Architectures and design patterns for functional design of logic control and diagnostics in industrial automation

Recently in most of the industrial automation process an ever increasing degree of automation has been observed. This increasing is motivated by the higher requirement of systems with great performance in terms of quality of products/services generated, productivity, efficiency and low costs in the design, realization and maintenance. This trend in the growth of complex automation systems is rapidly spreading over automated manufacturing systems (AMS), where the integration of the mechanical and electronic technology, typical of the Mechatronics, is merging with other technologies such as Informatics and the communication networks. An AMS is a very complex system that can be thought constituted by a set of flexible working stations, one or more transportation systems. To understand how this machine are important in our society let considerate that every day most of us use bottles of water or soda, buy product in box like food or cigarets and so on. Another important consideration from its complexity derive from the fact that the the consortium of machine producers has estimated around 350 types of manufacturing machine. A large number of manufacturing machine industry are presented in Italy and notably packaging machine industry,in particular a great concentration of this kind of industry is located in Bologna area; for this reason the Bologna area is called “packaging valley”. Usually, the various parts of the AMS interact among them in a concurrent and asynchronous way, and coordinate the parts of the machine to obtain a desiderated overall behaviour is an hard task. Often, this is the case in large scale systems, organized in a modular and distributed manner. Even if the success of a modern AMS from a functional and behavioural point of view is still to attribute to the design choices operated in the definition of the mechanical structure and electrical electronic architecture, the system that governs the control of the plant is becoming crucial, because of the large number of duties associated to it. Apart from the activity inherent to the automation of themachine cycles, the supervisory system is called to perform other main functions such as: emulating the behaviour of traditional mechanical members thus allowing a drastic constructive simplification of the machine and a crucial functional flexibility; dynamically adapting the control strategies according to the different productive needs and to the different operational scenarios; obtaining a high quality of the final product through the verification of the correctness of the processing; addressing the operator devoted to themachine to promptly and carefully take the actions devoted to establish or restore the optimal operating conditions; managing in real time information on diagnostics, as a support of the maintenance operations of the machine. The kind of facilities that designers can directly find on themarket, in terms of software component libraries provides in fact an adequate support as regard the implementation of either top-level or bottom-level functionalities, typically pertaining to the domains of user-friendly HMIs, closed-loop regulation and motion control, fieldbus-based interconnection of remote smart devices. What is still lacking is a reference framework comprising a comprehensive set of highly reusable logic control components that, focussing on the cross-cutting functionalities characterizing the automation domain, may help the designers in the process of modelling and structuring their applications according to the specific needs. Historically, the design and verification process for complex automated industrial systems is performed in empirical way, without a clear distinction between functional and technological-implementation concepts and without a systematic method to organically deal with the complete system. Traditionally, in the field of analog and digital control design and verification through formal and simulation tools have been adopted since a long time ago, at least for multivariable and/or nonlinear controllers for complex time-driven dynamics as in the fields of vehicles, aircrafts, robots, electric drives and complex power electronics equipments. Moving to the field of logic control, typical for industrial manufacturing automation, the design and verification process is approached in a completely different way, usually very “unstructured”. No clear distinction between functions and implementations, between functional architectures and