Nowadays, people have a boat of themselves become more and more popular. People use their boat for fishing trip and taking holiday. However, most of them do not want to take care of their boat by themselves. One of the reasons might be the place of a boat occupied. Recently, a method has been used is to store boat on the Boat Hotel. They pay for the rent of a boat garage and also hire someone to take care of their boat. Place the boat on the boat shelf with several layers is the most common method. They use forklift to take in/out the boat when boat owner need use their boat. On the conditional of this situation, if we want to take a boat which is inside of boat shelf, then we need take all outside boat out.  It’s really an inefficiency way, so we need improve it. In this study, we aim to design a Boat Storage System based on the existing shelf and meet all requirement of existing boat. This system should be reliable, efficient, economic, operable and flexible. The main function of the Boat Storage System is to take in/off the boat more quickly and automatically and efficiently. The system is similar with the stereo parking garage. Which have a paternoster controlled by PLC program. Consider of the boat is heavier than the car. Our storage structure should be more stable. Our design only need one person to operate it. The whole process will cost few seconds. This building will be established in the water. Therefore, the owner only need to push the button and then the boat will be prepared in the water automatically. The modelling and assembly was designed in Autodesk Inventor 2017. This hardware circuit of PLC was drawn in AutoCAD. The software to design the PLC is GX Works 2. And we used ANSYS Workbench 17.2 to analysis the structure. The analysis will prove the structure is safety and strong enough. And the simulation will prove the system is possible. Our conclusion is that this system has a good future and general application in the market.

O objetivo deste trabalho é desenvolver um sistema de automação para a produção das sementes de iodo-125 por soldagem a laser (Nd:YAG). As sementes de iodo- 125 são utilizadas com sucesso no tratamento de câncer por braquiterapia, via baixa taxa de dose. Esta pequena semente é constituída por uma cápsula de titânio soldada, com 0,8mm de diâmetro e 4,5mm de comprimento, contendo iodo-125 adsorvido em fio de prata, no interior da mesma. As sementes de iodo-125 são implantadas na próstata humana para irradiar o tumor e tratar o câncer. Hoje, o Centro de Tecnologia das Radiações - CTR, do IPEN-CNEN/SP importa e distribui 36.000 sementes de iodo-125 por ano, para as clínicas e hospitais no País. No entanto, o potencial do mercado brasileiro é de 8.000 sementes de iodo-125 por mês. Assim, a produção local destas fontes radioativas de iodo- 125 tornou-se uma prioridade para o Instituto, visando reduzir o preço e aumentar o fornecimento à população. Por outro lado, a automação industrial desempenha papel importante na fabricação das sementes de iodo-125, com aumento da produtividade e padrão elevado de qualidade, além de facilitar a implementação e o funcionamento de processos com Boas Práticas de Fabricação (BPF). A tecnologia consiste em associar peças mecânicas e componentes eletro-eletrônicos, para controle de máquinas e processos. A tecnologia de automação para produção das sementes de iodo-125 desenvolvida neste trabalho emprega Controlador Lógico Programável (CLP), motores de passos, drivers, máquina de soldagem a laser (Nd:YAG), sensores fotoelétricos e interfaces de comunicação. / The aim of this work is to develop an automation system for iodine-125 radioactive seed production by (Nd:YAG) laser welding, which has been used successfully in Low Dose Rate (LDR) brachytherapy treatment. This small seed consists of a welded titanium capsule, with 0.8mm in diameter and 4.5mm in length, containing iodine-125 adsorbed onto a silver rod. The iodine-125 seeds are implanted into the human prostate to irradiate the tumor for cancer treatment. Nowadays, the Radiation Technology Center, at IPEN-CNEN/SP imports and distributes 36,000 iodine-125 seeds per year, for the clinics and hospitals in the country. However, the Brazilian market potential is now over 8,000 iodine-125 seeds per month. The local production of these iodine-125 radioactive sources becomes a priority for the Institute, in order to reduce the price and the problems of prostate cancer management. It will permit to spread their use to a largest number of patients in Brazil. On the other hand, the industrial automation plays an important role for iodine-125 seeds in order to increase the productivity, with high quality and assurance, avoiding human factors, implementing and operating with Good Manufacturing Practices (GMP). The technology consists of appliance electronic and electro-mechanical parts and components to control machines and processes. The automation system technology for iodine-125 seed production developed in this work was mainly assembled employing Programmable Logic Controller (PLC), stepper motors, drivers, (Nd:YAG) laser welding machine, photoelectric sensors and supervisory.

