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Copyright of Machine Tool & Hydraulics is the property of Guangzhou Mechanical Engineering Research Institute (GMERI) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

To address the issues of low bandwidth, weak real-time performance, and poor synchronization in traditional fieldbuses for multi-axis motion control, a solution for the implementation of an EtherCAT master based on the IgH EtherCAT Master open-source software framework and an embedded hardware platform is proposed. On a hardware platform centered around the AM64x Sitara processor, a Linux real-time operating system based on the Xenomai real-time kernel is constructed, and the IgH master framework is ported to realize a high-performance EtherCAT master. The configuration process of the EtherCAT bus is detailed, a master application program is developed, and methods for the real-time performance optimization of the master—such as exclusive CPU usage by the master process and the optimization of the network card driver—are proposed. Finally, experiments are conducted on a six-axis servo control platform, with the packet analysis of the periodic EtherCAT data frames sent by the master. The experimental results show that the optimized master, under a high-speed communication cycle of 500 microseconds, maintains maximum jitter within 20 microseconds and average jitter within 1 microsecond, meeting the requirements for high-precision multi-axis motion control. [ABSTRACT FROM AUTHOR]

This paper presents a modular hardware control system tailored for industrial applications. The system presented is designed with electrical protection, guaranteeing the reliable operation of its modules in the presence of various field noises and external disturbances. The modular architecture comprises a principal module (mP) and dedicated expansion modules (mEXs). The principal module serves as the network administrator and facilitates interaction with production and control processes. The mEXs are equipped with sensors, conditioning circuits, analog-to-digital converters, and digital signal processing capabilities. The mEX's primary function is to acquire local processing field signals and ensure their reliable transmission to the mP. Two specific mEXs were developed for industrial environments: an electrical signal expansion module (mSE) and the vibration signals expansion module (mSV). The EtherCAT protocol serves as a means of communication between the modules, fostering deterministic and real-time interactions while also simplifying the integration and replacement of modules within the modular architecture. The proposed system incorporates local and distributed processing in which data acquisition, processing, and data analysis are carried out closer to where data are generated. Locally processing the acquired data close to the production in the mEX increases the mP availability and network reliability. For the local processing, feature extraction algorithms were developed on the mEX based on a Fast Fourier Transform (FFT) algorithm and a curve-fitting algorithm that accurately represents a given FFT curve by significantly reducing the amount of data that needs to be transmitted over the mP. The proposed system offers a promising solution to use computational intelligence methodologies and meet the growing need for a modular industrial control system with reliable local data processing to reach a smart industry. The case study of acquiring and processing vibration signals from a real cement ball mill showed a good capacity for processing data and reducing the amount of data. [ABSTRACT FROM AUTHOR]

Copyright of Cyber Security & Data Governance is the property of Editorial Office of Information Technology & Network Security and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Recent advances in industrial, railway, and in-vehicle communications demand network architectures that ensure low latency, high synchronization, and efficient bandwidth utilization. While Ethernet for Control Automation Technology (EtherCAT) effectively handles real-time cyclic traffic, managing non-real-time acyclic traffic, such as Ethernet/IP frames, remains challenging. Existing Ethernet-over-EtherCAT (EoE) schemes struggle to balance these traffic types, resulting in inefficient bandwidth use and increased latency under high network loads. To overcome these challenges, we propose an adaptive grouping mechanism for acyclic secondary devices, coupled with a dynamic telegram assignment method, to optimize bandwidth utilization and reduce delay for acyclic traffic without compromising the performance of the cyclic secondary devices traffic. Extensive simulations demonstrate that our approach reduces packet delay and increases bandwidth utilization, even in networks with a large number of acyclic secondary devices. Specifically, the simulation results reveal that our approach achieves up to a 99% reduction in the mean packet delay and significantly enhances bandwidth utilization, making it suitable for complex industrial applications where high performance and scalability are essential. This work offers a practical solution for advancing EtherCAT’s capability to support diverse traffic types in demanding communication environments.