technological architectures and platforms is considered. Probably this difference is due to the different “dynamical framework”of logic control with respect to analog/digital control. As a matter of facts, in logic control discrete-events dynamics replace time-driven dynamics; hence most of the formal and mathematical tools of analog/digital control cannot be directly migrated to logic control to enlighten the distinction between functions and implementations. In addition, in the common view of application technicians, logic control design is strictly connected to the adopted implementation technology (relays in the past, software nowadays), leading again to a deep confusion among functional view and technological view. In Industrial automation software engineering, concepts as modularity, encapsulation, composability and reusability are strongly emphasized and profitably realized in the so-calledobject-oriented methodologies. Industrial automation is receiving lately this approach, as testified by some IEC standards IEC 611313, IEC 61499 which have been considered in commercial products only recently. On the other hand, in the scientific and technical literature many contributions have been already proposed to establish a suitable modelling framework for industrial automation. During last years it was possible to note a considerable growth in the exploitation of innovative concepts and technologies from ICT world in industrial automation systems. For what concerns the logic control design, Model Based Design (MBD) is being imported in industrial automation from software engineering field. Another key-point in industrial automated systems is the growth of requirements in terms of availability, reliability and safety for technological systems. In other words, the control system should not only deal with the nominal behaviour, but should also deal with other important duties, such as diagnosis and faults isolations, recovery and safety management. Indeed, together with high performance, in complex systems fault occurrences increase. This is a consequence of the fact that, as it typically occurs in reliable mechatronic systems, in complex systems such as AMS, together with reliable mechanical elements, an increasing number of electronic devices are also present, that are more vulnerable by their own nature. The diagnosis problem and the faults isolation in a generic dynamical system consists in the design of an elaboration unit that, appropriately processing the inputs and outputs of the dynamical system, is also capable of detecting incipient faults on the plant devices, reconfiguring the control system so as to guarantee satisfactory performance. The designer should be able to formally verify the product, certifying that, in its final implementation, it will perform itsrequired function guarantying the desired level of reliability and safety; the next step is that of preventing faults and eventually reconfiguring the control system so that faults are tolerated. On this topic an important improvement to formal verification of logic control, fault diagnosis and fault tolerant control results derive from Discrete Event Systems theory. The aimof this work is to define a design pattern and a control architecture to help the designer of control logic in industrial automated systems. The work starts with a brief discussion on main characteristics and description of industrial automated systems on Chapter 1. In Chapter 2 a survey on the state of the software engineering paradigm applied to industrial automation is discussed. Chapter 3 presentes a architecture for industrial automated systems based on the new concept of Generalized Actuator showing its benefits, while in Chapter 4 this architecture is refined using a novel entity, the Generalized Device in order to have a better reusability and modularity of the control logic. In Chapter 5 a new approach will be present based on Discrete Event Systems for the problemof software formal verification and an active fault tolerant control architecture using online diagnostic. Finally conclusive remarks and some ideas on new directions to explore are given. In Appendix A are briefly reported some concepts and results about Discrete Event Systems which should help the reader in understanding some crucial points in chapter 5; while in Appendix B an overview on the experimental testbed of the Laboratory of Automation of University of Bologna, is reported to validated the approach presented in chapter 3, chapter 4 and chapter 5. In Appendix C some components model used in chapter 5 for formal verification are reported.

