Emanuele Carpanzano | Scuola universitaria professionale della Svizzera italiana (original) (raw)

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Papers by Emanuele Carpanzano

Research paper thumbnail of The IEC 61499 Function Block Standard: Launch and Takeoff

Research paper thumbnail of Hybrid Modelling and Simulation of Process Control Systems

Research paper thumbnail of A bottom-up methodology for testing complex control functions of process and power plants

Proceedings of the 15th IFAC World Congress, 2002, 2002

ABSTRACT In the present work a modular simulation-based technique for the automatic verification ... more ABSTRACT In the present work a modular simulation-based technique for the automatic verification of logic control functions is introduced and exploited to define a structured bottom-up methodology for the testing of the overall control functions of process and power plants. The proposed method has been implemented in a CACSD environment which uses the Matlab toolboxes Simulink and Stateflow for the control functions testing via simulation. The testing of the logic control functions of a portion of a thermal power plant is considered as an application example of the proposed framework.

Research paper thumbnail of A Formal Approach to Deploy Heterogeneous Software Components in a PLC

Research paper thumbnail of Design and implementation of manufacturing automation system through international standards

Proceedings of the 16th IFAC World Congress, 2005, 2005

ABSTRACT Innovative development methodologies, standards and tools for the structured design of c... more ABSTRACT Innovative development methodologies, standards and tools for the structured design of complex automation systems are very important to configure interoperable, portable and scalable automation systems for next generation manufacturing systems. In the present work a development methodology is applied with particular reference to the automation system functional specification, which is based on emerging international standards and exploits object-oriented concepts. An application example is also addressed throughout the paper to highlight the benefits of the proposed framework. In particular, the development of automation functionalities for an highly innovative shoe manufacturing plant and regarding test is discussed.

Research paper thumbnail of An Optimized Simulation of Component-based Embedded Systems In Manufacturing Industry

International Journal of Simulation and Process Modelling

Research paper thumbnail of An Optimized Simulation of Embedded Systems in Manufacturing Industry

Research paper thumbnail of Design and implementation of a distributed part-routing algorithm for reconfigurable transportation systems

International Journal of Computer Integrated Manufacturing, 2015

Research paper thumbnail of Software environment for robot control solutions design, optimisation and testing

Proceedings of the 16th IFAC World Congress, 2005, 2005

ABSTRACT In the present paper a software environment for the study and verification of robot cont... more ABSTRACT In the present paper a software environment for the study and verification of robot control solutions is described. Such a tool is based on closed loop modelling and simulation in the integrated ADAMS-Simulink environment. The proposed method is applied to the study and optimization of the control of a prototypical system, constituted by a reconfigurable robot with parallel architecture and by an open PC based controller.

Research paper thumbnail of Intelligent dynamic part routing policies in Plug&Produce Reconfigurable Transportation Systems

CIRP Annals - Manufacturing Technology, 2014

Research paper thumbnail of Minimum Energy Control of Redundant Cartesian Manipulators

Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control, 2012

ABSTRACT In redundant manipulation systems the end-effector path does not completely determine th... more ABSTRACT In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof). The redundancy is used in this paper to minimize energy consumption. A full electromechanical model is used, and the invested energy is calculated explicitly. The optimization includes also displacement limits via penalty functions that are included in the cost function. The solution is based on separating the system and the input into two parts. One that is completely determined by the end-effector path and the other that is driven by it, yet free for optimization. The boundary conditions are resolved in a similar manner, where the physical values are translated to the scaled down system by using a specific projection. Simulation results show that even with limited joint motion, the redundancy can lead to a considerable saving in energy.

