A Model-Driven Engineering Approach for ROS using Ontological Semantics

This paper presents a novel ontology-driven software engineering approach for the development of industrial robotics control software. It introduces the ReApp architecture that synthesizes model-driven engineering with semantic technologies to facilitate the development and reuse of ROS-based components and applications. In ReApp, we show how different ontological classification systems for hardware, software, and capabilities help developers in discovering suitable software components for their tasks and in applying them correctly. The proposed model-driven tooling enables developers to work at higher abstraction levels and fosters automatic code generation. It is underpinned by ontologies to minimize discontinuities in the development workflow, with an integrated development environment presenting a seamless interface to the user. First results show the viability and synergy of the selected approach when searching for or developing software with reuse in mind.Comment: Presented at DSLRob 2015 (arXiv:1601.00877), Stefan Zander, Georg Heppner, Georg Neugschwandtner, Ramez Awad, Marc Essinger and Nadia Ahmed: A Model-Driven Engineering Approach for ROS using Ontological Semantic

Demo Abstract: Contract-based Hierarchical Resilience Framework for Cyber-Physical Systems

This demonstration presents a framework for building a resilient Cyber-Physical Systems (CPS) cyber-infrastructure through the use of hierarchical parametric assume-guarantee contracts. A Fischertechnik Sorting Line with Color Detection training model is used to showcase our framework.Comment: 2 pages, 5 figures, published in the Demo Session of IEEE International Conference on Cyber-Physical Systems 2019. Publication rights licensed to AC

Implementación de sistemas distribuidos de bajo costo bajo norma IEC-61499, en la estación de clasificación del MPS 500 de la Universidad Politécnica Salesiana.

El presente trabajo tiene como propósito la implementación de sistemas distribuidos de bajo costo bajo norma IEC-61499, en la estación de clasificación de la Universidad Politécnica Salesiana. El desarrollo de nuevas tecnologías, requerimientos de nuevas prestaciones y limitantes dadas por el fabricante de software y hardware para la automatización ha hecho que nuevos estándares sean desarrollados. La norma IEC-61499 es una de las últimas tendencias de automatización que estandariza un entorno de programación para sistemas distribuidos, tiene un alto nivel de versatilidad para el diseño de sistemas, ya que permite combinar software independiente del hardware utilizado. Para realizar la implementación del proceso se utiliza el software 4DIAC y se crean nuevos bloques de función para el control de sensores y actuadores, posteriormente se programó el runtime FORTE el cual fue ejecutado en una tarjeta raspberry Pi. Se evidencio en los resultados que realizar la programación mediante bloques de función se crea sistemas flexibles y reconfigurables. Se concluye que el estándar permite controlar el algoritmo mediante eventos, ya que tiene una conexión entre la ejecución del flujo de eventos y flujo de datos, de esta manera se puede dar prioridades en el orden de ejecución de los bloques de función. Además al realizar la implementación se logró evidenciar la reducción de costos en un 78% respecto al sistema implementado con PLC. Se recomienda en las futuras investigaciones realizar un circuito de acoplamiento en la tarjeta para acoplar la señal de sensores y actuadores.The purpose of this work is to implement low-cost distributed systems under IEC-61499, at the classification station of the Universidad Politécnica Salesiana. The development of new technologies, new performance requirements and limitations given by the software and hardware manufacturer for automation has made new standards developed. The IEC-61499 standard is one of the latest automation trends that standardizes a programming environment for distributed systems. It has a high level of versatility for system design, since it allows to combine software independent of the hardware used. To implement the process, the 4DIAC software is used and new function blocks are created for the control of sensors and actuators, later FORTE Runtime was then programmed and executed on a raspberry Pi card. It is evident from the results that the programming through function blocks creates flexible and reconfigurable systems. It is concluded that the standard allows to control the algorithm through events, since it has a connection between the execution of the event flow and data flow, in this way priorities can be given in the order of execution of the function blocks. In addition the implementation was possible to show the reduction of costs by 78% compared to the system implemented with PLC. It is recommended in future research to perform a coupling circuit in the card to couple the signal of sensors and actuators

