This diploma thesis describes design of interconnections and program modules for robotic cell control for parts creation. Research of this work is focused on industrial comunication protocols. The next part analyzes separate parts of the cell and their ways of connection. Futhermore, control structures of the cell are proposed and after comparison of them SCADA system structure was chosen. Project of connecting separate devices is done in Wonderware Systém Platform. The next step describes procedure of interconection of parts of the cell with each other. Then was designed visualization to operate robotic cell and to illustrate its state. Whole visualization was created using Wonderware InTouch program. In conclusion thesis is reviewed.

Open Platform Communication Unified Architecture, or OPC UA, is a world-leading communication protocol specializing in unifying and automating production systems communication. In 2018 the OPC Foundation, an industrial consortium, started the OPC UA Field eXchange initiative to develop the current protocol to extend the reach of the communication down to field level devices like sensors and actuators. This paper explores whether OPC UA FX software can be implemented and integrated with HMS Networks’ product AnyBus CompactCom M40.  The problem formulation stems from the future need for factory communication. For factories to compete, they need to adapt and keep up with the technological progression. OPC UA FX is based on decentralized communication where devices transmit data to each other by distributing the load over the entire system.   The purpose of this report is to, based on the Open62541 implementation, develop software that extends OPC UA with PubSub functionality and methods that enable two or more instances to run as an FX application, meaning that the program publishes and subscribes data simultaneously. Once the software is developed, we integrate it on an AnyBus CompactCom 40 module. This will work as a communication prototype that proves that it is possible to extend OPC UA with FX into HMS Networks’ products.  Open62541 is used to gather libraries and methods needed for OPC UA development. The software is developed using C in Visual Studios and integrated into the hardware using Eclipse.  The result in the form of software was a connection-oriented data exchange, based on the OPC UA information model, where two or more instances can publish and subscribe to information simultaneously. HMS Networks can use the result on their way to implementing OPC UA FX in their products.  In conclusion, the Open62541 implementation is beneficial when developing the OPC UA protocol. The software is complete, but it could not be fully integrated into the CompactCom module. The achieved application is still useful for the development of HMS Network’s products that might use the protocol. / Open Platform Communication Unified Architechure, eller OPC UA, är ett av de världsledande kommunikationsprotokoll som är specialiserat i att förena kommunikation i produktionssystem. 2018 startade OPC Foundation, ett industriellt konsortium, ett initiativ vid namn OPC UA Field eXchange med målet att utvekcla det nuvarande protokollet så att det kan användas till kommunikation på låg nivå, exempelvis mellan sensorer och ställdon. Denna rapport utforskar ifall det är möjligt att utveckla protokollet och integrera det i HMS Networks modul AnyBus CompactCom 40.  Problemformluleringen baseras på framtida behov hos fabriker relaterat till automatisering. För att konkurrera framöver behöver fabriker anpassa sig till utvecklingen inom automatisering. OPC UA FX fokuserar på decentralierad kommunikation mellan enheter som fältanordning, maskin och moln samtidigt för att belastningen ska delas upp över hela systemet. Samtidigt som enheter i industiella nätverket fritt ska kunna överföra data mellan varandra oberoende vilken tillverkare som skapat enheten.   Syftet med arbetet är att, baserat på Open62541, utveckla PubSub teknologi med metoder som möjlighetsgör att två eller fler instanser av en FX applikation ska kunna transportera data genom att prenumerera på och publicera data samtidigt. När mjukvaran fungerar är tanken att integrera mjukvaran på en AnyBus CompactCom 40 modul för att bevisa att implementationen är möjlig i ett praktiskt sammanhang.  Open62541 används för att inkludera nödvändiga OPC UA bibliotek, funktionalitet och datatyper. Protokollet utvecklas i C i en VisualStudio miljö och integreras med hjälp av Eclipse. Resultatet i form av mjukvara var en kopplings intriktat data utbyte, baserad på OPC UA information modell, där en eller två instanser av ett program kan publicera och prenumerera på data samtidigt. HMS Networks kan använda resultatet i arbetet att implementera OPC UA FX i deras produkter. ​Sammanfattningsvis är Open62541 ett mycket användbart verktyg för utvekcling av OPC UA protokol. Dessvärre lyckades inte integrationen av mjukvaran i CompactCom modulen helt och hållet, men det som åstadkommits i arbetet kan i hög grad användas för fortsatt utveckling av OPC UA FX i HMS Networks produkter.

