Η διπλωματική εργασία συνίσταται στην κατασκευή και λειτουργία μιας πειραματικής διάταξης, η οποία περιλαμβάνει δύο ρομποτικές αρθρώσεις δύο βαθμών ελευθερίας η καθεμία, οκτώ πνευματικά έμβολα τύπου μυών και ισάριθμες αναλογικές βαλβίδες πεπιεσμένου αέρα, μία οθόνη χειρισμού SCADA και έναν Προγραμματιζόμενο Λογικό Ελεγκτή (PLC) για τον έλεγχο της διάταξης. Πιο συγκεκριμένα, η πειραματική διάταξη που κατασκευάστηκε είναι ένας ρομποτικός βραχίονας. Ο βραχίονας αποτελείται συνολικά από τις δύο αρθρώσεις και δύο μεταλλικούς σωλήνες, ο ένας από τους οποίους στερεώθηκε σε πάγκο εργασίας, ενώ ο δεύτερος παρεμβάλλεται μεταξύ των αρθρώσεων. Κάθε άρθρωση έχει εσωτερικά δύο ζεύγη νηματόσχοινων, όπου καθένα προκαλεί από μία κίνηση, περιστροφική με άξονα τον σωλήνα ή περιστροφική περιορισμένη στο επίπεδο που είναι κάθετο στον σωλήνα. Η έλξη του ενός ή του άλλου σκοινιού από κάθε ζεύγος ορίζει τη φορά περιστροφής. Τα νηματόσχοινα, που εκτείνονται εσωτερικά των σωλήνων, εξέρχονται στο κάτω μέρος, όπου εφαρμόζουν σε πνευματικούς μύες, υπεύθυνους για την έλξη. Το άλλο άκρο των μυών είναι στερεωμένο στο δάπεδο, ενώ τροφοδοτούνται με πεπιεσμένο αέρα από κατάλληλες βαλβίδες ρύθμισης πίεσης. Η πίεση του αέρα που παρέχεται στους μύες κάθε στιγμή ελέγχεται μέσω του PLC. Στα πλαίσια των πειραμάτων, αναπτύχθηκαν δύο τρόποι κίνησης του βραχίονα. Στην πρώτη περίπτωση, ο χειριστής έχει τη δυνατότητα να ελέγχει καθεμιά από τις τέσσερις δυνατές κινήσεις ξεχωριστά, μέσω κατάλληλα διαμορφωμένης οθόνης χειρισμού SCADA. Στη δεύτερη περίπτωση, έχει προγραμματιστεί μια προκαθορισμένη κίνηση επίδειξης, που ξεκινά και τερματίζει με εντολή του χρήστη, αλλά δεν μπορεί να επέμβει κατά τη διάρκεια εκτέλεσής της. / -

In the past decade, the design and manufacturing of intelligent multipurpose underwater vehicles has increased significantly. In the wide range of studies conducted in this field, the flexibility and autonomy of these devices with respect to their intended performance had been widely investigated. This work is related to the design and manufacturing of a small and lightweight autonomous underwater vehicle (AUV) with vision capabilities allowing detecting and contouring obstacles. It is indeed an exciting challenge to build a small and light submarine AUV, while making tradeoffs between performance and minimum available space as well as energy consumption. In fact, due to the ever-increasing in equipment complexity and performance, designers of AUVs are facing the issues of limited size and energy consumption. By using a pair of thrusters capable to rotate 360o on their axis and implementing a mass shifter with a control loop inside the vehicle, this later can efficiently adapt its depth and direction with minimal energy consumption. A prototype was fabricated and successfully tested in real operating conditions (in both pool and ocean). It includes the design and embedding of accurate custom multi-purpose sensors for multi-task operation as well as an enhanced coordinated system between a high-speed processor and accustomed electrical/mechanical parts of the vehicle, to allow automatic controlling its movements. Furthermore, an efficient tracking system was implemented to automatically detect and bypass obstacles. Then, fuzzy-based controllers were coupled to the main AUV processor system to provide the best commands to safely get around obstacles with minimum energy consumption. The fabricated prototype was able to work for a period of three hours with object tracking options and five hours in a safe environment, at a speed of 0.6 m/s at a depth of 8 m.