Internet of Things Software Modules Marketplace

The project developed is a centralised repository of software packages to be used in cyber-physical systems. It is composed by a central database, an http api, an ftp client to serve files and a web application to manage the repository. The system also communicates via OPCUA protocol with the embed-system for real time monitoring.The advent of the Cyber-Physical Systems (CPS), a physical system representation through a vir-tual model, usually used to control a system or a process comes from the growing democratizationof the computational power. Nowadays, virtually anything can be equipped with some kind ofembedded processor to automate tasks, generate or consume some kind of data. In addition, thecontinuous development and improvement of the communication networks has helped leveragethe concept of the Internet of Things (IoT) in which things are now, themselves, connected to theInternet, exchanging data with each other and with people.In the industrial sector, CPS, also called Cyber-Physical Production Systems (CPPS) and theIoT are the main technological advances that lead to the industry fourth revolution, common des-ignated as Industry 4.0 in which the factory floor is no longer a centralized model where all thecomputation is done centrally but is now a decentralized model where industrial equipment haveembedded devices to control, automate tasks and react in a dynamic and intelligent manner to thesensed physical environment.Thereby, one of the keywords around the CPPSs is software. Software is no longer centralizedand is now distributed through several devices that comprises the system. This new approachcomes with significant changes and one of them is the reuse and distribution of the software. Itis not viable to manual deploy and install software in hundreds or thousands of devices and nothaving a way of reusing the existing software. If, on the one hand, the desire is to develop a moreintelligent process control system, on the other, flexibility, adaptability and simplicity are alsoconvenient capabilities or else intelligent manufacturing process control systems are built upon alot of resources debt. Hence, the solution is to build standards, tools and frameworks that allowthe reuse of software and its rapid deployment in the distributed devices.One option, in the Industry 4.0 field, to cope with the software reuse issue in this kind of sys-tems is the encapsulation of software in functional blocks, the Function Blocks (FBs) and their usein the function block programming paradigm, described in IEC 61499 standard. The functionalityis abstracted away in the FBs and can be reused by just deploying the them to the devices. Thisway, it is easier to manage a network by dragging and dropping these blocks, building complexapplications centrally and deploy everything to the distributed embedded devices. However, theimplementation of this standard to address the aforementioned problem brings, itself, other neces-sities such as managing the FBs, monitoring them and their previous download by the embeddeddevices.This dissertation main goal is the development of a marketplace to manage and monitor of FBs in a IEC 61499 network envisioning the filling of the previous mentioned gaps in this kindof networks. The marketplace, integrated in a IEC 61499 global solution will not only enable thedistribution of FBs among the embedded devices in a IEC 61499 compliant CPPS but also manageFBs versions, functioning as a central repository of software components, having also monitoringand statistical features, allowing the detection of flaws or malfunctions and collect statistical datai iiabout FBs usage

Towards a new methodology for design, modelling, and verification of reconfigurable distributed control systems based on a new extension to the IEC 61499 standard

