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EMERGING TECHNOLOGIES & FACTORY AUTOMATION

S E P T E M B E R 6 - 9 , 2 0 1 6 , B E R L I N / G E R M A N YW W W . E T F A 2 0 1 6 . O R G

IEEE 21ST INTERNATIONAL CONFERENCE ON

T A B L E O F C O N T E N T S

Message from General Co-Chairs 4

Message from the Program Co-Chairs and WiP/IP Co-Chairs 6

Program Overview 8

TUESDAY, SEPT. 6THIndustry Day Program 10

7th 4DIAC Users’ Workshop 12

2nd M2H’2016 13

2nd RTT2016 14

10th SOCNE 15

WEDNESDAY, SEPT. 7THDetailed Program 17

Keynote 1 24

Keynote 2 25

THURSDAY, SEPT. 8THDetailed Program 26

Keynote 3 34

Keynote 4 35

FRIDAY, SEPT. 9THDetailed Program 36

Keynote 5 40

Social Events 42

Sponsors and Supporters 44

Committees 46

ETFA’2016 3

M E S S A G E F R O M G E N E R A L C O - C H A I R S

… to the IEEE 21st International Conference on Emerging

Technologies & Factory Automation held in Berlin, Germany.

Since the first edition 1992 in Melbourne, Australia, the

ETFA conference series has evolved to one of the largest

and most important IEEE conferences dedicated to industrial

and factory automation – presenting new research results at

the cutting edge of emerging technologies in applications in

diverse areas of industrial automation, as well as providing a

discussion forum for professionals from academia and

industry alike. Technical content of the ETFA conference series

reflects rapid evolution of the industrial automation field and

the ever increasing impact of the underpinning research and

development on the advances in the industrial automation.

This year Berlin is the venue for the 2016 edition of ETFA.

As the capital city of Germany and with more than 3,400,000

inhabitants it is also its biggest city.

With its 42 public and private universities, Berlin is full of

knowledge and culture. And it is a vibrant and booming

city too: with 175 museums, Berlin has more museums than

rainy days. It also boasts more than 50 theatres and around

300 cinemas. The city has 4,500 restaurants, around 900

bars and 190 clubs and discotheques. Last but not least

a new start-up is founded every 20 minutes in Berlin. So

there are many things to do in the city beside enjoying the

scientific program of ETFA’2016.

The conference is hosted by Fraunhofer IOSB-INA and the

Institute for Industrial Information Technologies (inIT) which

is a part of the OWL University of Applied Sciences – both

situated in Lemgo. The Fraunhofer-Gesellschaft is the leading

organization for applied research in Europe. Its research

activities are conducted by 67 institutes and research units at

locations throughout Germany. It employs a staff of 24,000,

who work with an annual research budget totaling more

than 2.1 billion euros. The research efforts are entirely oriented

towards people’s needs: health, security, communication,

energy and the environment.

The Fraunhofer Application Center Industrial Automation

(IOSB-INA) in Lemgo is one of the four sites of the Fraunhofer

Institute of Optronics, System Technologies and Image

Exploitation (IOSB) with more than 450 employees. IOSB-INA

empowers its partners for the digital age by offering hard-

and software solutions in the fields of Industrial Internet,

Intelligent Automation and Usability of Technical Systems.

The Institute for Industrial Information Technologies (inIT) of

the OWL University of Applied Sciences in Lemgo carries out

interdisciplinary research in the field of industrial informatics

and industrial automation for Cyber-Physical Systems. Both

institutes are core members of the leading edge technology

cluster “Intelligent Technical Systems OstWestfalenLippe –

it’s OWL”.

This edition of the ETFA series again offers a very strong

technical program, comprising regular, special sessions and

work in progress sessions. In addition, ETFA’2016 includes 5

keynote sessions. Following a very successful tradition of ETFA,

the conference starts with the Industry and Workshop Day.

This year, the Industry Day has a focus on Industrie 4.0 in

practice, with strong support from Germany’s leading edge

technology cluster it’s OWL, which is considered to be the

largest and most concrete public funded project in the cont-

ext of Industrie 4.0 in Germany.

We would like to acknowledge the contribution of all Program

Committee Members and Reviewers. Our appreciation goes

to Holger Voss and Roman Obermaisser, Program Committee

Chairs, Lukasz Wisniewski and Sebastian Schriegel, Work-

in-Progress Chairs, and Alberto Ortiz and Carsten Röcker,

Special Session Chairs, for their dedication and excellent

organization of the scientific part of the conference. We also

wish to acknowledge hard work of Holger Flatt and Marek

Miskowicz who managed the Workshop Day.

The social program is also an important part of a conference.

The social events are not only fostering the communication

between the participants but also offer the organizer the

opportunity to present a bit of the flair and culture of Berlin.

This year welcome reception will take attendees on a boat

trip through Berlins’ famous waterways to be followed by a

party at the Fraunhofer Forum. The gala dinner will be held at

Tipi am Kanzleramt - the largest fixed pavilion stage in Europe.

An event of this size and importance cannot be organized

without the help of a large number of volunteers. We would

like to thank all of them for their dedicated work. We are

especially indebted to the local organizing team lead by

Ms. Carolin Schönknecht of Fraunhofer IOSB-INA. Our sincere

gratitude goes to the International Program Committee and

the Reviewers. Also to the Publication Chair, Keynote Speakers,

and all attendees who make this event possible.

ETFA’2016 offers a high quality technical program,

interesting and important satellite events, and an attractive

social program. Please enjoy the conference and your stay

in Berlin.