RISC-V offers a modular technical approach combined with an open, royalty-free instruction set architecture (ISA). However, despite its advantages as a fundamental building block for many embedded systems, the escalating complexity and functional demands of real-time applications have made adhering to response time deadlines challenging. For real-time applications of RISC-V, real-time performance analysis is required for various ISAs. In this paper, we analyze the real-time performance of RISC-V through two real-time approaches based on processor architectures. For real-time operating system (RTOS) applications, we adopted FreeRTOS and evaluated its performance on HiFive1 Rev B (RISC-V) and STM3240G-EVAL (ARM M). For real-time Linux, we utilized Linux with the Preempt-RT patch and tested its performance on VisionFive 2 (RISC-V), MIO5272 (x86-64), and Raspberry Pi 4 B (ARM A). Through these experiments, we examined the response times on the real-time mechanisms of each operating system. Additionally, in the Preempt-RT experiments, scheduling latencies were evaluated by means of the cyclictest. These are very important parameters for implementing real-time applications comprised of multi-tasking. Finally, in order to show the real-time capabilities of RISC-V practically, we implemented motion control of a six-axis collaborative robot, which was performed on the VisionFive 2. This implementation provided a comparative result of RISC-V's performance against the x86-64 architecture. Ultimately, the results indicated that the real-time performance of RISC-V for real-time applications was feasible. A noticeable achievement of this research is its first implementation of an EtherCAT master on RISC-V designed for real-time applications. The successful implementation of the EtherCAT master on RISC-V shows real-time capabilities for a wide range of real-time applications. [ABSTRACT FROM AUTHOR]

A personal-computer-based and a Raspberry Pi single-board computer-based virtual force sensor with EtherCAT communication for a six-axis robotic arm are proposed in this paper. Both traditional mathematical modeling and machine learning techniques are used in the establishment of the dynamic model of the robotic arm. Thanks to the high updating rate of EtherCAT, the machine learning-based dynamic model on a personal computer achieved an average correlation coefficient between the estimated torque and the actual torque feedback from the motor driver of about 0.99. The dynamic model created using traditional mathematical modeling and the Raspberry Pi single-board computer demonstrates an approximate correlation coefficient of 0.988 between the estimated torque and the actual torque. The external torque observer is established by calculating the difference between the actual torque and the estimated torque, and the virtual force sensor converts the externally applied torques calculated for each axis to the end effector of the robotic arm. When detecting external forces applied to the end effector, the virtual force sensor demonstrates a correlation coefficient of 0.75 and a Root Mean Square Error of 12.93 N, proving its fundamental competence for force measurement. In this paper, both the external torque observer and the virtual force control are applied to applications related to sensing external forces of the robotic arm. The external torque observer is utilized in the safety collision detection mechanism. Based on experimental results, the system can halt the motion of the robotic arm using the minimum external force that the human body can endure, thereby ensuring the operator's safety. The virtual force control is utilized to implement a position and force hybrid controller. The experimental results demonstrate that, under identical control conditions, the position and force hybrid controller established by the Raspberry Pi single-board computer achieves superior control outcomes in a constant force control scenario with a pressure of 40 N. The average absolute error is 9.62 N, and the root mean square error is 11.16 N when compared to the target pressure. From the analysis of the results, it can be concluded that the Raspberry Pi system implemented in this paper can achieve a higher control command update rate compared to personal computers. As a result, it can provide greater control benefits in position and force hybrid control. [ABSTRACT FROM AUTHOR]

With the continual technical advancement, the requirements for the performance of the EtherCAT master station are raised in high-end applications. The EtherCAT master station configured with traditional software runs Windows or Linux operating system, completely depending on the real-time capability of the operating system regarding performance and stability, and suffering from jitter generally at the microsecond level, so it can hardly meet the requirements in high-end applications. In addition, the clock of the first slave station is used as the system clock for the traditional clock synchronization algorithm, imposing certain limitations. Therefore, this paper first elaborates the current status of the EtherCAT master station research, and then proposes an FPGA-based hardware EtherCAT master station scheme and a DC synchronization algorithm based on the FPGA master clock, followed by the description on the implementation method of the hardware EtherCAT master station; the final part contains the experimental verification on the proposed master station system with six general-purpose servo drives as the slave devices. Base on the verification results, with only 5 ns data frame jitter in the master station communication of the current design and with the clock synchronization algorithm described herein, SYNC0 interrupts are synchronized in real time among slaves, which can meet the requirements of various high-end application scenario; moreover this master station can be flexibly applied to different hardware platforms due to the portability of FPGA codes, which has a strong engineering guiding significance.