La SNCF cherche à mettre en place des solutions innovantes permettant d’améliorer la sécurité et les conditions de travail des chargés d’études lors des travaux d’automatisation. En partant de l’étude théorique du projet jusqu’à sa validation sur site, en passant par la mise en œuvre des programmes, du câblage des armoires, et de leur vérification sur plateforme et en usine, ces différentes tâches s’avèrent souvent être longues, complexes, et répétitives, ce qui a pour effet d’augmenter la charge de travail des chargés d’études. En vue d’améliorer les conditions de travail des chargés d’études, ce projet de recherche vise principalement à améliorer leurs méthodologies de vérification des programmes API (aspects fonctionnels et sécuritaires) et du câblage des armoires électriques. Ce projet intitulé « Vérification formelle et simulation pour la validation des programmes API des EALE » se décompose en deux axes :  la vérification hors ligne des programmes API : basée sur une approche formelle, la méthode s’appuie sur une modélisation de l’installation électrique, des programmes API et du cahier de recette dans le model-checker Uppaal. Le principe consiste à vérifier automatiquement si les programmes satisfont aux tests du cahier de recette.  la vérification en ligne du câblage des armoires de contrôle/commande/ protection grâce à un simulateur de partie opérative interfacé avec les armoires de contrôle/commande/protection (via une armoire de test). La vérification se fera de manière automatique et en ligne, toujours avec les tests du cahier de recette, et permettra de valider le câblage des armoires et les réglages des appareils de protection numérique. / In order to keep its leadership in French rail market and to improve working conditions of its systems engineers during automation projects, the SNCF (French acronym for National Society of French Railways) wants to develop solutions increasing the productivity. One of these improvements focuses on the current methodology used by the systems engineers to verify and validate the control command system of electrical installations. This task remains one of the most important during an automation project because it is supposed to ensure installations safety, but it should be optimized. Through an industrial thesis financed by SNCF, the aim of this research project is to improve this method and reduce time validation of control command system by providing tools which will help systems engineers to verify and validate quickly and automatically the control command system during any automation project. It is composed of two axes : - Offline verification of PLC programs with model checking - Online validation of electrical cabinets with virtual commissioning

The US Department of Energy in 2010 has identified several rare earth elements as critical materials to enable clean technologies. As part of ongoing research in REEs (rare earth elements) recovery from coal sources, the University of Kentucky has designed, developed and is demonstrating a ¼ ton/hour pilot-scale processing plant to produce high-grade REEs from coal sources. Due to the need to control critical variables (e.g. pH, tank level, etc.), process control is required. To ensure adequate process control, a study was conducted on leaching and solvent extraction control to evaluate the potential of achieving low-cost REE recovery in addition to developing a process control PLC system. The overall operational design and utilization of Six Sigma methodologies is discussed. Further, the application of the controls design, both procedural and electronic for the control of process variables such as pH is discussed. Variations in output parameters were quantified as a function of time. Data trends show that the mean process variable was maintained within prescribed limits. Future work for the utilization of data analysis and integration for data-based decision-making will be discussed.