In order to meet user requirements and system environment changes, reconfigurable control systems must dynamically adapt their structure and behaviour without disrupting system operation. IEC 61499 standard provides limited support for the design and verification of such systems. In fact, handling different reconfiguration scenarios at runtime is difficult since function blocks in IEC 61499 cannot be changed at run-time. Hence, this thesis promotes an IEC 61499 extension called reconfigurable function block (RFB) that increases design readability and smoothly switches to the most appropriate behaviour when a reconfiguration event occurs. To ensure system feasibility after reconfiguration, in addition to the qualitative verification, quantitative verification based on probabilistic model checking is addressed in a new RFBA approach. The latter aims to transform the designed RFB model automatically into a generalised reconfigurable timed net condition/event system model (GRTNCES) using a newly developed environment called RFBTool. The GR-TNCES fits well with RFB and preserves its semantic. Using the probabilistic model checker PRISM, the generated GR-TNCES model is checked using defined properties specified in computation tree logic. As a result, an evaluation of system performance and an estimation of reconfiguration risks are obtained. The RFBA methodology is applied on a distributed power system case study.Dynamische Anforderungen und Umgebungen erfordern rekonfigurierbare Anlagen und Steuerungssysteme. Rekonfiguration ermöglicht es einem System, seine Struktur und sein Verhalten an interne oder externe Änderungen anzupassen. Die Norm IEC 61499 wurde entwickelt, um (verteilte) Steuerungssysteme auf Basis von Funktionsbausteinen zu entwickeln. Sie bietet jedoch wenig Unterstützung für Entwurf und Verifikation. Die Tatsache, dass eine Rekonfiguration das System-Ausführungsmodell verändert, erschwert die Entwicklung in IEC 61499 zusätzlich. Daher schlägt diese Dissertation rekonfigurierbare Funktionsbausteine (RFBs) als Erweiterung der Norm vor. Ein RFB verarbeitet über einen Master-Slave-Automaten Rekonfigurationsereignisse und löst das entsprechende Verhalten aus. Diese Hierarchie trennt das Rekonfigurationsmodell vom Steuerungsmodell und vereinfacht so den Entwurf. Die Funktionalität des Entwurfs muss verifiziert werden, damit die Ausführbarkeit des Systems nach einer Rekonfiguration gewährleistet ist. Hierzu wird das entworfene RFB-Modell automatisch in ein generalised reconfigurable timed net condition/event system übersetzt. Dieses wird mit dem Model-Checker PRISM auf qualitative und quantitative Eigenschaften überprüft. Somit wird eine Bewertung der Systemperformanz und eine Einschätzung der Rekonfigurationsrisiken erreicht. Die RFB-Methodik wurde in einem Softwarewerkzeug umgesetzt und in einer Fallstudie auf ein dezentrales Stromnetz angewendet

Software Systems Engineering for Cyber Physical Production Systems

This project solves the problem of easy adaption and usage of CPPS by small scale industries, With this project it has been tried to develop a methodology of requirement engineering for CPPS system and finally the whole system. We have developed the approach right from requirement engineering to mapping into IEC61499 function blocks and then to deployment to a physical devices. This work can be a good foundation and support for scientific communities or industialist to easily implement requirement engineering of a small scale systems for CPPS and thus build a 21st century production system with this and reap its enormous benefits.Cyber physical production systems are the future of production systems not only in europe but in the entire world. It brings with itself huge benefits and popularly attributes to Industry 4.0 also. These are automated systems where physical systems are monitored and controlled by computer based algorithms in real time. Traditional systems have certain disadvantages and are limited in terms of hours of operation as it is governed by manpowers and the type of products that can be produced without making much changes in the production configuration and the speed of production of products. In europe, a lot of research is going on, particularly in germany and in the United states too for upgrading major physical systems and manufacturing systems. Some examples of such systems are smart factory, smart grid, autonomous automobile systems, automatic pilot avionics, robotics systems etc. The main goal of this thesis is to define a set of methodologies for easing the process of implementation of the CPPS(cyber physical production systems) system on small and medium industries so that the adoption rate for such industries can be high. There is no methodology yet particularly for CPPS systems for small and medium industries, although we have methodologies in place for large industries. In order to do so, first study was done for challenges in developing a requirement engineering process in section 3 and how it is different from a typical software system. An approach has been developed based on existing information available on large systems and CPPS and some software engineering frameworks like MODAF and TOGAF. A proposal for the process and some diagrams and tools has been made in section 4. To validate the proposed approach we have taken a synthetic test case of a pizza production system and implemented all the approaches to transform it into a cyber physical production system right from requirement and UML diagrams to the final function block approach. With this set of approaches,there is now a basis for software development methodology for small and medium industries particularly. With these approaches the adoption rate can be really high for such industries bringing out traditional industries more to the 21st century forefront