Many industries are now moving several of their processes into the cloud computing sphere. One important process is to collect machine data in an effective way. Moving signal collection processes to the cloud instead of on premise raises many questions about performance, scalability, security and cost.This thesis focuses on some of the market leading and cutting edge protocols appropriate for industrial production data collection. It investigates and compares the pros and cons of the protocols with respect to the demands of industrial systems. The thesis also presents examples of how the protocols can be used to collect data all the way to a higher-level system such as ERP or MES.The protocols focused on are MQTT and AMQP (in OPC-UA). The possibilities of OPC-UA in cloud computing is of extra interest to investigate in this thesis due to its increasing usage and development.

O presente trabalho tem como objetivo o desenvolvimento de uma estratégia de programação para um robô de cinco graus de liberdade com acionamento pneumático. A proposta para tal estratégia de programação utiliza como base a linguagem SFC (Sequential Function Chart) normatizada pela IEC 61131-3. A principal característica deste tipo de linguagem é a simplicidade na integração com diversos elementos presentes em ambiente fabril, juntamente a garantia do sequenciamento das ações e a facilidade de programação. O estudo foi realizado em três etapas: a primeira, destina-se à criação de sub-rotinas em linguagem SFC para movimentação ponto a ponto, pick and place, e paletização. Desta forma, através da definição de alguns dados de entrada, é possível reprogramar o robô de forma gráfica e intuitiva; a segunda etapa do estudo constituiu na criação de um Programa Tradutor em linguagem baseada em scripts de Matlab que, através de um servidor OPC (Ole for Process Control), faz a interpretação do programa em linguagem SFC e o traduz para a linguagem do sistema de controle do robô; já, a última etapa destina-se à realização de testes utilizando um CLP Compact Logix da AllenBradley em conjunto com o software de programação RSLogix 5000, o software Matlab e o sistema de controle do robô pneumático. A partir dos resultados, Conclui-se que a aplicação e utilização este tipo de programação para tarefas de movimentação de robôs é plenamente viável, o que pode vir a simplificar as etapas de programação, e ampliando a integração entre os diversos sistemas fabris, na medida em que os seus elementos poderão trocar facilmente informações necessárias à automação. / The present study has as main goal to present a differentiated form of programming for a prototype of a robot of five degrees of freedom with pneumatic drive. This program is based on the language SFC (Sequential Function Chart) standardized by IEC 61131-3. The main feature of this type of language is simplicity in integration with various elements present in the manufacturing environment, ensuring the sequencing of actions and ease of programming. The system used as a test bench consists of a pneumatic robot which currently control actions are carried out through specific programming routines combined with dedicated control boards, working with Matlab software. The study was conducted in three stages: the first, for creating subroutines in SFC language to linear movement, pick and place movement and palletizing movement, thus, by setting some input data it is possible to reprogram the robot for tasks in a graphical and intuitive way; the second stage of the study consisted in creating a translator program in Matlab language based on scripts that, through an OPC server (Ole for Process Control), interpreters the program in SFC language and translates it into the language of the control system robot; the last step was intended for testing this programming approach by using a PLC Compact Logix from Allen-Bradley in conjunction with RSLogix 5000 programming software, Matlab and the control system of the pneumatic robot. It was concluded that the implementation and use of this type of programming for robot handling tasks are both feasible. It simplifies the programming steps and enhances the integration between the various manufacturing systems, since the elements could directly exchange information, because they are in the same language.

