) is selected as the key methodology towards designing a digital ecosystem. Applying MBSE principles leads to forming an integrating framework for managing the digital ecosystem. Furthermore, this research adopts convergent parallel mixed methods to collect and analyze multiple forms of data. Data collection tools include extensive literature and industry review; an online questionnaire; semi-structured interviews with airport owner parties; focus group discussions; first-hand observations; and document reviews. Data analysis stage includes multiple explanatory case study analyses, thematic analysis, project mapping, percent coverage analysis for coded themes to achieve Objective 1; thematic analysis, cluster analysis, framework analysis, and non-parametric statistical analysis for Objective 2; and qualitative content analysis, non-parametric statistical analysis to accomplish Objective 3. This research presents a novel roadmap toward facilitation of smart airports with alignment and integration of disruptive technologies with business and operational aspects of airports. Multiple comprehensive case study analyses on international large-hub airports and triangulation of organization-level and project-level results systematically generate scalable technical and strategic guidelines for BIM implementation. The proposed platform architecture will incentivize major stakeholders for value-creation, data sharing, and control throughout a project life cycle. Introducing scalability and minimizing complexity for end-users through a digital platform approach will lead to a more connected environment. Consequently, a digital ecosystem enables sophisticated interaction between people, places, and assets. Model-driven approach provides an effective strategy for enhanced decision-making that helps optimization of project resources and allows fast adaptation to emerging business and operational demands. Accordingly, airport sustainability measures -economic vitality, operational efficiency, natural resources, and social responsibility- will improve due to higher levels of efficiency in CapEx and OpEx. Changes in business models for large capital investments and introducing sustainability to supply chains are among the anticipated broader impacts of this study

Quadri-dimensional approach for data analytics in mobile networks

The telecommunication market is growing at a very fast pace with the evolution of new technologies to support high speed throughput and the availability of a wide range of services and applications in the mobile networks. This has led to a need for communication service providers (CSPs) to shift their focus from network elements monitoring towards services monitoring and subscribers’ satisfaction by introducing the service quality management (SQM) and the customer experience management (CEM) that require fast responses to reduce the time to find and solve network problems, to ensure efficiency and proactive maintenance, to improve the quality of service (QoS) and the quality of experience (QoE) of the subscribers. While both the SQM and the CEM demand multiple information from different interfaces, managing multiple data sources adds an extra layer of complexity with the collection of data. While several studies and researches have been conducted for data analytics in mobile networks, most of them did not consider analytics based on the four dimensions involved in the mobile networks environment which are the subscriber, the handset, the service and the network element with multiple interface correlation. The main objective of this research was to develop mobile network analytics models applied to the 3G packet-switched domain by analysing data from the radio network with the Iub interface and the core network with the Gn interface to provide a fast root cause analysis (RCA) approach considering the four dimensions involved in the mobile networks. This was achieved by using the latest computer engineering advancements which are Big Data platforms and data mining techniques through machine learning algorithms.Electrical and Mining EngineeringM. Tech. (Electrical Engineering

Contributions for the exploitation of Semantic Technologies in Industry 4.0

120 p.En este trabajo de investigación se promueve la utilización de las tecnologías semánticas, en el entorno de la Industria 4.0, a través de tres contribuciones enfocadas en temas correspondientes a la fabricación inteligente: las descripciones enriquecidas de componentes, la visualización y el análisis de los datos, y la implementación de la Industria 4.0 en PyMEs.La primera contribución es una ontología llamada ExtruOnt, la cual contiene descripciones semánticas de un tipo de máquina de fabricación (la extrusora). En esta ontología se describen los componentes, sus conexiones espaciales, sus características, sus representaciones en tres dimensiones y, finalmente, los sensores utilizados para capturar los datos. La segunda contribución corresponde a un sistema de consulta visual en el cual se utiliza la ontología ExtruOnt y una representación en 2D de la extrusora para facilitar a los expertos de dominio la visualización y la extracción de conocimiento sobre el proceso de fabricación de una manera rápida y sencilla. La tercera contribución consiste en una metodología para la implementación de la Industria 4.0 en PyMEs, orientada al ciclo de vida del cliente y potenciada por el uso de tecnologías Semánticas y tecnologías de renderizado 3D.Las contribuciones han sido desarrolladas, aplicadas y validadas bajo un escenario de fabricación real

Combining SOA and BPM Technologies for Cross-System Process Automation

This paper summarizes the results of an industry case study that introduced a cross-system business process automation solution based on a combination of SOA and BPM standard technologies (i.e., BPMN, BPEL, WSDL). Besides discussing major weaknesses of the existing, custom-built, solution and comparing them against experiences with the developed prototype, the paper presents a course of action for transforming the current solution into the proposed solution. This includes a general approach, consisting of four distinct steps, as well as specific action items that are to be performed for every step. The discussion also covers language and tool support and challenges arising from the transformation