Software framework for the development of context-aware reconfigurable systems

In this project we propose a new software framework for the development of context-aware and secure controlling software of distributed reconfigurable systems. Context-awareness is a key feature allowing the adaptation of systems behaviour according to the changing environment. We introduce a new definition of the term “context” for reconfigurable systems then we define a new context modelling and reasoning approach. Afterwards, we define a meta-model of context-aware reconfigurable applications that paves the way to the proposed framework. The proposed framework has a three-layer architecture: reconfiguration, context control, and services layer, where each layer has its well-defined role. We define also a new secure conversation protocol between distributed trustless parts based on the blockchain technology as well as the elliptic curve cryptography. To get better correctness and deployment guarantees of applications models in early development stages, we propose a new UML profile called GR-UML to add new semantics allowing the modelling of probabilistic scenarios running under memory and energy constraints, then we propose a methodology using transformations between the GR-UML, the GR-TNCES Petri nets formalism, and the IEC 61499 function blocks. A software tool implementing the methodology concepts is developed. To show the suitability of the mentioned contributions two case studies (baggage handling system and microgrids) are considered.In diesem Projekt schlagen wir ein Framework für die Entwicklung von kontextbewussten, sicheren Anwendungen von verteilten rekonfigurierbaren Systemen vor. Kontextbewusstheit ist eine Schlüsseleigenschaft, die die Anpassung des Systemverhaltens an die sich ändernde Umgebung ermöglicht. Wir führen eine Definition des Begriffs ``Kontext" für rekonfigurierbare Systeme ein und definieren dann einen Kontextmodellierungs- und Reasoning-Ansatz. Danach definieren wir ein Metamodell für kontextbewusste rekonfigurierbare Anwendungen, das den Weg zum vorgeschlagenen Framework ebnet. Das Framework hat eine dreischichtige Architektur: Rekonfigurations-, Kontextkontroll- und Dienste-Schicht, wobei jede Schicht ihre wohldefinierte Rolle hat. Wir definieren auch ein sicheres Konversationsprotokoll zwischen verteilten Teilen, das auf der Blockchain-Technologie sowie der elliptischen Kurven-Kryptographie basiert. Um bessere Korrektheits- und Einsatzgarantien für Anwendungsmodelle zu erhalten, schlagen wir ein UML-Profil namens GR-UML vor, um Semantik umzufassen, die die Modellierung probabilistischer Szenarien unter Speicher- und Energiebeschränkungen ermöglicht. Dann schlagen wir eine Methodik vor, die Transformationen zwischen GR-UML, dem GR-TNCES-Petrinetz-Formalismus und den IEC 61499-Funktionsblöcken verwendet. Es wird ein Software entwickelt, das die Konzepte der Methodik implementiert. Um die Eignung der genannten Beiträge zu zeigen, werden zwei Fallstudien betrachtet

A review of architectures and concepts for intelligence in future electric energy system

Renewable energy sources are one key enabler to decrease greenhouse gas emissions and to cope with the anthropogenic climate change. Their intermittent behavior and limited storage capabilities present a new challenge to power system operators to maintain power quality and reliability. Additional technical complexity arises from the large number of small distributed generation units and their allocation within the power system. Market liberalization and changing regulatory framework lead to additional organizational complexity. As a result, the design and operation of the future electric energy system have to be redefined. Sophisticated information and communication architectures, automation concepts, and control approaches are necessary in order to manage the higher complexity of so-called smart grids. This paper provides an overview of the state of the art and recent developments enabling higher intelligence in future smart grids. The integration of renewable sources and storage systems into the power grids is analyzed. Energy management and demand response methods and important automation paradigms and domain standards are also reviewed.info:eu-repo/semantics/publishedVersio