Concrete is the most common building material in the world and its use has been increasing during the last century as the need for construction projects has escalated. Traditionally, concrete uses Ordinary Portland Cement (OPC) as binder, water as the activator of cement and aggregate. Finding an appropriate replacement for traditional concrete is a desirable solution to obviate the environmental problems caused by cement production. The use of fly ash as a partial replacement for Portland cement is a method to maintain the properties of concrete and reduce the need for cement. Fly ash is a by-product from coal-fired power plants and is abundantly available. The percentage of cement replacement can be varied according to application and mix design. One of the potential materials to substitute for conventional concrete is geopolymer concrete (introduced by Davidovits in 1979). Geopolymer concrete is an inorganic alumino-silicate polymer synthesized from predominantly silicon, aluminum and byproduct materials such as fly ash. Geopolymer properties have been investigated for several years and it is still a major area of interest among researchers and industry partners as it does not contain cement and uses fly ash and alkali liquids as binders to produce a paste to consolidate aggregates. Furthermore, the aggregate comprises a substantial portion of concrete. Including coarse and fine aggregates it is normally obtained from natural sources. Fine aggregate in Australia is usually mined from sand quarries. As the demand for concrete production increases, more natural sand is needed. The need for fine aggregate should be addressed in an environmentally friendly manner, considering the diminishing sources of natural sand. Red sand is a by-product generated from the manufacture of alumina from bauxite by the Bayer process. / Previous studies on properties of red sand have shown that it has the potential to be used in concrete as a fine aggregate. While the use of red sand in traditional concrete has been investigated by some researchers, no research has been reported regarding the use of this by-product in manufacturing geopolymer concrete. This research looks into the replacement of natural sand fine aggregates with red sand in geopolymer concrete. Initially, an extensive series of mixtures was prepared and tested. The objective of the research was to identify the salient parameters affecting the properties of geopolymer concrete when natural sand is replaced by red sand. At the next stage, attempts were made to enhance the mechanical and durability features of red sand geopolymer concrete. The final stage consisted of testing red sand geopolymer concrete to find out the various properties of this novel construction material.

Cette thèse porte sur l'apport de la simulation en ligne dans le pilotage des systèmes de production. Au fil des ans, ces systèmes deviennent de plus en plus compliqués et requièrent une capacité d'analyse toujours plus grande de la part de son pilote. Plusieurs études ont démontré que l'aide la plus précieuse qu'une entité décisionnelle pouvait obtenir pour optimiser ses décisions était un outil lui permettant de prévoir la conséquence de ses décisions. En effet, c'est cet aspect de la prise de décision qui est rendu particulièrement hasardeux par l'augmentation de la complexité des systèmes. L'objet de cette thèse est d'étudier comment la simulation de flux, après avoir été un outil d'aide à la conception d'unité de production, peut devenir un outil d'aide à la décision dans le cadre du pilotage de cette unité.<br />La première partie présente le contexte de nos travaux. Après avoir resitué le pilotage des systèmes de production, nous présentons les principes et les outils de la simulation du flux. Enfin, nous présentons un état de l'art concernant la simulation en ligne, en remarquant qu'il s'agit d'un domaine encore relativement peu exploré par la communauté de la recherche sur les systèmes de production. La seconde partie de nos travaux portent sur l'intégration des outils de simulation dans l'architecture de commande. Dans un premier temps, nous étudions la place relative de l'humain et de la machine au niveau de la prise de décision. Les outils de simulation classique permettent depuis longtemps déjà de prévoir la conséquence de décisions portant sur un terme long relativement à la dynamique du système. Lorsque l'horizon se restreint, l'état initial des simulations est problématique : de par son influence grandissante sur les résultats, il est nécessaire d'assurer une équivalence de plus en plus stricte avec l'état du système de production au moment du début des simulations. C'est pourquoi, dans la deuxième partie de ce chapitre, nous montrons sur un exemple l'importance de l'initialisation dans une simulation en ligne pour la prise de décision.<br />La troisième partie de nos travaux porte sur la résolution de ce problème par l'introduction dans l'architecture de commande d'un observateur, également réalisé par simulation, en communication constante avec les organes de commande du système. Au moment où la simulation se lance, elle s'initialise sur l'état de l'observateur, qui est considéré comme étant une bonne approximation de l'état actuel réel du système. La dernière partie présente une validation sous la forme d'une application complète des concepts et de l'architecture proposés sur un système de production flexible, actuellement en production dans le cadre de l'Institut Universitaire de Technologie de Nantes.