Video transmission over wireless channel

This work has been realized by the author in his PhD course in Electrical, Computer Science and Telecommunication at the University of Bologna, Faculty of Engineering, Italy. All the documentation here reported is a summary of years of work, under the supervision of Prof. Oreste Andrisano, coordinator of Wireless Communication Laboratory - WiLab, in Bologna. The subject of this thesis is the transmission of video in a context of heterogeneous network, and in particular, using a wireless channel. All the instrumentation that has been used for the characterization of the telecommunication systems belongs to CNR (National Research Council), CNIT (Italian Inter- University Center), and DEIS (Dept. of Electrical, Computer Science, and Systems). From November 2009 to July 2010, the author spent his time abroad, working in collaboration with DLR - German Aerospace Center in Munich, Germany, on channel coding area, developing a general purpose decoder machine to decode a huge family of iterative codes. A patent concerning Doubly Generalized-Low Density Parity Check codes has been produced by the author as well as some important scientic papers, published on IEEE journals and conferences.

Elaborazione di un algoritmo di pianificazione di ricostruzioni del cavo orale, dell'orofaringe, della mandibola.

1.Ricostruzione mandibolare La ricostruzione mandibolare è comunemente eseguita utilizzando un lembo libero perone. Il metodo convenzionale (indiretto) di Computer Aided Design e Computer Aided Manifacturing prevede il modellamento manuale preoperatorio di una placca di osteosintesi standard su un modello stereolitografico della mandibola. Un metodo innovativo CAD CAM diretto comprende 3 fasi: 1) pianificazione virtuale 2) computer aided design della dima di taglio mandibolari, della dima di taglio del perone e della placca di osteosintesi e 3) Computer Aided Manufacturing dei 3 dispositivi chirurgici personalizzati. 7 ricostruzioni mandibolari sono state effettuate con il metodo diretto. I risultati raggiunti e le modalità di pianificazione sono descritte e discusse. La progettazione assistita da computer e la tecnica di fabbricazione assistita da computer facilita un'accurata ricostruzione mandibolare ed apporta un miglioramento statisticamente significativo rispetto al metodo convenzionale. 2. Cavità orale e orofaringe Un metodo ricostruttivo standard per la cavità orale e l'orofaringe viene descritto. 163 pazienti affetti da cancro della cavità orale e dell'orofaringe, sono stati trattati dal 1992 al 2012 eseguendo un totale di 175 lembi liberi. La strategia chirurgica è descritta in termini di scelta del lembo, modellamento ed insetting. I modelli bidimensionali sono utilizzati per pianificare una ricostruzione tridimensionale con il miglior risultato funzionale ed estetico. I modelli, la scelta del lembo e l' insetting sono descritti per ogni regione. Complicazioni e risultati funzionali sono stati valutati sistematicamente. I risultati hanno mostrato un buon recupero funzionale con le tecniche ricostruttive descritte. Viene proposto un algoritmo ricostruttivo basato su template standard.

Development of a field method to assess root parasites of woody plants - ecological analyses of the grapevine-phylloxera interaction

The development and the growth of plants is strongly affected by the interactions between roots, rootrnassociated organisms and rhizosphere communities. Methods to assess such interactions are hardly torndevelop particularly in perennial and woody plants, due to their complex root system structure and theirrntemporal change in physiology patterns. In this respect, grape root systems are not investigated veryrnwell. The aim of the present work was the development of a method to assess and predict interactionsrnat the root system of rootstocks (Vitis berlandieri x Vitis riparia) in field. To achieve this aim, grapernphylloxera (Daktulosphaira vitifoliae Fitch, Hemiptera, Aphidoidea) was used as a graperoot parasitizingrnmodel.rnTo develop the methodical approach, a longt-term trial (2006-2009) was arranged on a commercial usedrnvineyard in Geisenheim/Rheingau. All 2 to 8 weeks the top most 20 cm of soil under the foliage wallrnwere investigated and root material was extracted (n=8-10). To include temporal, spatial and cultivarrnspecific root system dynamics, the extracted root material was analyzed digitally on the morphologicalrnproperties. The grape phylloxera population was quantified and characterized visually on base of theirrnlarvalstages (oviparous, non oviparous and winged preliminary stages). Infection patches (nodosities)rnwere characterized visually as well, partly supported by digital root color analyses. Due to the knownrneffects of fungal endophytes on the vitality of grape phylloxera infested grapevines, fungal endophytesrnwere isolated from nodosity and root tissue and characterized (morphotypes) afterwards. Further abioticrnand biotic soil conditions of the vineyards were assessed. The temporal, spatial and cultivar specificrnsensitivity of single parameters were analyzed by omnibus tests (ANOVAs) and adjacent post-hoc tests.rnThe relations between different parameters were analyzed by multiple regression models.rnQuantitative parameters to assess the degeneration of nodosity, the development nodosity attachedrnroots and to differentiate between nodosities and other root swellings in field were developed. Significantrndifferences were shown between root dynamic including parameters and root dynamic ignoringrnparameters. Regarding the description of grape phylloxera population and root system dynamic, thernmethod showed a high temporal, spatial and cultivar specific sensitivity. Further, specific differencesrncould be shown in the frequency of endophyte morphotypes between root and nodosity tissue as wellrnas between cultivars. Degeneration of nodosities as well as nodosity occupation rates could be relatedrnto the calculated abundances of grape phylloxera population. Further ecological questions consideringrngrape root development (e.g. relation between moisture and root development) and grape phylloxerarnpopulation development (e.g. relation between temperature and population structure) could be answeredrnfor field conditions.rnGenerally, the presented work provides an approach to evaluate vitality of grape root systems. Thisrnapproach can be useful, considering the development of control strategies against soilborne pests inrnviticulture (e.g. grape phylloxera, Sorospheara viticola, Roesleria subterranea (Weinm.) Redhaed) as well as considering the evaluation of integrated management systems in viticulture.

