Aaltodoc Repository :: Browsing by Author "Atmojo, Udayanto Dwi"

Browsing by Author "Atmojo, Udayanto Dwi"

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Applying Skill-based Engineering using OPC-UA in Production System with a Digital Twin
(2021-11-13) Jhunjhunwala, Pranay; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation
The increasing demand for flexibility in the production industry has brought the need for plug and produce systems, in which components from various vendors and suppliers can be easily integrated into the production plant and without a lot of effort on the ground-level these components can be controlled. This paper proposes a novel engineering approach, combining the IEC 61499 component-based organisation of software with high-level command interface, known as skills, communicated between the components via OPC-UA. The approach is illustrated on a laboratory-scale flexible assembly system, composed of pneumatic jacks, mechatronic conveyors, robots and AGV's. The proposed platform demonstrates the ease of improving flexibility in the production scenarios.
A Design Pattern for Monitoring Adapter Connections in IEC 61499
(2021-06-18) Jhunjhunwala, Pranay; Blech, Jan Olaf; Zoitl, Alois; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation; Johannes Kepler University Linz
Today's software developments are frequently structured into different components with well defined interfaces. IEC 61499 comes with well defined interface mechanisms such as adapters that group data and event exchange between different subsystems. Compliance with interface specifications can be monitored at run-time. In this paper we present a design pattern to monitor adapters thereby observing whether communication specifications are fulfilled. We present an example demonstrating monitoring of a handshaking mechanism used between control application components.
Distributed control architecture for dynamic reconfiguration
(2018-06-15) Atmojo, Udayanto Dwi; Gulzar, Kashif; Vyatkin, Valeriy; Ma, Rongwei; Hopsu, Alexander; Makkonen, Henri; Korhonen, Atte; Phu, Long Tran; Department of Electrical Engineering and Automation; Aalto University
This article presents the development of a distributed manufacturing case study enhanced with features that enable flexibility during the production process and the capability to continue the production process in case of fault scenarios. The approach described in this paper presents solutions to achieve the production of customized products, handle changes in product order, and minimize downtime and avoid total shutdown of the manufacturing system due to the occurrence of failures during the production process.
Dynamic Reconfiguration and Adaptation of Manufacturing Systems Using SOSJ Framework
(2018-06) Atmojo, Udayanto Dwi; Salcic, Zoran; I-Kai Wang, Kevin; Department of Electrical Engineering and Automation; University of Auckland
One of the key challenges in modern manufacturing systems is how to dynamically reconfigure software behaviours that govern machines to reflect changes in physical manufacturing process without completely resetting the entire manufacturing operation. The existing software solutions used to describe software behaviours in manufacturing systems are typically not based on formal semantics and model of computation and have limited capabilities in handling dynamic adaptation/reconfiguration. This paper presents the Service Oriented SystemJ (SOSJ) framework that supports a new programming paradigm for designing dynamic distributed manufacturing systems. SOSJ combines the system-level language SystemJ and service oriented architecture (SOA) paradigm to take advantages of both SystemJ's correct-by-construction formal semantics and SOA's dynamic features, respectively. The paper describes the concepts and functionalities of SOSJ which enable dynamic reconfiguration of a typical manufacturing system. Performance benchmarks are run to compare the capabilities of SOSJ to a multi-agent system framework JADE.
Mechatronic Swarm and its Virtual Commissioning
(2023-04-17) Lyu, Tuojian; Lashchev, Andrei; Patil, Sandeep; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation; Luleå University of Technology
This paper presents a swarm-based architecture for the composition of mechatronic systems from smart components complemented by a Virtual Commissioning (VC) environment. The architecture is based on the IEC 61499 standard. The proposed solution enables plug-and-play composition of the system which is ready to operate 'out of the box' right after it was composed without extra programming.
