Reliable Industrial IoT-Based Distributed Automation

Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments

Reliable Industrial IoT-Based Distributed Automation

Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments

Security Analysis for Distributed IoT-Based Industrial Automation

Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study

Recognition of Planar Segments in Point Cloud Based on Wavelet Transform

Within industrial automation systems, three-dimensional (3-D) vision provides very useful feedback information in autonomous operation of various manufacturing equipment (e.g., industrial robots, material handling devices, assembly systems, and machine tools). The hardware performance in contemporary 3-D scanning devices is suitable for online utilization. However, the bottleneck is the lack of real-time algorithms for recognition of geometric primitives (e.g., planes and natural quadrics) from a scanned point cloud. One of the most important and the most frequent geometric primitive in various engineering tasks is plane. In this paper, we propose a new fast one-pass algorithm for recognition (segmentation and fitting) of planar segments from a point cloud. To effectively segment planar regions, we exploit the orthonormality of certain wavelets to polynomial function, as well as their sensitivity to abrupt changes. After segmentation of planar regions, we estimate the parameters of corresponding planes using standard fitting procedures. For point cloud structuring, a z-buffer algorithm with mesh triangles representation in barycentric coordinates is employed. The proposed recognition method is tested and experimentally validated in several real-world case studies

Detection of cyber-attacks in systems with distributed control based on support vector regression

Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on sensor signals, based on e insensitive support vector regression (e-SVR). The method is implemented on publicly available data obtained from Secure Water Treatment (SWaT) testbed as well as on a real-world continuous time controlled electro-pneumatic positioning system. In both cases, the method successfully detected all considered attacks (without false positives)

Detection of cyber-attacks in systems with distributed control based on support vector regression

Concept of Industry 4.0 and implementation of Cyber Physical Systems (CPS) and Internet of Things (IoT) in industrial plants are changing the way we manufacture. Introduction of industrial IoT leads to ubiquitous communication (usually wireless) between devices in industrial control systems, thus introducing numerous security concerns and opening up wide space for potential malicious threats and attacks. As a consequence of various cyber-attacks, fatal failures can occur on system parts or the system as a whole. Therefore, security mechanisms must be developed to provide sufficient resilience to cyber-attacks and keep the system safe and protected. In this paper we present a method for detection of attacks on sensor signals, based on e insensitive support vector regression (e-SVR). The method is implemented on publicly available data obtained from Secure Water Treatment (SWaT) testbed as well as on a real-world continuous time controlled electro-pneumatic positioning system. In both cases, the method successfully detected all considered attacks (without false positives)

Wireless Sensor Network Application in Monitoring of Machining Operations

The scope of this paper is the research of the possibilities of application of Wireless Sensor Networks (WSNs) for monitoring of machining operations. Due to the limited battery lifetime, WSNs are energy constrained networks and energy efficiency of the network is a very important issue. Since communication requires significantly more energy then processing, instead of sending raw data through the network, data processing and decision making should be performed in the node. Consequently, as a basis for WSN design we consider IEEE 802.15.4 Wireless Networking Standard, created for low data rates and very low power consumption which makes it suitable for remote monitoring and control. In this paper, a prototype of the node, designed for acceleration monitoring, has been developed. The node has been created at the Faculty of Mechanical Engineering in Belgrade and it is based on low power Atmel Atmega16 microcontroller and IEEE 802.15.4 compatible transceiver