With the widely use of software technique in everyday applications, the correctness of software becomes more and more important. Formal verification is an important method to improve the correctness of software. However, it mainly takes formal languages as its modeling languages, which are based on mathematical logic, automata or graph theory, hard for learning and domain description. That hinders the applications of formal verification in industry. This dissertation investigates the design and practice of domain modeling and verification language EDOLA, to possess all the features of the usability for domain description, reusability and automatic verification. It proposes a three-level design method with the domain knowledge level, the common module level and the verification support level. The main contributions are summarized as follows: 1. In the domain knowledge level, the extraction and representation methods of the domain knowledge on both job-shop scheduling and PLC control software are proposed. It defines domain-specific operators of the job-shop scheduling problem, timed Petri net, etc. for the job-shop scheduling description. It also defines the operators of the scan cycle pattern, the complete environment pattern and five kinds of verification requests for the PLC domain description. It presents the formal semantics of the defined domain-specific operators, for the further EDOLA definition and its automatic verification. 2. In the common module level, the method to define common operators is presented with real-time as an example for common knowledge. It proposes two kinds of basic time operators and four advanced ones, which help EDOLA to describe real-time features easily and make the reusability of EDOLA design among time-sensitive domains possible. 3. In the verification support level, it presents a properties-oriented abstraction strategy, which reduces the state space and exploring space during automatic verifi- cation. It then formulates the encoding rules from EDOLA to first-order logic, thus implements the verification of the models with infinite states, with the help of first-order logic automatic theorem provers. 4. A prototype of the PLC domain modeling and verification language: EDOLA-PLC are developed and its tools are implemented. The tools provide an EDOLA-PLC editor and a compiler with the functionalities like syntax checking, semantics checking and translation-based automatic verification. 5. A case study of the EDOLA-PLC language on a dock fire-fighting control system is presented. It indicates that EDOLA-PLC is easy to describe both the PLC domain knowledge and the properties to be verified; is easy to describe the common knowledge: real-time and can be verified automatically. The results show that the abstraction strategy adopted in the verification support level of EDOLA-PLC improves the efficiency of automatic verification.