Monitoring design pattern for distributed automation systems in IEC 61499 and its formal modelling
(2022) Jhunjhunwala, Pranay; Zoitl, Alois; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation; Johannes Kepler University Linz
This paper addresses the challenge of achieving reliable and predictable operation of flexible and modular pro-duction systems with distributed control and potentially wireless communication. Such systems are envisaged as common in the future Industry 4.0 production facilities. A software design pattern is proposed to implement online monitoring of requirements. The IEC 61499 architecture is selected as the implementation platform and its benefits are essentially used by utilisation of the adapter interface mechanism. The paper also outlines a pathway to designing and verifying the monitors based on formal methods.
Multi-platform integration approach for IEC61499 and Robot Operating System
(2022-08-22) Myllyviita, Marcus; Bejarano, Ronal; Atmojo, Udayanto Dwi; Sähkötekniikan korkeakoulu; Vyatkin, Valeriy
The industrial manufacturing sector is continuously striving towards interconnected systems leveraged by modern information technologies. A major initiative to achieve such a vision is the integration of robotics often developed using the Robot Operating System (ROS), into manufacturing processes controlled by Programmable Logic Controllers (PLC). Additionally, control system architectures are shifting from a centralized architecture to a decentralized architecture for a more modular and flexible design. Decentralized control can be achieved with the IEC61499 standard, which provides a model-based approach for the development of distributed control systems. The integration of ROS and IEC61499, generally involves vendor-specific solutions, restricting both the hardware and software used to limited interfaces. This limitation potentially segregates the automation and robotic development processes, making it difficult to achieve a holistic approach for developing contemporary manufacturing systems. Previous research results presented integration solutions based on specific development tools, limited to specific IEC61499 deployment environments. In this thesis a platform-independent method for integration of IEC61499 and ROS is proposed employing the MQTT protocol as a middleware for the communication between both systems, easing the requirements for the IEC61499 deployment environment, but fulfilling the service-oriented architecture principles for both technologies. The method is tested and evaluated on the ROS-operated Automated Guided Vehicle (AGV), MiR100, integrated into the IEC61499 control system of the EnAS demonstrator. The experiment is performed with two different PLCs, Revolution Pi and Iceblock, each one using different IEC61499 development platforms, 4DIAC and Ecostruxure respectively. The results show that the proposed method can be used for a platform-independent development of heterogeneous systems containing both IEC61499 operated PLCs and ROS-operated robots, making feasible and simple the integration of robotic systems into PLC-controlled processes.
On Achieving Reliable Communication in IEC 61499
(IEEE, 2018-10-22) Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Salcic, Zoran; Department of Electrical Engineering and Automation; University of Auckland
This paper proposes a novel extension for communication in the lEC 61499 standard. Inspired by the features found in the formal programming language SystemJ, the extension supports reliable and guaranteed communication in distributed execution of function block application(s)/program(s). The extension utilizes mechanisms agnostic on underlying network protocols and are based on formal semantics that guarantee data delivery. The use of proposed extension, called channel, is demonstrated in an industrial automation-type example.
On enhancing reconfigurability of I/O connection and access in IEC 61499
(2022) Lyu, Tuojian; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation
The efficiency and flexibility of data connection establishment in the automation system development architecture of IEC 61499 is important to support portability and flexibility. To improve this aspect, this paper proposes a method integrating OPC UA functionalities and I/O-accessing capabilities, introducing two function blocks, SmartIX and SmartQX. The solution is illustrated with one use case and comparison with the existing solution. The comparison shows that our proposed solution can improve efficiency, flexibility and portability for IEC 61499 by making fewer changes to existing systems from debugging mode to production mode.
On Portability of IEC 61499 Compliant Structures and Systems
(IEEE, 2019-06-01) Hopsu, Alexander; Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Aalto University; Information Technologies in Industrial Automation; Department of Electrical Engineering and Automation
This paper investigates the portability features of three different IEC 61499 standard compliant tools. The study focuses on migrating the basic and composite function block types and system architecture with application networks and device configurations from one tool to another. A converter program is subsequently created using Python programming language to automate the required modification process, thus enabling the files to migrate between the compliant tools. The study takes into consideration NxtStudio, FBDK and 4DIAC software tools. In every tool, similar function blocks and system structures are created. The portability of these created elements is examined between the tools, resulting in a table that numerically evaluates the portability from one tool to another.