Made available in DSpace on 2014-12-17T14:55:46Z (GMT). No. of bitstreams: 1 BrunoJC_DISSERT_1-60.pdf: 4138236 bytes, checksum: 7d92583d3159abe9ed3a9cb5f3d51992 (MD5) Previous issue date: 2011-01-31 / Coordena??o de Aperfei?oamento de Pessoal de N?vel Superior / Technological evolution of industrial automation systems has been guided by the dillema between flexibilization and confiability on the integration between devices and control supervisory systems. However, there are few supervisory systems whose attributions can also comprehend the teaching of the communication process that happens behind this technological integration, where those which are available are little flexible about accessibility and reach of patterns. On this context, we present the first module of a didactic supervisory system, accessible through Web, applied on the teaching of the main fieldbus protocols. The application owns a module that automatically discovers the network topology being used and allows students and professionals of automation to obtain a more practical knowledgment by exchanging messages with a PLC, allowing those who are involved to know with more details the communication process of an automation supervisory system. By the fact of being available through Web, the system will allow a remote access to the PLC, comprehending a larger number of users. This first module is focused on the Modbus protocol (TCP and RTU/ASCII) / A evolu??o tecnol?gica dos sistemas de automa??o industrial tem sido norteada pelo dilema entre flexibiliza??o e confiabilidade na integra??o entre equipamentos e sistemas supervis?rios de controle. No entanto, s?o poucos os sistemas supervis?rios cujas atribui??es tamb?m abrangem o ensino do processo de comunica??o que ocorre por tr?s dessa integra??o tecnol?gica, sendo os existentes pouco flex?veis no que se refere ao acesso e ? abrang?ncia de padr?es. Este trabalho apresenta um sistema supervis?rio did?tico, acess?vel via Web, que ? utilizado no ensino dos principais protocolos Fieldbus. O aplicativo proposto possui um m?dulo de descoberta autom?tica da topologia da rede usada e permite que alunos e/ou profissionais da ?rea de automa??o obtenham um conhecimento mais pr?tico desses protocolos ao auxiliar na constru??o e envio de quadros pr?prios da rede Fieldbus considerada, propiciando aos envolvidos um conhecimento mais detalhado do processo de comunica??o que ocorre entre um sistema supervis?rio de automa??o e os dispositivos escravos utilizados na rede. Pelo fato de ser uma aplica??o Web, al?m de contemplar o modo de ensino presencial, o sistema proposto permite o acesso remoto ao CLP, comportando um n?mero bem maior de usu?rios e tornando mais abrangente seu universo de aplica??o. Este primeiro m?dulo ? voltado para o protocolo Modbus (abrangendo suas varia??es TCP e Serial RTU/ASCII)

Este trabalho apresenta uma Análise sobre os Comandos Numéricos Computadorizados de Arquitetura Aberta aplicado na automação de Máquina-ferramentas e no uso da manufatura. É realizado uma classificação das Arquiteturas Abertas (em relação ao hardware, software, funcionalidade e flexibilidade) e uma comparação entre os CNC\'s convencionais e os CNC\'s de Arquitetura Aberta. / This work presents an Open Architecture CNCs analysis. An Open Architecture classification using hardware, software, functionality and flexibility are presented. A comparison table with conventional CNCs and this new class of CNCs are elaborated.

No description available.