Research paper thumbnail of An AI Based Online Scheduling Controller for Highly Automated Production Systems

Lecture Notes in Production Engineering, 2012

Research paper thumbnail of A Dispatching Algorithm and Software Tool for Managing the Part Flow of Reconfigurable Transportation System

Procedia CIRP, 2013

ABSTRACT Reconfigurable Transportation Systems – RTSs rely upon modular transportation units, sta... more ABSTRACT Reconfigurable Transportation Systems – RTSs rely upon modular transportation units, standard mechatronic interfaces and distributed control solutions. These solutions are frequently preferred in production environments characterized by a very high adaptability, meaning that the production equipment can be adjusted in its own configuration and set points in a very short time to match the realization of a specific product family. The process, the system settings and the production management cannot be handled statically on the basis of a-priori knowledge of the part family demand, thus requiring real-time production and control approaches to support their efficient management over time becomes instrumental. The current work proposes an algorithm and the related software tool for the dispatching of parts on RTSs while minimizing of the parts’ lead time and transportation time. The proposed algorithm has been tested with regard to a production pilot system realizing the re-manufacturing and de-manufacturing of Printed Electronic Boards.

Research paper thumbnail of New challenges in collaborative virtual factory design

IFIP – The International Federation for Information Processing, 2008

The present paper describes the results of recent and ongoing major European projects about the v... more The present paper describes the results of recent and ongoing major European projects about the virtual factory design topic, highlighting in particular new challenges related to the networked collaborative design of factories layout and configuration. A pilot factory for the production of customized shoes is referred to throughout the paper as application example of the proposed methods and tools.

Research paper thumbnail of Research Issues on Customer-Oriented and Eco-friendly Networks for Healthy Fashionable Goods

IFIP Advances in Information and Communication Technology, 2010

Research paper thumbnail of Closed-loop production and automation schedule execution in RMSs under uncertain environmental conditions

IEEE Symposium on Emerging Technologies and Factory Automation, ETFA, 2012

Highly reconfigurable and agile production systems are selected to operate in production contexts... more Highly reconfigurable and agile production systems are selected to operate in production contexts often characterized by changes of the production requirements or changes of the part family demand. The operational level for such system architecture is expected to manage the short term production planning while guaranteeing the automation layer enables physical devices to exploit logic control tasks within the specific

Research paper thumbnail of Order Reduction of General Nonlinear DAE Systems by Automatic Tearing

Mathematical and Computer Modelling of Dynamical Systems, 2000

ABSTRACT

Research paper thumbnail of Automated formal verification for flexible manufacturing systems

Journal of Intelligent Manufacturing, 2013

Research paper thumbnail of Minimum Energy Control of Redundant Linear Manipulators

Journal of Dynamic Systems, Measurement, and Control, 2014

ABSTRACT In redundant manipulation systems, the end-effector path does not completely determine t... more ABSTRACT In redundant manipulation systems, the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof) and the additional dofs can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. A full linear electromechanical model is used, and the exact energy consumption is calculated. The optimization includes also displacement limits via penalty functions that are included in the cost function. The optimal trajectory is feasible in the sense that it can be obtained by a finite input voltage and all the velocities are continuous. The solution is based on projections that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. The important and delicate issue of boundary conditions is resolved accordingly. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.

Research paper thumbnail of An optimised simulation of component-based embedded systems in manufacturing industry

International Journal of Simulation and Process Modelling, 2008

ABSTRACT This paper deals with an optimised simulation of embedded systems following the internat... more ABSTRACT This paper deals with an optimised simulation of embedded systems following the international standard IEC61499 in which a Function Block is an event triggered component owning data and an application is a network of blocks that have to satisfy properties described in user requirements. We design these components in different abstraction levels of a hierarchy to control the development complexity. To achieve a feasible simulation, we formalise at first-time the FB concept by defining the Control Function Module (CFM) and the Virtual Plant Module (VPM). We propose thereafter a technique processing temporal deadlines for control modules and we define in the system behaviour critical scenarios where properties can be violated. We apply the simulation around these scenarios by applying a fault injection technique to optimise the system validation and to consider its hierarchy, we propose a simulator architecture based on the master-slave model where a slave injects faults in each level of the hierarchy, whereas the master chooses the best values of these errors to generate critical scenarios.