Metodologías para el diseño de sistemas de control distribuido bajo el estándar IEC 61499 aplicados al control de procesos

167 p.Es evidente que en los próximos años gran parte de las tecnologías recogidas bajo el marco de la denominada Industria 4.0 tendrá un profundo impacto en todas las empresas y, entre ellas, las relacionadas con la explotación y producción de petróleo y gas. Sin embargo, la apresurada adopción de tecnologías de la información sin un conocimiento adecuado de las mismas y su aplicación a los diferentes aspectos de los sistemas de control de planta, sistema de planificación de recursos empresariales (Enterprise Resource Planning ¿ ERP) y sistemas orientados a la ejecución de la fabricación (Manufacturing Execution Systems ¿ MES) puede derivar en que las compañías de petróleo y gas automaticen sus sistemas industriales con un injustificado alto coste, de manera potencialmente peligrosa y propensa a errores. La automatización de bajo coste promueve arquitecturas de referencia rentables y nuevos enfoques de desarrollo para aumentar la flexibilidad y la eficiencia de las opera-ciones de producción en una planta industrial. Esto ha llevado a la adopción por parte este tipo de empresas de estándares de redes industriales para las comunicaciones a todos los niveles. En este sentido, OPC UA, además de permitir adherirse a las empresas a la iniciativa de la Industria 4.0, proporciona acceso local y remoto a la información de planta, facilitando un mecanismo reconocido de integración tanto horizontal como vertical de manera correcta, segura y eficiente. El objetivo principal de esta tesis doctoral es presentar una arquitectura abierta para la integración vertical basada en sistemas ciber-físicos de producción, configurados bajo la norma IEC 61499 y usando OPC UA, apta para su utilización en la fabricación flexible en la industria de petróleo y ga

Multi-Agent Modelling of Industrial Cyber-Physical Systems for IEC 61499 Based Distributed Intelligent Automation

Traditional industrial automation systems developed under IEC 61131-3 in centralized architectures are statically programmed with determined procedures to perform predefined tasks in structured environments. Major challenges are that these systems designed under traditional engineering techniques and running on legacy automation platforms are unable to automatically discover alternative solutions, flexibly coordinate reconfigurable modules, and actively deploy corresponding functions, to quickly respond to frequent changes and intelligently adapt to evolving requirements in dynamic environments. The core objective of this research is to explore the design of multi-layer automation architectures to enable real-time adaptation at the device level and run-time intelligence throughout the whole system under a well-integrated modelling framework. Central to this goal is the research on the integration of multi-agent modelling and IEC 61499 function block modelling to form a new automation infrastructure for industrial cyber-physical systems. Multi-agent modelling uses autonomous and cooperative agents to achieve run-time intelligence in system design and module reconfiguration. IEC 61499 function block modelling applies object-oriented and event-driven function blocks to realize real-time adaption of automation logic and control algorithms. In this thesis, the design focuses on a two-layer self-manageable architecture modelling: a) the high-level cyber module designed as multi-agent computing model consisting of Monitoring Agent, Analysis Agent, Self-Learning Agent, Planning Agent, Execution Agent, and Knowledge Agent; and b) the low-level physical module designed as agent-embedded IEC 61499 function block model with Self-Manageable Service Execution Agent, Self-Configuration Agent, Self-Healing Agent, Self-Optimization Agent, and Self-Protection Agent. The design results in a new computing module for high-level multi-agent based automation architectures and a new design pattern for low-level function block modelled control solutions. The architecture modelling framework is demonstrated through various tests on the multi-agent simulation model developed in the agent modelling environment NetLogo and the experimental testbed designed on the Jetson Nano and Raspberry Pi platforms. The performance evaluation of regular execution time and adaptation time in two typical conditions for systems designed under three different architectures are also analyzed. The results demonstrate the ability of the proposed architecture to respond to major challenges in Industry 4.0