Les précurseurs neuraux adultes possèdent une plasticité cellulaire suggérant un rôle dans l'apparition de pathologies mais aussi un potentiel curatif inespéré. Cependant, l'emploi clinique de ces cellules nécessite une connaissance des mécanismes biologiques contrôlant leur prolifération, maturation ou spécification cellulaire. Dans cette thèse, nous avons étudié l'expression des protéines S100 A1 et B dans les cellules progénitrices d'oligodendrocytes (OPC) et les cellules souches astrocytaires. Nous avons démontré que <br />1) toutes les cellules gliales expriment précocement la S100A1 alors que la S100B est liée à leur maturation <br />2) la S100B régule la maturation des OPC <br />3) les cellules souches astrocytaires adultes sont maintenues dans un stade de développement immature (S100B-) grâce à l'EGF, afin de conserver leurs propriétés germinales.<br />Ces résultats démontrent un lien entre les protéines S100A1/B, la maturation des cellules gliales et leurs propriétés de différenciation cellulaire.

<p>Denna rapport beskriver vilken kommunikationskvalitet i form av prestanda, tillförlitlighet och tillgänglighet som kan förväntas av datakommunikationsstandarden OPC. För att ta fram information om kommunikationskvalitén har en praktisk utvärdering i form av duglighetstester utförts. Den praktiska utvärderingen har gjorts med Bosch Rexroths OPC-server OPC.IwSCP och mot Bosch Rexroths styrsystem MTX High Performance. Rapporten ger svar på vilken kommunikationskvalitet som kan förväntas med specificerad OPC-server och styrsystem. Rapporten beskriver också hur några av parametrarna i OPC Foundations API:er påverkar kommunikationskvalitén. Även andra faktorer så som brist på CPU-kraft för OPC-server/OPC-klient påverkar kommunikationskvalitén testas och utvärderas. Resultatet ifrån utförda duglighetstester analyseras utifrån hur möjligheten är att använda OPC för ett driftuppföljning/driftövervakningssystem utvecklat av Volvo IT i Skövde.</p>