Because of its simplicity and the support of numerous useful libraries, Python has become one of the most popular programming languages for application development, even in embedded systems. However, in existing control systems where specific tasks must meet specific temporal deadlines and support schedulability with proper priority assignments, the Python interpreter may not satisfy real-time requirements, owing to features such as the global interpreter lock and garbage collector. This paper addresses these constraints with an approach that executes periodic real-time tasks under the fixed-priority preemptible scheduler of RT-Preempt. First, we implemented a Python real-time module that allows users to create and execute periodic tasks with fixed priorities based on Python. Then, we conducted experiments on an open embedded system, in this case, a Raspberry Pi 4. We evaluated the real-time performance, focusing on test metrics for control systems, such as task periodicity, responsiveness, and interrupt response. The results were then compared to those of conventional real-time tasks developed using the C language to validate the feasibility of the proposed method. Finally, we performed experimental validation by tracking the position of EtherCAT servo motors to demonstrate the feasibility of a Python-based real-time control system in a practical application. [ABSTRACT FROM AUTHOR]

A personal-computer-based and a Raspberry Pi single-board computer-based virtual force sensor with EtherCAT communication for a six-axis robotic arm are proposed in this paper. Both traditional mathematical modeling and machine learning techniques are used in the establishment of the dynamic model of the robotic arm. Thanks to the high updating rate of EtherCAT, the machine learning-based dynamic model on a personal computer achieved an average correlation coefficient between the estimated torque and the actual torque feedback from the motor driver of about 0.99. The dynamic model created using traditional mathematical modeling and the Raspberry Pi single-board computer demonstrates an approximate correlation coefficient of 0.988 between the estimated torque and the actual torque. The external torque observer is established by calculating the difference between the actual torque and the estimated torque, and the virtual force sensor converts the externally applied torques calculated for each axis to the end effector of the robotic arm. When detecting external forces applied to the end effector, the virtual force sensor demonstrates a correlation coefficient of 0.75 and a Root Mean Square Error of 12.93 N, proving its fundamental competence for force measurement. In this paper, both the external torque observer and the virtual force control are applied to applications related to sensing external forces of the robotic arm. The external torque observer is utilized in the safety collision detection mechanism. Based on experimental results, the system can halt the motion of the robotic arm using the minimum external force that the human body can endure, thereby ensuring the operator’s safety. The virtual force control is utilized to implement a position and force hybrid controller. The experimental results demonstrate that, under identical control conditions, the position and force hybrid controller established by the Raspberry Pi single-board computer achieves superior control outcomes in a constant force control scenario with a pressure of 40 N. The average absolute error is 9.62 N, and the root mean square error is 11.16 N when compared to the target pressure. From the analysis of the results, it can be concluded that the Raspberry Pi system implemented in this paper can achieve a higher control command update rate compared to personal computers. As a result, it can provide greater control benefits in position and force hybrid control.