OPC UA information model and a wrapper for IEC 61499 runtimes
(IEEE, 2019-07-01) Seilonen, Ilkka; Vyatkin, Valeriy; Atmojo, Udayanto Dwi; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation
OPC UA is considered as an important communication technology for Industry 4.0 components. On the other hand, IEC 61499 is one of the technologies available for developing applications to the same components. In this paper, a proposal for an OPC UA information model for IEC 61499 systems is developed in order to enhance communication with IEC 61499 applications through OPC UA. Already existing related information models, particularly OPC UA for Devices and IEC 61131-3, are utilized as models and parts of the design. An OPC UA wrapper for IEC 61499 runtimes is presented as one possible way to implement the information model. Both the information model and the wrapper are then tested through a case study.
Proposing mechanisms to increase the reliability between distributed devices in the IEC61499 Standard
(2021-06-14) Jhunjhunwala, Pranay; Atmojo, Udayanto Dwi; Sähkötekniikan korkeakoulu; Vyatkin, Valeriy
The need for smarter and efficient production in the Industry 4.0 era is being achieved with the help of component-based architecture. Control applications designed using the IEC61499 standard and based on the component-based architecture can be distributed over various devices connected to one-another via the wired or the wireless medium. While the distribution of control application on different devices drastically increases the flexibility and modularity, the reliability across the control application can be affected due to the increased needs of communication between the devices. In this thesis, an advanced handshake message verification algorithm has been developed and tested, to ensure the reliability between devices communicating over a lossy wireless channel. The mechanism has been designed so as to be easily integrated in the existing control application and perform the reliability operations over the existing communication network.
A Review on Programming Approaches for Dynamic Industrial Cyber Physical Systems
(IEEE, 2018-09-24) Atmojo, Udayanto Dwi; Vyatkin, Valeriy; Department of Electrical Engineering and Automation
Industrial automation and control systems are going through a big change, adopting the modern computing and Internet technologies to give completely new agility and adaptability properties to production plants, transport and energy systems and infrastructures, often referred to as Industrial Cyber Physical Systems (ICPS). In manufacturing, they are expected to cope with product customizations, changes in the market or supply chain, or failures. However, the wide adoption of ICPS requires rethinking approaches to their design and programming. This article reviews the state of the art of programming approaches for ICPS and analyses their capabilities, in the hope that it will help researchers to identify potential opportunities of future development of software solutions for ICPS.
Service-based Architecture with Product-centric Control in a Production Island-based Agile Factory
(2020-05-19) Atmojo, Udayanto Dwi; Blech, Jan Olaf; Sierla, Seppo; Vyatkin, Valeriy; Information Technologies in Industrial Automation; Department of Electrical Engineering and Automation
This paper presents the Aalto Factory of the Future, an ongoing initiative in establishing an agile, net-centric production-island based factory utilizing service oriented architecture concepts. Recent progress towards realizing the software architecture with product-centric control in the facility is reported in this paper, which features communication between different production islands, and actors in the space between the production islands and humans.
A service-oriented programming approach for dynamic distributed manufacturing systems
(IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2020-01-01) Atmojo, Udayanto Dwi; Salcic, Zoran; Wang, Kevin I-Kai; Vyatkin, Valeriy; Information Technologies in Industrial Automation; University of Auckland; Department of Electrical Engineering and Automation
Dynamic reconfigurability and adaptability are crucial features of the future manufacturing systems that must be supported by adequate software technologies. Currently, they are typically achieved as add-ons to existing software tools and run-time systems, which are not based on any formal foundation such as formal model of computation (MoC). This paper presents the new programming paradigm of service oriented SystemJ (SOSJ), which targets dynamic distributed software systems suited for future manufacturing applications. SOSJ is built on a merger and the synergies of two programming concepts of service oriented architecture, to support dynamic software system composition, and SystemJ programming language based on a formal MoC, which targets correct by construction design of static distributed software systems. The resulting programming paradigm allows the design and implementation of dynamic distributed software systems.
