8 research outputs found

    Application of the sequence planner control framework to an intelligent automation system with a focus on error handling

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    Future automation systems are likely to include devices with a varying degree of autonomy, as well as advanced algorithms for perception and control. Human operators will be expected to work side by side with both collaborative robots performing assembly tasks and roaming robots that handle material transport. To maintain the flexibility provided by human operators when introducing such robots, these autonomous robots need to be intelligently coordinated, i.e., they need to be supported by an intelligent automation system. One challenge in developing intelligent automation systems is handling the large amount of possible error situations that can arise due to the volatile and sometimes unpredictable nature of the environment. Sequence Planner is a control framework that supports the development of intelligent automation systems. This paper describes Sequence Planner and tests its ability to handle errors that arise during execution of an intelligent automation system. An automation system, developed using Sequence Planner, is subjected to a number of scenarios where errors occur. The error scenarios and experimental results are presented along with a discussion of the experience gained in trying to achieve robust intelligent automation

    Processing of Heavy Crude Oils

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    Unconventional heavy crude oils are replacing the conventional light crude oils slowly but steadily as a major energy source. Heavy crude oils are cheaper and present an opportunity to the refiners to process them with higher profit margins. However, the unfavourable characteristics of heavy crude oils such as high viscosity, low API gravity, low H/C ratio, chemical complexity with high asphaltenes content, high acidity, high sulfur and increased level of metal and heteroatom impurities impede extraction, pumping, transportation and processing. Very poor mobility of the heavy oils, due to very high viscosities, significantly affects production and transportation. Techniques for viscosity reduction, drag reduction and in-situ upgrading of the crude oil to improve the flow characteristics in pipelines are presented in this book. The heavier and complex molecules of asphaltenes with low H/C ratios present many technological challenges during the refining of the crude oil

    Processing of Heavy Crude Oils

    Get PDF
    Unconventional heavy crude oils are replacing the conventional light crude oils slowly but steadily as a major energy source. Heavy crude oils are cheaper and present an opportunity to the refiners to process them with higher profit margins. However, the unfavourable characteristics of heavy crude oils such as high viscosity, low API gravity, low H/C ratio, chemical complexity with high asphaltenes content, high acidity, high sulfur and increased level of metal and heteroatom impurities impede extraction, pumping, transportation and processing. Very poor mobility of the heavy oils, due to very high viscosities, significantly affects production and transportation. Techniques for viscosity reduction, drag reduction and in-situ upgrading of the crude oil to improve the flow characteristics in pipelines are presented in this book. The heavier and complex molecules of asphaltenes with low H/C ratios present many technological challenges during the refining of the crude oil, such as heavy coking on catalysts. Hydrogen addition and carbon removal are the two approaches used to improve the recovery of value-added products such as gasoline and diesel. In addition, the heavy crude oil needs pre-treatment to remove the high levels of impurities before the crude oil can be refined. This book introduces the major challenges and some of the methods to overcome them

    Safety and security of cyber-physical systems

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    The number of embedded controllers in charge of physical systems has rapidly increased over the past years. Embedded controllers are present in every aspect of our lives, from our homes to our vehicles and factories. The complexity of these systems is also more than ever. These systems are expected to deliver many features and high performance without trading off in robustness and assurance. As systems increase in complexity, however, the cost of formally verifying their correctness and eliminating security vulnerabilities can quickly explode. On top of the unintentional bugs and problems, malicious attacks on cyber-physical systems (CPS) can also lead to adverse outcomes on physical plants. Some of the recent attacks on CPS are focused on causing physical damage to the plants or the environment. Such intruders make their way into the system using cyber exploits but then initiate actions that can destabilize and even damage the underlying (physical) systems. Given the reality mentioned above and the reliability standards of the industry, there is a need to embrace new CPS design paradigms where faults and security vulnerabilities are the norms rather than an anomaly. Such imperfections must be assumed to exist in every system and component unless it is formally verified and scanned. Faults and vulnerabilities should be safely handled and the CPS must be able to recover from them at run-time. Our goal in this work is to introduce and investigate a few designs compatible with this paradigm. The architectures and techniques proposed in this dissertation do not rely on the testing and complete system verification. Instead, they enforce safety at the highest level of the system and extend guaranteed safety from a few certified components to the entire system. These solutions are carefully curated to utilize unverified components and provide guaranteed performance

    Securing Real-Time Internet-of-Things

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    Modern embedded and cyber-physical systems are ubiquitous. A large number of critical cyber-physical systems have real-time requirements (e.g., avionics, automobiles, power grids, manufacturing systems, industrial control systems, etc.). Recent developments and new functionality requires real-time embedded devices to be connected to the Internet. This gives rise to the real-time Internet-of-things (RT-IoT) that promises a better user experience through stronger connectivity and efficient use of next-generation embedded devices. However RT- IoT are also increasingly becoming targets for cyber-attacks which is exacerbated by this increased connectivity. This paper gives an introduction to RT-IoT systems, an outlook of current approaches and possible research challenges towards secure RT- IoT frameworks

    Restart-Based Fault-Tolerance: System Design and Schedulability Analysis

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    Embedded systems in safety-critical environments are continuously required to deliver more performance and functionality, while expected to provide verified safety guarantees. Nonetheless, platform-wide software verification (required for safety) is often expensive. Therefore, design methods that enable utilization of components such as real-time operating systems (RTOS), without requiring their correctness to guarantee safety, is necessary. In this paper, we propose a design approach to deploy safe-by-design embedded systems. To attain this goal, we rely on a small core of verified software to handle faults in applications and RTOS and recover from them while ensuring that timing constraints of safety-critical tasks are always satisfied. Faults are detected by monitoring the application timing and fault-recovery is achieved via full platform restart and software reload, enabled by the short restart time of embedded systems. Schedulability analysis is used to ensure that the timing constraints of critical plant control tasks are always satisfied in spite of faults and consequent restarts. We derive schedulability results for four restart-tolerant task models. We use a simulator to evaluate and compare the performance of the considered scheduling models

    Restarting manufacturing systems; restart states and restartability

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    A method for restart after an error in a manufacturing system is introduced. The method is able to restart systems even after nonforeseen errors that cannot be planned for, and the online part of the restart method does not require use of more powerful computers than a standard Programmable Logic Controller. It is shown what properties the control function must have to ensure that there is at least one restart state for each controller state. Sufficient conditions to guarantee the possibility to restart a system regardless of where an error occurs are given, along with indications on how the system could otherwise be rebuilt to be restartable

    Processing of Heavy Crude Oils

    Get PDF
    Unconventional heavy crude oils are replacing the conventional light crude oils slowly but steadily as a major energy source. Heavy crude oils are cheaper and present an opportunity to the refiners to process them with higher profit margins. However, the unfavourable characteristics of heavy crude oils such as high viscosity, low API gravity, low H/C ratio, chemical complexity with high asphaltenes content, high acidity, high sulfur and increased level of metal and heteroatom impurities impede extraction, pumping, transportation and processing. Very poor mobility of the heavy oils, due to very high viscosities, significantly affects production and transportation. Techniques for viscosity reduction, drag reduction and in-situ upgrading of the crude oil to improve the flow characteristics in pipelines are presented in this book. The heavier and complex molecules of asphaltenes with low H/C ratios present many technological challenges during the refining of the crude oil
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