Abstract Background Many patients with neurological movement disorders fear to fall while performing postural transitions without assistance, which prevents them from participating in daily life. To overcome this limitation, multi-directional Body Weight Support (BWS) systems have been developed allowing them to perform training in a safe environment. In addition to overground walking, these innovative/novel systems can assist patients to train many more gait-related tasks needed for daily life under very realistic conditions. The necessary assistance during the users’ movements can be provided via task-dependent support designs. One remaining challenge is the manual switching between task-dependent supports. It is error-prone, cumbersome, distracts therapists and patients, and interrupts the training workflow. Hence, we propose a real-time motion onset recognition model that performs automatic support switching between standing-up and sitting-down transitions and other gait-related tasks (8 classes in total). Methods To predict the onsets of the gait-related tasks, three Inertial Measurement Units (IMUs) were attached to the sternum and middle of outer thighs of 19 controls without neurological movement disorders and two individuals with incomplete Spinal Cord Injury (iSCI). The data of IMUs obtained from different gait tasks was sent synchronously to a real-time data acquisition system through a custom-made Bluetooth-EtherCAT gateway. In the first step, data was applied offline for training five different classifiers. The best classifier was chosen based on F1-score results of a Leave-One-Participant-Out Cross-Validation (LOPOCV), which is an unbiased way of testing. In a final step, the chosen classifier was tested in real time with an additional control participant to demonstrate feasibility for real-time classification. Results Testing five different classifiers, the best performance was obtained in a single-layer neural network with 25 neurons. The F1-score of $$86.83\% \pm 6.2\%$$ 86.83 % ± 6.2 % and $$92.01\%$$ 92.01 % are achieved on testing using LOPOCV and test data ( $$30\%$$ 30 % , participants = 20), respectively. Furthermore, the results from the implemented real-time classifier were compared with the offline classifier and revealed nearly identical performance (difference = $$0.08 \%$$ 0.08 % ). Conclusions A neural network classifier was trained for identifying the onset of gait-related tasks in real time. Test data showed convincing performance for offline and real-time classification. This demonstrates the feasibility and potential for implementing real-time onset recognition in rehabilitation devices in future.

This paper presents a 13.2 kV class 3-phase solid-state transformer (SST) based on EtherCAT communication. In general, when the structure of the unit module is determined, the number of high-frequency isolated transformers (HFIT) is also proportional to the number of modules. The structure most considered in SST is a 1:1 combination of AC/DC converter and DC/DC converter. To optimally implement a 3-phase SST, a topology for reducing passive elements such as switching elements and HFIT is proposed. It also describes the design of HFIT used in DC/DC converter. EtherCAT communication with high transmission speed and expandability is applied to control the SST composed of unit modules stably, and a multi-core microcontroller unit (MCU) is applied to achieve both a high-speed communication cycle and complicated control algorithm execution. The discussions are validated using a 300 kW 13.2 kV class 3-phase SST prototype in various conditions. [ABSTRACT FROM AUTHOR]

As part of the development process, scaled testing of wave energy converter devices are necessary to prove a concept, study hydrodynamics, and validate control system approaches. Creating a low-cost, small, lightweight data acquisition system suitable for scaled testing is often a barrier for wave energy converter developers’ ability to test such devices. This paper outlines an open-source solution to these issues, which can be customized based on specific needs. This will help developers with limited resources along a path toward commercialization.

The increasing demand for rapid application development tools, especially those employing high-level languages such as Python, has underscored the importance of utilizing a wide array of popular libraries while addressing real-time constraints in distributed hardware systems. This paper introduces PyIgH, a unified architecture of an IgH EtherCAT master based on Python, specifically designed to satisfy hard real-time requirements in an EtherCAT network. Implemented as a Python module, PyIgH exposes the functionalities and capabilities of an open-source EtherCAT master, facilitating seamless configuration and control of EtherCAT slave devices within the Python runtime environment. Real-time adaptation of the POSIX library, encapsulated within Python, is also utilized to satisfy the timing requirements of EtherCAT. The feasibility of the proposed approach is verified by analyzing the real-time performance in terms of periodicity and in-controller delay of the EtherCAT control task with a 1 kHz cycle. Experimental results demonstrate that PyIgH is suitable for hard real-time applications and serves as a valid alternative to conventional low-level EtherCAT masters. Additionally, a practical application involving motion control of a six-axis collaborative robot showcases consistent performance of PyIgH within a real-time multi-tasking environment. • A Python-based EtherCAT master for distributed hard real-time control systems. • Configuration and control of EtherCAT devices within the Python runtime environment. • Comprehensive performance analysis compared with conventional and existing solutions. • Practical experiments on a 6-axis collaborative robot motion control for validation. • Potential to integrate AI models with real-time tasks and control EtherCAT devices. [ABSTRACT FROM AUTHOR]