Les travaux présentés dans ce mémoire de thèse s'intéressent à la génération et à la mise en œuvre de séquences de test pour le test de conformité de contrôleurs logiques. Dans le cadre de ces travaux, le Grafcet (IEC 60848 (2002)), langage de spécification graphique utilisé dans un contexte industriel, a été retenu comme modèle de spécification. Les contrôleurs logiques principalement considérés dans ces travaux sont les automates programmables industriels (API). Afin de valider la mise en œuvre du test de conformité pour des systèmes de contrôle/commande critiques, les travaux présentés proposent: - Une formalisation du langage de spécification Grafcet. En effet, l'application des méthodes usuelles de vérification et de validation nécessitent la connaissance du comportement à partir de modèles formels. Cependant, dans un contexte industriel, les modèles utilisés pour la description des spécifications fonctionnelles sont choisis en fonction de leur pouvoir d'expression et de leur facilité d'utilisation, mais ne disposent que rarement d'une sémantique formelle. - Une étude de la mise en œuvre de séquences de test et l'analyse des verdicts obtenus lors du changement simultané de plusieurs entrées logiques. Une campagne d'expérimentation a permis de quantifier, pour différentes configurations de l'implantation, le taux de verdicts erronés dus à ces changements simultanés. - Une définition du critère de SIC-testabilité d'une implantation. Ce critère, déterminé à partir de la spécification Grafcet, définit l'aptitude d'une implantation à être testée sans erreur de verdict. La génération automatique de séquences de test minimisant le risque de verdict erroné est ensuite étudiée. / The works presented in this PhD thesis deal with the generation and implementation of test sequences for conformance test of logic controllers. Within these works, Grafcet (IEC 60848 (2002)), graphical specification language used in industry, has been selected as the specification model. Logic controllers mainly considered in these works are Programmable Logic Controllers (PLC). In order to validate the carrying out of conformance test of critical control systems, this thesis presents: - A formalization of the Grafcet specification language. Indeed, to apply usual verification and validation methods, the behavior is required to be expressed through formal models. However, in industry, the models used to describe functional specifications are chosen for their expression power and usability, but these models rarely have a formal semantics. - A study of test sequences execution and analysis of obtained verdicts when several logical inputs are changed simultaneously. Series of experimentation have permitted to quantify, for different configurations of the implantation under test, the rate of erroneous verdicts due to these simultaneous changes. - A definition of the SIC-testability criterion for an implantation. This criterion, determined on the Grafect specification defines the ability of an implementation to be tested without any erroneous verdict. Automatic generation of test sequences that minimize the risk of erroneous verdict is then studied.

In this work I deal with the project of an automated robotic bartender, whose task is to show model concepts such as virtual commissioning, digital factory or industry 4.0. The work resolves two parts (cells) for the overall construction. Individual cells are solved from the design and realization of the construction through the virtual verification of operation to the design and realization of the control itself for the given cells. The construction solution was created in SolidEdge ST10. Virtual verification will be solved in the Tecnomatix Process Simulate program and the implementation of PLC and HMI control by Siemens is programmed in the TIA Portal. Wiring diagrams were drawn in the student version of the EPLAN design environment. Other colleagues work on other parts of the barman project.

The work deals with controlling and visualizing technology of dust exhaust of smeltery for recyclation of aluminum waste. In the first part of the work are analyzed the different ways of automatic control. Based on the analysis is proposed control system configuration, algorithm of control, communication interfaces and sensors of alarm, measurement and regulation. The second part deals with visualization and remote administration of control system. On the basis of selection for the visualization software is designed and implemented a system that provides visualization of technology, the archiving of measured operating values, events and errors.