Research paper thumbnail of The IEC 61499 Function Block Standard: Launch and Takeoff

Research paper thumbnail of Hybrid Modelling and Simulation of Process Control Systems

Research paper thumbnail of A bottom-up methodology for testing complex control functions of process and power plants

Proceedings of the 15th IFAC World Congress, 2002, 2002

ABSTRACT In the present work a modular simulation-based technique for the automatic verification ... more ABSTRACT In the present work a modular simulation-based technique for the automatic verification of logic control functions is introduced and exploited to define a structured bottom-up methodology for the testing of the overall control functions of process and power plants. The proposed method has been implemented in a CACSD environment which uses the Matlab toolboxes Simulink and Stateflow for the control functions testing via simulation. The testing of the logic control functions of a portion of a thermal power plant is considered as an application example of the proposed framework.

Research paper thumbnail of A Formal Approach to Deploy Heterogeneous Software Components in a PLC

Research paper thumbnail of Design and implementation of manufacturing automation system through international standards

Proceedings of the 16th IFAC World Congress, 2005, 2005

ABSTRACT Innovative development methodologies, standards and tools for the structured design of c... more ABSTRACT Innovative development methodologies, standards and tools for the structured design of complex automation systems are very important to configure interoperable, portable and scalable automation systems for next generation manufacturing systems. In the present work a development methodology is applied with particular reference to the automation system functional specification, which is based on emerging international standards and exploits object-oriented concepts. An application example is also addressed throughout the paper to highlight the benefits of the proposed framework. In particular, the development of automation functionalities for an highly innovative shoe manufacturing plant and regarding test is discussed.

Research paper thumbnail of An Optimized Simulation of Component-based Embedded Systems In Manufacturing Industry

International Journal of Simulation and Process Modelling

Research paper thumbnail of An Optimized Simulation of Embedded Systems in Manufacturing Industry

Research paper thumbnail of Design and implementation of a distributed part-routing algorithm for reconfigurable transportation systems

International Journal of Computer Integrated Manufacturing, 2015

Research paper thumbnail of Software environment for robot control solutions design, optimisation and testing

Proceedings of the 16th IFAC World Congress, 2005, 2005

ABSTRACT In the present paper a software environment for the study and verification of robot cont... more ABSTRACT In the present paper a software environment for the study and verification of robot control solutions is described. Such a tool is based on closed loop modelling and simulation in the integrated ADAMS-Simulink environment. The proposed method is applied to the study and optimization of the control of a prototypical system, constituted by a reconfigurable robot with parallel architecture and by an open PC based controller.

Research paper thumbnail of Intelligent dynamic part routing policies in Plug&Produce Reconfigurable Transportation Systems

CIRP Annals - Manufacturing Technology, 2014

Research paper thumbnail of Minimum Energy Control of Redundant Cartesian Manipulators

Volume 1: Advanced Computational Mechanics; Advanced Simulation-Based Engineering Sciences; Virtual and Augmented Reality; Applied Solid Mechanics and Material Processing; Dynamical Systems and Control, 2012

ABSTRACT In redundant manipulation systems the end-effector path does not completely determine th... more ABSTRACT In redundant manipulation systems the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof). The redundancy is used in this paper to minimize energy consumption. A full electromechanical model is used, and the invested energy is calculated explicitly. The optimization includes also displacement limits via penalty functions that are included in the cost function. The solution is based on separating the system and the input into two parts. One that is completely determined by the end-effector path and the other that is driven by it, yet free for optimization. The boundary conditions are resolved in a similar manner, where the physical values are translated to the scaled down system by using a specific projection. Simulation results show that even with limited joint motion, the redundancy can lead to a considerable saving in energy.

Research paper thumbnail of An AI Based Online Scheduling Controller for Highly Automated Production Systems

Lecture Notes in Production Engineering, 2012

Research paper thumbnail of A Dispatching Algorithm and Software Tool for Managing the Part Flow of Reconfigurable Transportation System

Procedia CIRP, 2013

ABSTRACT Reconfigurable Transportation Systems – RTSs rely upon modular transportation units, sta... more ABSTRACT Reconfigurable Transportation Systems – RTSs rely upon modular transportation units, standard mechatronic interfaces and distributed control solutions. These solutions are frequently preferred in production environments characterized by a very high adaptability, meaning that the production equipment can be adjusted in its own configuration and set points in a very short time to match the realization of a specific product family. The process, the system settings and the production management cannot be handled statically on the basis of a-priori knowledge of the part family demand, thus requiring real-time production and control approaches to support their efficient management over time becomes instrumental. The current work proposes an algorithm and the related software tool for the dispatching of parts on RTSs while minimizing of the parts’ lead time and transportation time. The proposed algorithm has been tested with regard to a production pilot system realizing the re-manufacturing and de-manufacturing of Printed Electronic Boards.