Στην παρούσα διπλωματική εργασία παρουσιάζεται τμήμα ενός αυτοματισμού μιας βιομηχανικής διεργασίας. Πιο συγκεκριμένα, αφορά το γέμισμα φιαλών και την εποπτεία τους. Για τον έλεγχο του αυτοματισμού χρησιμοποιείται ένας προγραμματιζόμενος λογικός ελεγκτής (PLC) της σειράς SIMATIC S7 300 της Siemens, ενώ η εποπτεία θα γίνεται μέσω Ηλεκτρονικού Υπολογιστή και της εφαρμογής LABVIEW 2009 με την χρήση του NI OPC Servers της National Instruments. Για να ξεκινήσει η κάθε παρτίδα παραγωγής, ο χειριστής οφείλει να εκτελέσει τις εξής ενέργειες : 1) Να ελέγξει αν έχει στάθμη το tank. 2) Να τοποθετήσει φιάλες στο αστέρι. 3) Πιέζει το reset (μπλε μπουτόν), το μηχάνημα είναι έτοιμο και βρίσκεται σε κατάσταση standby. 4) Πιέζει το start (πράσινο μπουτόν), το μηχάνημα είναι ενεργοποιημένο και αρχίζει το γέμισμα. Στο πρώτο μέρος της γραπτής εργασίας, κεφάλαιο 1, κεφάλαιο 2, γίνεται μία εισαγωγή στα PLCs όσον αφορά την εγκατάσταση, διαμόρφωση, δομή, τον προγραμματισμό και τη λειτουργία τους. Οι βασικές αρχές που αναφέρονται ισχύουν σε γενικές γραμμές για όλα τα PLCs, αλλά οι αναφορές είναι στοχευμένες στη σειρά S7-300 της Siemens μια και αυτός είναι ο τύπος του PLC με το οποίο έχει υλοποιηθεί το πρακτικό μέρος της ειδικής επιστημονικής εργασίας. Στο δεύτερο μέρος, κεφάλαιο 3, κεφάλαιο 4, κεφάλαιο 5 γίνεται αναφορά στον προγραμματισμό και τη διαμόρφωση του PLC, μέσω του λογισμικού πακέτου STEP-7 – Simatic Manager. Στο τρίτο μέρος, κεφάλαιο 6, κεφάλαιο 7, κεφάλαιο 8 γίνεται αναφορά στον προγραμματισμό και τη διαμόρφωση του HMI, μέσω του λογισμικού πακέτου LABVIEW 2009 και την χρήση του NI OPC Servers της National Instruments. / In this thesis it is presented a part of an automatism of industrial process. More specifically it has to do with the filling of bottles and their supervision. For the test of the automatism it is used a programming logic control (PLC) of the series SIMATIC S7-300 of Siemens while the check will be done via both a PC and the application of Labview 2009 by the use of NI OPC servers of National Instrument. In order to begin every part of production , the operator has to carry out the following actions: 1) To check if the tank has the right level. 2) To put the bottles to the star. 3) To press the reset (the blue button) the machine is ready and is placed in the standby situation. 4) To press the start (green button), the machine is in function and the filling is starting. In the first part of this thesis, in unit 1, unit 2, is made an introduction for PLC as far as the installation is concerned, the formation, the structure the programming and their functions. The basic principles which are being referred are in force generally for the all PLC, but the references are aimed in the series S7-300 of Siemens, as this is the main type of PLC by which the practical part of this thesis has been created. In the second part, in unit 3, unit 4, unit 5, is made a mention the programming and the formation of PLC, through the software Step 7 Simatic Manager. In the third part, unit 6, unit 7, unit 8 is made a mention on the programming and the formation of HMI, through the software Labview 2009 and the use of NI OPC Servers of National Instruments.

Denna rapport går igenom den nya industriella revolution 4.0. Vi kommer se över hur den nya revolution 4.0 och process and producering industrin korrelerar. En genomgång av vad revolution 4.0 egentligen är, hur den är uppbyggd och vad den innebär. Vi kommer även gå igenom design aspekterna av ”industrie 4.0”. Parallellt med min undersökning av revolution 4.0 kommer jag att, på förteget Honeywell’s bekostnad, göra ett HMI till en PLC. Jag knyta ihop allt genom att visa parallellerna mellan centrala delar i revolutionen 4.0, så som kommunikations protokoll, och mitt projekt på Honeywell . / In this thesis we will look at the new industrial revolution 4.0. I will explain what the revolution 4.0 is, how it correlates with generic industrial automation and I will also present design aspects of the industrie 4.0 and central communication technologies that are in line with the industrial revolution 4.0. In parallel with the study and research of the revolution 4.0 – I will, on Honeywell’s behalf, make a demonstrational human machine interface for a programmable logic controller. You the reader will have a solid understanding of the hierarchies that are found in the process and manufacturing industry. And how central communication technologies of the industrial revolution 4.0 correlates with the Honeywell HMI/PLC project.