Lors de la conception d’un frein, le confort et le bien-être du consommateur font partie des critères principaux. En effet, les instabilités de crissement, qui engendrent une des pollutions acoustiques les plus importantes, représentent un challenge actuel pour la communauté scientifique et les industriels du domaine. Dans le cadre de cette thèse, nous nous sommes intéressés à la mise en évidence du caractère variable du crissement, observé pour deux systèmes de freinage d’un même véhicule, grâce à des plans d’expériences, expérimental et numérique. Pour être représentatif d’une famille de structures, il est désormais indéniable qu’il faille prendre en compte les variabilités observées sur de multiples paramètres liés au système étudié dès la phase de conception. L’enrichissement des simulations déterministes actuelles nécessite la mise en place d’outils non déterministes rapides et respectant le conservatisme des solutions étudiées. Pour ce faire, nous avons contribué au développement de méthodes numériques dédiées à la propagation des données floues dans le cas des graphes de coalescence, à la détermination des positions d’équilibre de corps en contact frottant à partir d’une méthode de régulation basée sur la logique floue. Cette solution permet d’appliquer une technique de projection pour réduire le coût numérique en utilisant des bases modales des composants réanalysées par un développement homotopique. / During a brake design, consumer comfort and well-being are the main criteria. Indeed, squeal instabilities, that produce main acoustic pollution, represent a current challenge in the scientific community and for industrials. In this thesis, we interest first in the highlight of the variability of squeal, observed for two brake systems of a same vehicle, thanks to experimental and numerical designs of experiments. To be representative of a structure family, it is now undeniable that we must take into account variability observed in various parameters of the studied system, from the design phase. To enrich existing deterministic simulations, quick non deterministic tools must be established, respecting the studied solutions conservatism. For this, we have contributed to the development of numerical methods to propagate fuzzy data in the case of diagram of coalescence, to determine the equilibrium position of frictional contact bodies with a fuzzy logic controller. This solution allows to apply a projection technique for reducing the computational cost. The modal bases of components are reanalyzed by homotopy perturbation.

In Industrial Computer Systems, Programmable Logic Controllers (PLCs) are essential components since they control physical processes. Altering these could have enormous consequences as they can control processes in nuclear plants, gas pipelines and water supplies. Over the years, PLCs have become more and more connected since it facilitates their configuration and programming remotely. More connected does also means that they could be more vulnerable to attacks. Therefore, it would be desirable to be able to do a forensic investigation and interpret the artefacts if an incident happens, especially since PLCs control such vital functions. There exists little research about this area, but it does not discuss how to evaluate or interpret possible artefacts forensic investigation could reveal. This thesis aims to answer what artefacts are left in the system after two specific attacks. The result showed that some artefacts is left. One of the attacks does not leave so much specific artefacts that one could conclude how the attack happened, but for the other one, it was possible to conclude how they got remote access to the system. However, these artefacts were possible to cover up by deleting the IP address that was added in order to get remote access to the system. In other words, the only persistent artefacts left in the system after the attacks and cover-ups was metadata about created, modified, and removed files. Future work would be to expand and include more attacks to get a better overview of the overall forensic abilities of the PLC. / I industriella datorsystem är PLC (Programmable Logic Controllers) viktiga komponenter eftersom de styr fysiska processer. Att ändra dessa kan få enorma konsekvenser eftersom de kan styra processer i kärnkraftverk, gasledningar och vattenförsörjning. Under årens lopp har PLC:er blivit mer och mer uppkopplade eftersom det underlättar deras konfiguration och programmering på distans. Mer uppkopplade betyder också att de kan vara mer sårbara för attacker. Därför vore det önskvärt att kunna göra en kriminalteknisk undersökning och tolka bevisningen om en incident inträffar, särskilt eftersom PLC:er kontrollerar sådana vitala funktioner. Det finns lite forskning om detta område, men den diskuterar inte hur man ska utvärdera eller tolka eventuella bevis som den kriminalteknisk undersökningen kan avslöja. Denna avhandling syftar till att svara på vilka artefakter som finns kvar i systemet efter två specifika attacker. Resultatet visade att en del bevis finns kvar. En av attackerna lämnar inte så mycket specifika bevis att man kunde dra slutsatsen hur attacken gick till, men för den andra gick det att dra slutsatsen hur de fick fjärråtkomst till systemet. Dessa artefakter var dock möjliga att dölja genom att radera IP-adressen som lades till för att få fjärråtkomst till systemet. Med andra ord, det enda ihållande bevisningen som fanns kvar i systemet efter attackerna och mörkläggningarna var metadata om skapade, modifierade och borttagna filer. Framtida arbete skulle vara att expandera och inkludera fler attacker för att få en bättre överblick över PLC:s övergripande forensiska förmågor.