Η διπλωματική εργασία συνίσταται στην κατασκευή και λειτουργία, μέσω προγραμματισμού, μιας πειραματικής διάταξης αυτοματισμού που περιλαμβάνει εξοπλισμό όπως πνευματικά έμβολα κλατικού τύπου ή τύπου μυών, αισθητήρες θέσης κλπ.- είτε ανεξάρτητα είτε συνδυασμός αυτών - και έναν Προγραμματιζόμενo Λογικό Ελεγκτή (PLC) που ελέγχει τη λειτουργία της διάταξης. Το κομμάτι του προγραμματισμού αναφέρεται στο PLC. Η πειραματική διάταξη αυτοματισμού που κατασκευάστηκε είναι ένας μηχανικός αναρριχητής. Η διάταξη αναρρίχησης αποτελείται απο 4 έμβολα / τεχνητούς μύες πεπιεσμένου αέρα προσαρμοσμένα στο ένα τους άκρο σε μια κοινή βάση (σώμα του αναρριχητή). Στο άλλο άκρο υπάρχει κατάλληλος μηχανισμός ολίσθησης που τους επιτρέπει να κινηθούν πάνω στην επιφάνεια των κάθετων δοκών αλουμινίου που συνθέτουν τη διαταξη προς αναρρίχηση. Κάθε μηχανισμός ολίσθησης διαθέτει μικρό έμβολο πεπιεσμένου αέρα με χρήση του οποίου επιτυγχάνουμε την παύση της ολίσθησης του άκρου. Η συνδυασμένη και διαδοχική έκταση-συστολή των εμβόλων προκαλεί την κίνηση προς τα πάνω ή προς τα κάτω του σώματος, το οποίο μιμείται κατά έναν τρόπο την αναρρίχηση του ανθρώπου σε σκάλα. Η λειτουργια της διάταξης έχει σχεδιαστεί έτσι ώστε ο αναρριχητής να φθάνει στο επιθυμητό ύψος το οποίο και θα ορίζεται απο τον χρήστη. Η αναρρίχηση στο επιθυμητό σημείο μπορεί να εκτελεστεί με τέσσερις (4) διαφορετικους τροπους: 1) Αναρρίχηση με λειτουργία μόνο των άνω άκρων. 2) Αναρρίχηση με λειτουργία μόνο των κάτω άκρων. 3) Αναρρίχηση με ταυτόχρονη λειτουργία των άνω και κάτω άκρων. 4) Αναρρίχηση με λειτουργία των άνω & κάτω άκρων και PID έλεγχο θέσης. Ο χρήστης έχει τη δυνατότητα να ορίσει το επιθυμητό σημείο θέσης και να διαλέξει ένα από τα τέσσερα μοτίβα ανάβασης. Στα τρία πρώτα μοτίβα η έκταση και συστολή των μυών γίνεται με χρήση προκαθορισμένων τιμών πίεσης. Με αυτό το τρόπο για τα τρία αυτά σενάρια κίνησης ο έλεγχος θέσης προσεγγίζει τη διακοπτική ON/OFF θεωρία ελέγχου. Στο τέταρτο σενάριο, η ανάβαση πραγματοποιείται επίσης με το διακοπτικό ON/OFF τρόπο, ο τελικός όμως έλεγχος θέσης επιτυγχάνεται με χρήση PID ελεγκτή. Μετά την ολοκλήρωση ή και κατά την διάρκεια εκτέλεσης του εκάστοτε μοτίβου κίνησης, ο χρήστης έχει επίσης την δυνατότητα ενεργοποίησης της ρουτίνας κατάβασης που επιστρέφει τον αναρριχητή στην αρχική του θέση. / This Diploma Thesis consists of the construction and operation, through the means of programming, of an experimental automated system which includes equipment such as pneumatic cylinders (classic or muscle type), position sensors etc. - combined or independent – and a Programmable Logic Controller (PLC) which controls the functions of the automated system. The programming part is referred to the PLC. The experimental automated system that was constructed is that of a mechanical climber. The climber consists of 4 pneumatic cylinders / artificial muscles, the one end of which is attached to a common body. The other end is attached to a sliding mechanism which allows the movement of the muscles on the surface of the vertical aluminum beams that compose the climbing structure. A small pneumatic cylinder is attached on every sliding mechanism, which is used to stop the sliding of the muscles. The combined and successive outstroke and instroke of the cylinders causes the upward or downward movement of the climber’s body, which mimics in a way the movements of a human body while climbing a ladder. Those functions are designed so that the mechanical climber reaches a desired height, which is set by the user. The climb to the desired height can be executed with four (4) different movement patterns: 1) Climb using only the upper limbs. 2) Climb using only the lower limbs. 3) Climb using the upper and lower limbs simultaneously. 4) Climb using the upper and lower limbs and PID position control. The user can set the desired height and choose one of the four movement routines. During the first three movement patterns, the instroke and outstroke of the cylinders is done with the use of predetermined pressure values. In this way, during those patterns the position control approximates the ON/OFF control theory. During the fourth movement pattern, the climb is executed with the same ON/OFF way but the final position control is done by use of a PID controller. After the completion of a movement pattern, or even during movement, the user can always enable the descendance movement routine which returns the climber to its former position.