Towards enhanced live visualization based on communication delay prediction for remote AGV operation
(2021-11-30) Bejarano, Ronal; Atmojo, Udayanto Dwi; Blech, Jan Olaf; Vyatkin, Valeriy; Information Technologies in Industrial Automation; Department of Electrical Engineering and Automation
This paper presents the development progress of a methodology to enhance the dynamic visualization of remote Automated Guided Vehicles (AGVs) using open source frameworks as Gazebo and ROS. The approach is based on a deterministic path pre-calculated by edge computing, accessible for a 3D web visualization cloud platform. The trajectory displayed is verified by a live position streaming from the AGV and a predicted communication delay value. By succeeding on the methodology proposed, it is expected to enhance the fidelity of the 3D live representation for every trajectory executed dynamically and autonomously by AGVs in the shop floor, leaving behind an initial scenario with low visualization fidelity due non-deterministic behavior of long-distance communication channels (including wireless networks essential for AGVs). This work aims to have an impact on improving the user experience of remote web-based interfacing tools to visualize the behavior of cyber-physical systems in agile manufacturing.
Towards formal monitoring of workpieces in agile manufacturing
(IEEE, 2020-02) Azangoo, Mohammad; Blech, Jan Olaf; Atmojo, Udayanto Dwi; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation
Information about the locations of objects is one of the main ingredients of Industry 4.0. With the increased use of flexible and agile manufacturing techniques, the monitoring of workpieces in a factory can become more challenging. In this paper, we present a state-machine-based approach for monitoring workpieces using sensors such as RFID readers. We present a solution where each object is represented as a deterministic state machine to monitor the object's journey throughout production via this state machine representation. Multiple objects can be monitored at the same time by running parallel event-based state machines. We present an implementation of our solution using RFID-Readers and OPC UA.
Towards Product Centric Manufacturing
(IEEE, 2019) Kuliaev, Vladimir; Atmojo, Udayanto Dwi; Sierla, Seppo; Blech, Jan Olaf; Vyatkin, Valeriy; Department of Electrical Engineering and Automation; Information Technologies in Industrial Automation
In product-centric manufacturing paradigm, a digital counterpart of a product will request manufacturing services to assemble itself. A modelling & assembly planning framework for product-centric design is considered and extended in this paper. Furthermore, we present a case-study on a product-centric digital twin controlling the assembly of its physical counterpart using a collaborative robot.
Utilizing software design patterns in product-driven manufacturing system
(2020-01-01) Drozdov, Dmitrii; Atmojo, Udayanto Dwi; Pang, Cheng; Patil, Sandeep; Ali, Muhammad Irfan; Tenhunen, Antti; Oksanen, Taavi; Cheremetiev, Kiril; Vyatkin, Valeriy; Luleå University of Technology; Information Technologies in Industrial Automation; Jiangmen Goobotics Research Institute; Aalto University; Jaan Praks Group; Department of Electrical Engineering and Automation; Department of Electronics and Nanoengineering; Borangiu, Theodor; Trentesaux, Damien; Leitao, Paolo; Boggino, Adriana Giret; Botti, Vicente
This paper presents the development of a flexible product-driven manufacturing exemplified in a case study. The case study is based on Festo EnAS (“Energieautarke Aktoren und Sensoren” or “energy efficient actuators and sensors” in English) platform, enhanced with a mobile robot for logistics and a camera for automated visual-based product inspection. IEC 61499-based and wireless-capable embedded controllers are used to enable decentralized control architecture. In this case study, a software design pattern is considered to enable easier development of modular production systems with physically reconfigurable layout during the production process. This paper applies the software design pattern into production systems where product-driven approach is adopted, i.e. the overall production process is determined based on the product specifications/requirements from the customer.

Browsing by Author "Atmojo, Udayanto Dwi"

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