Research paper thumbnail of New challenges in collaborative virtual factory design

IFIP – The International Federation for Information Processing, 2008

The present paper describes the results of recent and ongoing major European projects about the v... more The present paper describes the results of recent and ongoing major European projects about the virtual factory design topic, highlighting in particular new challenges related to the networked collaborative design of factories layout and configuration. A pilot factory for the production of customized shoes is referred to throughout the paper as application example of the proposed methods and tools.

Research paper thumbnail of Research Issues on Customer-Oriented and Eco-friendly Networks for Healthy Fashionable Goods

IFIP Advances in Information and Communication Technology, 2010

Research paper thumbnail of Closed-loop production and automation schedule execution in RMSs under uncertain environmental conditions

IEEE Symposium on Emerging Technologies and Factory Automation, ETFA, 2012

Highly reconfigurable and agile production systems are selected to operate in production contexts... more Highly reconfigurable and agile production systems are selected to operate in production contexts often characterized by changes of the production requirements or changes of the part family demand. The operational level for such system architecture is expected to manage the short term production planning while guaranteeing the automation layer enables physical devices to exploit logic control tasks within the specific

Research paper thumbnail of Order Reduction of General Nonlinear DAE Systems by Automatic Tearing

Mathematical and Computer Modelling of Dynamical Systems, 2000

ABSTRACT

Research paper thumbnail of Automated formal verification for flexible manufacturing systems

Journal of Intelligent Manufacturing, 2013

Research paper thumbnail of Minimum Energy Control of Redundant Linear Manipulators

Journal of Dynamic Systems, Measurement, and Control, 2014

ABSTRACT In redundant manipulation systems, the end-effector path does not completely determine t... more ABSTRACT In redundant manipulation systems, the end-effector path does not completely determine the trajectories of all the individual degrees of freedom (dof) and the additional dofs can be used to enhance the performance in some sense. The paper deals with utilizing the redundancy to minimize energy consumption. A full linear electromechanical model is used, and the exact energy consumption is calculated. The optimization includes also displacement limits via penalty functions that are included in the cost function. The optimal trajectory is feasible in the sense that it can be obtained by a finite input voltage and all the velocities are continuous. The solution is based on projections that separate the system and the input into two parts. One that is completely determined by the end-effector path and the other that is free for optimization. The important and delicate issue of boundary conditions is resolved accordingly. Simulation results show that redundancy, even with limited joint motion, can lead to a considerable reduction in energy consumption.

Research paper thumbnail of An optimised simulation of component-based embedded systems in manufacturing industry

International Journal of Simulation and Process Modelling, 2008

ABSTRACT This paper deals with an optimised simulation of embedded systems following the internat... more ABSTRACT This paper deals with an optimised simulation of embedded systems following the international standard IEC61499 in which a Function Block is an event triggered component owning data and an application is a network of blocks that have to satisfy properties described in user requirements. We design these components in different abstraction levels of a hierarchy to control the development complexity. To achieve a feasible simulation, we formalise at first-time the FB concept by defining the Control Function Module (CFM) and the Virtual Plant Module (VPM). We propose thereafter a technique processing temporal deadlines for control modules and we define in the system behaviour critical scenarios where properties can be violated. We apply the simulation around these scenarios by applying a fault injection technique to optimise the system validation and to consider its hierarchy, we propose a simulator architecture based on the master-slave model where a slave injects faults in each level of the hierarchy, whereas the master chooses the best values of these errors to generate critical scenarios.