Ο στόχος της παρούσας διπλωματικής εργασίας είναι ο έλεγχος και αποκατάσταση της θερμοκρασίας και της υγρασίας από απόσταση σε ένα χώρο ο οποίος απαιτεί συγκεκριμένες τιμές των δύο παραπάνω μεγεθών. Ένας τέτοιος χώρος μπορεί να είναι μια αίθουσα χειρουργείου ή μια μονάδα εντατικής θεραπείας. Ανάλογα με τις επιθυμητές θερμοκρασίες που έχουν τεθεί, ενεργοποιούνται οι βάνες του θερμαντικού ή του ψυκτικού στοιχείου. Όταν η υγρασία του χώρου είναι κατώτερη της επιθυμητής, ενεργοποιείται η τρίοδος βάνα ατμού. Όταν η υγρασία του χώρου είναι υψηλότερη της επιθυμητής ενεργοποιείται η τρίοδος βάνα του ψυκτικού στοιχείου για επιπλέον ψύξη (αφύγρανση) και παράλληλα, αν χρειαστεί ενεργοποιεί και την τρίοδο βάνα του θερμαντικού στοιχείου για να διατηρήσει τη θερμοκρασία του χώρου στα επιθυμητά επίπεδα. Όλα αυτά υλοποιούνται με τη βοήθεια του PLC S7 300 όσο αφορά το λειτουργικό μέρος, της μονάδας CP 343-1 Lean για την επικοινωνία της εγκατάστασης από απόσταση μέσω ethernet, το LabVIEW 9.0 για την υλοποίηση του SCADA(Supervisory Control and Data Acquisition) και τέλος ο OPC SERVER της National instrument για την επικοινωνία του PLC S7 300 με το LabVIEW 9.0. / The scope of this thesis is the control and restoration of temperature and humidity from distance in environments which demand precise values of these two measurements. Such an environment can be an Operating Room or an Intensive Care Unit. The valves of the heating or the cooling element are activated according to the desired temperature. When room humidity is below the desired one, the dew three-port valve is activated. On the other hand when humidity is above the desired level the three-port valve of the cooling element is activated for further cooling (dehydration) and at the same time, if needed, it activates the three-port valve of the heating element to maintain the room temperature at the desired level. This is possible with the use of PLC S7 300, when it comes to the functional part, the CP 343-1 Lean unit for the distant communication of the installation through the use of Ethernet, the LabVIEW 9.0 for the implementation of the SCADA(Supervisory Control and Data Acquisition) and the OPC SERVER of the National Instrument for the communication of the PLC S7 300 with LabVIEW 9.0.

The majority of the power generated today is produced using fossil fuels,emitting carbon dioxide and other pollutants every second. Also, fossil fuels will eventually run out. For the increasing worldwide energy demand, the use f reliable and environmentally beneficial natural energy sources is one of the biggest challenges. Alongside wind and water, the solar energy which is clean, CO2-neutral and limitless, is our most valuable resource. Concentrated solar power (CSP) is becoming one of the excellent alternative sources for the power industry. The successful implementation of this technology requires the efficient design of tracking and operation system of the CSP solar plants. A detailed analysis of components needed for the design of cost-effective and optimum tracker for CSP solar systems is required for the power plant modeling, which is the primary subject of this thesis. A comprehensive tracking and operating system of a parabolic trough solar power plant was developed focusing primarily on obtaining optimum and cost effective design through the simplified methodology of this work. This new model was implemented for a 50 kWe parabolic trough solar power plant at University of South Florida, Tampa.

The Target Positioning Sensor (TPS) is used by cranes to locate containers in ports and on cargo ships. The reliability of the communication network between the TPS and the Programmable Logic Controller (PLC) is important to optimise the productivity of the container terminal. Lost data messages between the network devices will lead to delays and production loss for the terminal. The main goal of this thesis project is to make the Ethernet-based network between the TPS and the PLC more reliable. The current sensor network protocol uses the User Datagram Protocol (UDP), and the project aims to replace that with the Transport Control Protocol (TCP). This includes designing a new message handling application and performing case studies on how to best handle compatibility issues between the TPS and the PLC, to improve the longevity of the application. The case studies led to considering an adaptable behaviour toward future software updates in different parts of the network. An application which used TCP to communicate between a PC and a PLC was developed, intended to be used as a reference during future integration into the actual sensor network. The TCP application works but needs to be improved before being implemented in a real system. In addition, the project also looked into Time-Sensitive Networking, which is a method of increasing link capacity and reliability in time-sensitive network implementations. This was done through a literature study on the IEEE Time-Sensitive Networking Standard, which showed that the application of the standard could be beneficial if more sensors are added to the network of if the sampling frequency of the TPS is increased.

The main aim of this master´s thesis is to launch a chain tools storage. The main intention of this work is creation of a control program for the programmable logic controller and HMI (Human Machine Interface). My master´s thesis contains optimization of location tools in chain tools storage. Program part consists of software modules which contain different algorithms (optimization of speed of start-up beds, beds approaching the shortest path and optimal deployment tools).