Copyright of Light Industry Machinery is the property of Light Industry Machinery Editorial Office and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Ordnance Industry Automation is the property of Editorial Board for Ordnance Industry Automation and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Background: Many patients with neurological movement disorders fear to fall while performing postural transitions without assistance, which prevents them from participating in daily life. To overcome this limitation, multi-directional Body Weight Support (BWS) systems have been developed allowing them to perform training in a safe environment. In addition to overground walking, these innovative/novel systems can assist patients to train many more gait-related tasks needed for daily life under very realistic conditions. The necessary assistance during the users' movements can be provided via task-dependent support designs. One remaining challenge is the manual switching between task-dependent supports. It is error-prone, cumbersome, distracts therapists and patients, and interrupts the training workflow. Hence, we propose a real-time motion onset recognition model that performs automatic support switching between standing-up and sitting-down transitions and other gait-related tasks (8 classes in total).Methods: To predict the onsets of the gait-related tasks, three Inertial Measurement Units (IMUs) were attached to the sternum and middle of outer thighs of 19 controls without neurological movement disorders and two individuals with incomplete Spinal Cord Injury (iSCI). The data of IMUs obtained from different gait tasks was sent synchronously to a real-time data acquisition system through a custom-made Bluetooth-EtherCAT gateway. In the first step, data was applied offline for training five different classifiers. The best classifier was chosen based on F1-score results of a Leave-One-Participant-Out Cross-Validation (LOPOCV), which is an unbiased way of testing. In a final step, the chosen classifier was tested in real time with an additional control participant to demonstrate feasibility for real-time classification.Results: Testing five different classifiers, the best performance was obtained in a single-layer neural network with 25 neurons. The F1-score of [Formula: see text] and [Formula: see text] are achieved on testing using LOPOCV and test data ([Formula: see text], participants = 20), respectively. Furthermore, the results from the implemented real-time classifier were compared with the offline classifier and revealed nearly identical performance (difference = [Formula: see text]).Conclusions: A neural network classifier was trained for identifying the onset of gait-related tasks in real time. Test data showed convincing performance for offline and real-time classification. This demonstrates the feasibility and potential for implementing real-time onset recognition in rehabilitation devices in future. [ABSTRACT FROM AUTHOR]

While the industrial robotic manipulator is a kind of multi-input and multi-output human-like operation and highly autonomous control system. It is widely used in medical care, home service, industrial manufacturing and other fields. With the integration of cyber-physical system networks and the Internet in recent years, the control commands of the industrial robotic arm control system can be totally exposed to the Internet. Under these circumstances, the chances of successful attacks by attackers to systems are increasing year by year. Compared to the security of traditional cyber physical system, the security of manipulator control system is a very challenging problem. In this paper, a covert attack method of 7 degrees of freedom (7-DOF) manipulator control system was proposed. Firstly, based on the inverse kinematics equation of the manipulator, the motion planning and modeling of 7-DOF manipulator, which communicated by EtherCAT, was carried out. Secondly, according to the research and analysis of particle swarm optimization method, a 7-DOF manipulator system PID parameter identification algorithm based on chaotic theory for multi- swarm particle swarm optimization was proposed. Parameter identification mainly identified the PID parameters of each joint. The principle and derivation process of the algorithm were described in detail. Finally, the experimental platform of manipulator control system was built and the identified parameters were used in combination with the covert attack principle to conduct the experiment. The proposed method was compared with other traditional attack methods, such as state machine attack and traditional sine attack. The results show that the covert attack model of the proposed 7-DOF manipulator can destroy the data integrity and accuracy of the manipulator system, and has a good concealment, which verifies the effectiveness and feasibility of the established attack model. The attack experiment platform constructed in this paper provides the physical basis for the attack and defense experiment of the manipulator, and it has certain reference significance for similar researchers.