Protocolli di bioprinting in ingegneria dei tessuti

L’argomento trattato in questo elaborato riguarda una nuova tecnologia che si sta sviluppando nell’ambito dell’ingegneria dei tessuti: il Bioprinting. Tale rivoluzionario approccio completamente automatizzato, grazie all’utilizzo dell’elaborazione automatica delle immagini CAD (Computer Aided Design) e la fabbricazione assistita al calcolatore CAM (Computer Aided Manufacturing), si propone di ricreare tessuti e/o organi. In particolare nel seguito ne verrà data una definizione e ne verranno definiti i campi di applicazione, per poi proseguire con un’analisi del processo dal punto di vista delle fasi che lo compongono e la speciale tecnologia utilizzata. Infine verrà proposto qualche studio fatto in merito ai tessuti vascolari e alla cartilagine per poi concludere con i pionieri che tuttora contribuiscono al suo sviluppo e con Organovo, una delle aziende leader del settore.

Massenspektrometrische Wasserdampfmessung in der oberen Troposphäre und unteren Stratosphäre

Diese Arbeit beschreibt die Entwicklung des flugzeuggetragenen Atmosphärischen Ionisations-Massenspektrometers AIMS-H2O zur Messung von Wasserdampf in der oberen Troposphäre und unteren Stratosphäre (UTLS) und erste Flugzeugmessungen mit dem Instrument. Wasserdampf beeinflusst das Klima in der UTLS aufgrund seiner Strahlungseigenschaften und agiert als wichtiger Parameter bei der Bildung von Zirruswolken und Kondensstreifen. Deshalb sind genaue Wasserdampfmessungen für das Verständnis vieler atmosphärischer Prozesse unerlässlich. Instrumentenvergleiche wie sie im SPARC Report No. 2 und dem Bericht der AUQAVIT Kampagne zusammengefasst sind, haben gezeigt, dass große Abweichungen zwischen einzelnen Methoden und Instrumenten bestehen. Diese Unsicherheiten limitieren das Verständnis des Einflusses von Wasserdampf auf die Dynamik und die Strahlungseigenschaften in der UTLS. Die in dieser Arbeit vorgestellte Entwicklung einer neuen Messmethode für Wasserdampf mit dem Massenspektrometer AIMS-H2O ist deshalb auf die genaue Messung niedriger Wasserdampfkonzentrationen in der UTLS fokussiert. Mit AIMS H2O wird Umgebungsluft in einer neu entwickelten Gasentladungsquelle ionisiert. Durch eine Reihe von Ionen-Molekül-Reaktionen entstehen H3O+(H2O) und H3O+(H2O)2 Ionen. Diese Ionen werden genutzt, um die Wasserdampfkonzentration in der Atmosphäre zu bestimmen. Um die erforderliche hohe Genauigkeit zu erzielen, wird AIMS H2O im Flug kalibriert. In dem zu diesem Zweck aufgebauten Kalibrationsmodul wird die katalytische Reaktion von Wasserstoff und Sauerstoff auf einer Platinoberfläche genutzt, um definierte Wasserdampfkonzentrationen für die Kalibration im Flug zu erzeugen. Bei ersten Messungen auf der Falcon während der Kampagne CONCERT 2011 konnte dabei eine Genauigkeit von 8 bis 15% für die Messung der Wasserdampfkonzentration in einem Messbereich von 0,5 bis 250 ppmv erreicht werden. Die Messfrequenz betrug 4 Hz, was einer räumlichen Auflösung von etwa 50 m entspricht. Der Vergleich der Messung des Massenspektrometers mit dem Laserhygrometer Waran zeigt eine sehr gute Übereinstimmung im Rahmen der Unsicherheiten. Anhand zweier Fallstudien werden die Messungen von AIMS H2O während CONCERT 2011 detailliert analysiert. In der ersten Studie werden zwei Flüge in eine stratosphärische Intrusion über Nordeuropa untersucht. In dieser Situation wurde stratosphärische Luft bis hinunter auf 6 km Höhe transportiert und war dadurch mit der Falcon erreichbar. Es konnte gezeigt werden, dass AIMS-H2O sehr gut für die genaue Messung niedriger Wasserdampfkonzentrationen, in diesem Fall bis etwa 3,5 ppmv, geeignet ist. Der Vergleich der Messung mit Analysen des ECMWF Integrated Forecast Systems zeigt eine gute Übereinstimmung der gemessenen Wasserdampfstrukturen mit der dynamischen Tropopause. Unterschiede tauchen dagegen beim Vergleich der Wasserdampfkonzentrationen in der unteren Stratosphäre auf. Hier prognostiziert das Modell deutlich höhere Feuchten. Die zweite Fallstudie beschäftigt sich mit der Verteilung der relativen Feuchte in jungen Kondensstreifen im Vergleich zu ihrer direkten Umgebung. Dabei wurde für drei Messsequenzen im Abgasstrahl von Flugzeugen beobachtet, dass die relative Feuchte innerhalb des Kondensstreifens im Vergleich zur Umgebung sowohl bei unter- als auch übersättigten Umgebungsbedingungen in Richtung Sättigung verschoben ist. Die hohe Anzahl an Eispartikeln und die damit verbundene große Eisoberfläche in jungen Kondensstreifen führt also zu einer schnellen Relaxation von Gasphase und Eis in Richtung Gleichgewicht. In der Zukunft soll AIMS-H2O auch auf HALO für die genaue Messung von Wasserdampf bei ML-CIRRUS und weiteren Kampagnen eingesetzt werden.