Biomaterijali

Početak XXI veka nesumnjivo je obeležen interdisciplinarnim i multidisciplinarnim naporima istraživača u različitim oblastima nauke. Jedna od najizrazitijih tendencija ovog tipa uočava se u biomedicinskim istraživanjima, gde se združuju napori lekara, biologa, genetičara i biohemičara, s jedne strane, i biofizičara i inženjera, s druge strane – sa ciljem dubljeg razumevanja zdravlja i bolesti, i primene ovih saznanja u biomedicinskoj praksi, tako važnoj u svakodnevnom životu ljudi.Kao rezultat ovih svetskih trendova, u Srbiji već više godina na nekoliko fakulteta postoji nastava iz oblasti biomedicinskog inženjerstva, sa ciljem da osposobi inženjere ovih usmerenja za multidisciplinarno povezivanje znanja iz oblasti tehnike sa biomedicinskim znanjima. Jedan od bazičnih predmeta ovih usmerenja jesu Biomaterijali, kojima je i posvećen naš udžbenik, čiji je cilj da predstavi pregled teorije i prakse biomaterijala u biomedicinskoj nauci.Nauka o biomaterijalima je nesumnjivo najmultidisciplinarnija od svih nauka, jer zahteva ovladavanje znanjima iz mnogih oblasti nauke i tehnologije, inženjerstva i medicine, kako bi naučnici iz oblasti biomaterijala mogli da se uhvate u koštac sa ovom profesijom. Zato posle uvodnog dela, udžbenik iz Biomaterijala sadrži četiri celine: (I) Osnovni biomedicinski koncepti i reakcije organizma na biomaterijale, (II) Struktura, fizičko-mehanička karakterizacija i modeliranje biomaterijala i tkiva, (III) Savremeni biomaterijali i tehnologije, (IV) Perspektive biomaterijala i tehnologija, iza kojih slede Zadaci sa rešenjima, Ispitna test pitanja i Ispitna teorijska pitanja, koji pomažu studentima da lakše savladaju veoma obimno i kompleksno gradivo. Na kraju svakog poglavlja data su pitanja za rekapitulaciju, kao i spisak dopunske literature za opcionu detaljniju obradu pojedinih oblasti.Grupa od dvadeset četiri profesionalca sa univerziteta i naučnih instituta, pod okriljem Instituta tehničkih nauka Srpske akademije nauka i umetnosti, Beograd, i Društva za istraživanje materijala Srbije (MRS Srbija) doprinela je pisanju ovog kapitalnog udžbenika o biomaterijalima, prvog do sada na srpskom jeziku. Mada uključivanje veće grupe autora nužno dovodi do stilske neujednačenosti, ipak je oblast biomaterijala toliko multidisciplinarna da je ovakav pristup bio neophodan, kako uostalom pokazuju slična svetska iskustva sa uključivanjem i preko pedeset autora. Ipak urednici su se potrudili da koliko je to moguće stilski i pedagoški ujednače udžbenik, kako bi bio korisna literatura za sve studente diplomskih, master i doktorskih studija iz biomedicinskog inženjerstva u Srbiji i okruženju

Biomaterijali

Početak XXI veka nesumnjivo je obeležen interdisciplinarnim i multidisciplinarnim naporima istraživača u različitim oblastima nauke. Jedna od najizrazitijih tendencija ovog tipa uočava se u biomedicinskim istraživanjima, gde se združuju napori lekara, biologa, genetičara i biohemičara, s jedne strane, i biofizičara i inženjera, s druge strane – sa ciljem dubljeg razumevanja zdravlja i bolesti, i primene ovih saznanja u biomedicinskoj praksi, tako važnoj u svakodnevnom životu ljudi.Kao rezultat ovih svetskih trendova, u Srbiji već više godina na nekoliko fakulteta postoji nastava iz oblasti biomedicinskog inženjerstva, sa ciljem da osposobi inženjere ovih usmerenja za multidisciplinarno povezivanje znanja iz oblasti tehnike sa biomedicinskim znanjima. Jedan od bazičnih predmeta ovih usmerenja jesu Biomaterijali, kojima je i posvećen naš udžbenik, čiji je cilj da predstavi pregled teorije i prakse biomaterijala u biomedicinskoj nauci.Nauka o biomaterijalima je nesumnjivo najmultidisciplinarnija od svih nauka, jer zahteva ovladavanje znanjima iz mnogih oblasti nauke i tehnologije, inženjerstva i medicine, kako bi naučnici iz oblasti biomaterijala mogli da se uhvate u koštac sa ovom profesijom. Zato posle uvodnog dela, udžbenik iz Biomaterijala sadrži četiri celine: (I) Osnovni biomedicinski koncepti i reakcije organizma na biomaterijale, (II) Struktura, fizičko-mehanička karakterizacija i modeliranje biomaterijala i tkiva, (III) Savremeni biomaterijali i tehnologije, (IV) Perspektive biomaterijala i tehnologija, iza kojih slede Zadaci sa rešenjima, Ispitna test pitanja i Ispitna teorijska pitanja, koji pomažu studentima da lakše savladaju veoma obimno i kompleksno gradivo. Na kraju svakog poglavlja data su pitanja za rekapitulaciju, kao i spisak dopunske literature za opcionu detaljniju obradu pojedinih oblasti.Grupa od dvadeset četiri profesionalca sa univerziteta i naučnih instituta, pod okriljem Instituta tehničkih nauka Srpske akademije nauka i umetnosti, Beograd, i Društva za istraživanje materijala Srbije (MRS Srbija) doprinela je pisanju ovog kapitalnog udžbenika o biomaterijalima, prvog do sada na srpskom jeziku. Mada uključivanje veće grupe autora nužno dovodi do stilske neujednačenosti, ipak je oblast biomaterijala toliko multidisciplinarna da je ovakav pristup bio neophodan, kako uostalom pokazuju slična svetska iskustva sa uključivanjem i preko pedeset autora. Ipak urednici su se potrudili da koliko je to moguće stilski i pedagoški ujednače udžbenik, kako bi bio korisna literatura za sve studente diplomskih, master i doktorskih studija iz biomedicinskog inženjerstva u Srbiji i okruženju