In the study, we develop a method to improve the accuracy of master-slave synchronization in EtherCAT networks. The method involves two key compensations that are not considered in the EtherCAT protocol. First, the propagation delay between the master and reference slave is measured, and the system time of the reference slave is then compensated for the measured propagation delay. Second, the bias component of the synchronization error between the master and reference slave is periodically estimated, and system time of each slave is then compensated for the estimated bias component. The entire method is implemented as part of the master application without modifying the EtherCAT protocol or requiring excessive computation load or large memory space. Thus, the developed method is advantageous because it can be immediately applied at low cost to existing EtherCAT networks. By performing extensive experiments based on a Linux-based EtherCAT master, we demonstrate that the developed method significantly improves the accuracy of the master-slave synchronization in EtherCAT networks.

When designing and manufacturing industrial computer systems, many different issues must be considered. The most important of these are the temporal characteristics and real-time operation. Another factor is the distribution of the system, usually over a wide area, operation in harsh environments, and, finally, the system’s dependability. When addressing the last issue, redundancy is commonly employed. This can be applied in many ways, e.g., by providing redundant communication links (buses and communication modules) and redundant sensors, input/output modules. This article considers systems that have computing unit redundancy, for which programmable logic controllers (PLCs) are often used. On the one hand, systems of this kind should be reliable and capable of real-time operations. On the other hand, they should be economically attractive. There are many solutions available on the market for the implementation of systems with redundancy. However, they are always rather expensive. Of course, the price is for a robust solution with dedicated hardware and many built-in features that are crucial in highly reliable systems, such as autodiagnostics. Nevertheless, such powerful products are not always required. This article presents an example of a cost-effective implementation of an industrial controller with hot-standby redundancy using regular devices and an Ethernet communication interface for the needs of synchronization of the computing units. For this purpose, EtherCAT and real-time Ethernet protocols were used. Note to Practitioners—This article is motivated by the problem of high cost of application of systems with computing units redundancy based on dedicated components, such as the latest S7-1500R/H Redundant System by Siemens or PACSystems Profinet System Redundancy by Emerson (former GE IP). The above solutions are powerful and sophisticated. However, sometimes, simpler solutions would suffice. This article shows how a system with computing unit redundancy could be built in a cost-effective way and, at the same time, provide all the basic features expected from systems with redundancy, i.e., fault detection, automatic switchover, and synchronization. All this is done with a common embedded programmable device and an open Ethernet-based communication network. [ABSTRACT FROM AUTHOR]

Despite significant advances in robotic technologies, few affordable robots for domestic applications are commercially available. This study aimed to develop an affordable yet practical mobile manipulator for use in household environments. The proposed mobile manipulator features a software-based real-time controller to control the motion of the manipulator and mobile base. The real-time controller was implemented on a single on-board Windows PC and can control the actuator and IO devices via EtherCAT communication. The major functionalities of the mobile manipulator include the pick-and-place of household objects and autonomous navigation within a domestic environment. For pick-and-place tasks, a deep neural network (DNN) was employed to recognize the object to pick up. For autonomous navigation, open-source ROS packages for SLAM and navigation were used along with the measurements from a LiDAR sensor and odometry. The feasibility of using the developed robot for domestic applications was experimentally evaluated. [ABSTRACT FROM AUTHOR]