Bioprinting: Stato dell'arte ed applicazioni biomediche

L’argomento trattato in questo elaborato riguarda una nuova tecnologia che si sta sviluppando nel settore dell’ingegneria dei tessuti: il Bioprinting. Tale rivoluzionario approccio completamente automatizzato, consiste nell’elaborazione automatica delle immagini CAD (Computer-Aided Design) e nella fabbricazione assistita CAM (Computer-Aided Manufacturing) al fine di ricreare tessuti ed organi. Nel seguito verrà data una definizione del processo, verranno analizzate le varie fasi di laborazione, le tecniche ed i materiali utilizzati. Verranno infine riportati studi riguardanti alcune applicazioni della tecnica, quali la realizzazione di vasi sanguigni, cartilagine e pelle.

Effective compression ratio-A new measurement of the quality of thorax compression during CPR

PURPOSE: Computer-based feedback systems for assessing the quality of cardiopulmonary resuscitation (CPR) are widely used these days. Recordings usually involve compression and ventilation dependent variables. Thorax compression depth, sufficient decompression and correct hand position are displayed but interpreted independently of one another. We aimed to generate a parameter, which represents all the combined relevant parameters of compression to provide a rapid assessment of the quality of chest compression-the effective compression ratio (ECR). METHODS: The following parameters were used to determine the ECR: compression depth, correct hand position, correct decompression and the proportion of time used for chest compressions compared to the total time spent on CPR. Based on the ERC guidelines, we calculated that guideline compliant CPR (30:2) has a minimum ECR of 0.79. To calculate the ECR, we expanded the previously described software solution. In order to demonstrate the usefulness of the new ECR-parameter, we first performed a PubMed search for studies that included correct compression and no-flow time, after which we calculated the new parameter, the ECR. RESULTS: The PubMed search revealed 9 trials. Calculated ECR values ranged between 0.03 (for basic life support [BLS] study, two helpers, no feedback) and 0.67 (BLS with feedback from the 6th minute). CONCLUSION: ECR enables rapid, meaningful assessment of CPR and simplifies the comparability of studies as well as the individual performance of trainees. The structure of the software solution allows it to be easily adapted to any manikin, CPR feedback devices and different resuscitation guidelines (e.g. ILCOR, ERC).