Toplam maliyeti azaltarak piyasaya hızlı ve aynı standartta ürün sunmak seri üretim yapan firmaların önemli hedefleri arasındadır. Fakat sadece üretimi değil üretimden satışa kadar olan tüm süreci (geliştirme, üretim, lojistik) hızlı, etkin, esnek ve kontrol edilebilir şekilde yönetmek gerekmektedir. Bu çalışmada, lojistik faaliyetler içerisinde yer alan, ürünlerin depolanması, ürünün müşteriye sevkiyatının yapılması, gelen ürünlerin ürün ve beden temelli ayrıştırılması gibi operasyonlar yapılan bir depolama tesisinde, depolama hattının hızını ve etkinliği arttırmaya yönelik iyileştirme çalışması ele alınmıştır. Depolama tesisi, depolama süreçlerini modüler olarak incelemek için çalışma bölgelerine ayrılmıştır. Yapılan iyileştirme bir çalışma bölgesi içerisindeki beş konveyör hattını kapsamaktadır. Hazırlanmak üzere gelen ilk ürünle, hazırlanmış son ürünün ortak kullandığı bu bölgede, sayıcılara bağlı olarak işleyen denetim yapısı gelen / giden hatların yoğunluk durumlarını temel alan denetleyici ile değiştirilerek iyileştirme sağlanmıştır. Ürün depolama kapasitesinde aynı çalışma koşulları göz önüne alındığında önemli bir artış gözlenmiştir.

Toplam maliyeti azaltarak piyasaya hızlı ve aynı standartta ürün sunmak seri üretim yapan firmaların önemli hedefleri arasındadır. Fakat sadece üretimi değil üretimden satışa kadar olan tüm süreci (geliştirme, üretim, lojistik) hızlı, etkin, esnek ve kontrol edilebilir şekilde yönetmek gerekmektedir. Bu çalışmada, lojistik faaliyetler içerisinde yer alan, ürünlerin depolanması, ürünün müşteriye sevkiyatının yapılması, gelen ürünlerin ürün ve beden temelli ayrıştırılması gibi operasyonlar yapılan bir depolama tesisinde, depolama hattının hızını ve etkinliği arttırmaya yönelik iyileştirme çalışması ele alınmıştır. Depolama tesisi, depolama süreçlerini modüler olarak incelemek için çalışma bölgelerine ayrılmıştır. Yapılan iyileştirme bir çalışma bölgesi içerisindeki beş konveyör hattını kapsamaktadır. Hazırlanmak üzere gelen ilk ürünle, hazırlanmış son ürünün ortak kullandığı bu bölgede, sayıcılara bağlı olarak işleyen denetim yapısı gelen / giden hatların yoğunluk durumlarını temel alan denetleyici ile değiştirilerek iyileştirme sağlanmıştır. Ürün depolama kapasitesinde aynı çalışma koşulları göz önüne alındığında önemli bir artış gözlenmiştir.

In view of the problem that the reliability and maintainability of the coal mine underground monitoring system are reduced when emergency occurs, a redundant network of the coal mine underground monitoring system based on industrial Ethernet EtherCAT communication is proposed in the present study. By studying the composition, working principle and message structure of industrial Ethemet EtherCAT, the characteristics of EtherCAT communication network with or without redundant structure are compared. The link redundancy mechanism is added to the regular EtherCAT master driver. The redundant frame propagation mechanism, fault point location and recovery strategy in network port fault, link fault and node fault are planned, respectively. Under laboratory conditions, a simulation test platform for the underground power monitoring system is established based on the EtherCAT communication net work and the underground coal mine power supply network, and a redundant mechanism is added to test its performance. The results show that the system has superior performance and the reliability of the system is markedly improved. [ABSTRACT FROM AUTHOR]

With the gradual development and competition among enterprises, the products of motion control system are diversified and the performance difference is bigger. The technology of motion control system is monopolized by a few foreign professional manufacturers. The development of motion controller in China is relatively late, and the number with independent research and development ability is still in the minority. Compared with foreign countries, some developed countries still restrict the export of high-end products to China. This paper will use Loongson 3A3000 processor to realize open motion controller. Loongson series processor is a general domestic processor developed by Institute of computing technology, Chinese Academy of Sciences. It uses MIPS instruction system. At present, Loongson is gradually catching up with and surpassing the world advanced level. The communication module of motion controller uses EtherCAT real-time Ethernet, which has the characteristics of high efficiency, flexible topology and short refresh cycle. At present, there are few cases of open motion controller based on domestic CPU Loongson, which provides a typical case for independent innovation in China. [ABSTRACT FROM AUTHOR]