Jürgen Jasperneite and Richard Zurawski

General Co-Chairs

Jürgen Jasperneite General Co-Chair

Richard Zurawski General Co-Chair

IT IS OUR PLEASURE TO WELCOME ALL PARTICIPANTS

4 ETFA’2016 ETFA’2016 5

M E S S A G E F R O M T H E P R O G R A M C O - C H A I R S A N D W I P / I P C O - C H A I R S

Lukasz WisniewskiWork-in-Progress Co-Chair

Holger VoosProgram Committee Co-Chair

Sebastian SchriegelWork-in-Progress Co-Chair

Roman ObermaisserProgram Committee Co-Chair

On behalf of the Technical Program Committee, welcome

to the 21st IEEE International Conference on Emerging

Technologies and Factory Automation (ETFA’2016), held in

Berlin from September 06 – 09, 2016. Since the beginning

in 1992, the ETFA conference has been among the major

international events dedicated to industrial automation and

related emerging technologies. We believe that ETFA’2016

continues the great success of past conference editions and

remains an effi cient platform for reporting recent research

from both academia and industry. ETFA is traditionally a multi-

track conference because of the broad scope of technical

subjects and the nine tracks of ETFA’2016 are covering

research topics in Information Technology in Auto mation,

Industrial Communication Systems, Real-Time and (Networked)

Embedded Systems, Automated Manufacturing Systems,

Industrial Control, Computational Intelligence and Modern

Heuristics in Automation, Intelligent Robots & Systems,

Intelligent Sensors, Sensor Networks, and Information

Processing, as well as Information and Communication

Technology in Energy Systems.

In the response to call for papers, we received a total

number of 217 submissions from more than 40 countries all

over the world including Regular and Special Session papers.

All submissions were thoroughly reviewed by program

committee members and external reviewers in the respective

tracks. Special Session papers were reviewed within the

corresponding tracks to ensure a harmonized review process

and we would like to thank Alberto Ortiz and Carsten Röcker

for organizing the entire process as Special Session Co-Chairs.

To ensure a high standard of the conference, each paper

was assigned to three reviewers at least. On the basis of

Track Chairs recommendations, 125 contributions were

fi nally accepted as full papers in regular tracks and 13

papers in three Special Sessions. Furthermore, 25 papers

submitted originally as long papers have been invited

to WiP/IP sessions. Compiling the track committees and

organizing the review process in time was as usual a hard

work. Therefore we are very grateful to all the track chairs

who accomplished this important and critical task in their

tracks, respectively: Valeriy Vyatkin, Alois Zoitl, Stig Petersen,

Claudio Zunino, Ahlem Mifdaoui, Achim Rettberg, Cristian

Mahulea, Michael Weyrich, Ramon Vilanova, Antonio Visioli,

Volker Lohweg, David Fofi , Raul Suarez, Sebastian Zug,

Michael Short, Weilian Su, Peter Palensky, Thomas Strasser.

In addition to the regular papers, ETFA traditionally offers

a platform to present recent research results from ongoing

projects and novel ideas, which are so far not mature enough

to be included in the program as full papers. Therefore,

also ETFA 2016 conference includes in its program Work-

in- Progress and Industry Practice (WiP/IP) papers at the

forefront of technology in all nine regular tracks. This year

we received a total 129 submissions of WiP/IP papers, in

addition to the 25 that were invited among the rejected

Regular and Special Session papers. At the end, 119 papers

were selected to be included in the WiP/IP program of

ETFA’2016. These WiP/IP papers are presented in a special

dual way, comprising sessions with short oral presentations

of 5 minutes for each paper followed by a poster show

during coffee breaks. ETFA’2016 also comprises fi ve excellent

keynote speeches to provide state-of-the-art overviews and

give a perspective on future research in important areas

of the conference. It is our pleasure to welcome Reimund

Neugebauer, President of the Fraunhofer-Society, Germany,

Rolf Ernst, Technical University of Braunschweig, Germany,

John S. Baras, University of Maryland, USA, Wolfgang E.

Nagel, Technical University of Dresden, Germany and Alf

Isaksson, ABB Corporate Research, Sweden.

The organization of such a large scientifi c conference is a

complex task. Besides the chairs of the individual tracks,

the special sessions and the WiP/IP tracks, we would also

like to thank the numerous members of the international

program committee and the reviewers for their timely

and thorough contribution. Their willingness to dedicate

precious time to the conference is very much appreciated.

We also appreciate excellent cooperation with ETFA’2016

General Co-Chairs, Jürgen Jasperneite and Richard Zurawski.

Finally, we would like to thank all the authors who submitted

their work to ETFA2016 and contributed in this way most of

all to the technical success of the conference.

WELCOME TO THE ETFA’2016

6 ETFA’2016 ETFA’2016 7

P R O G R A M O V E R V I E W

TUESDAY, SEPT. 6TH WEDNESDAY, SEPT. 7TH THURSDAY, SEPT. 8TH FRIDAY, SEPT. 9TH

08:00 - 08:30 REGISTRATION

08:30 - 10:00 PARALLEL SESSIONS T1.1 Model-based approaches

T2.1 Automation and industrial Internet of Things

T7.1 Mobile robots

T9.1 Information and Communication Technology in Energy Systems: Smart Buildings and Cities

SS01 Methods and Technologies to enhance Software Reuse in Robotics & Automation

WiP 1a Information Technology in Automation

10:00 - 10:30 COFFEE BREAK

10:30 - 11:00 OPENING SESSION

11:00 - 12:00 KEYNOTE 1

12:00 - 13:30 LUNCH BREAK

13:30 - 14:30 KEYNOTE 2


15:00 - 17:00 PARALLEL SESSIONS T1.2 Multi-Disciplinary Engineering Models

T2.2 Wireless communication

T3.1 Timing Verification

T4.1 Advanced computerized manufacturing systems

T5.1 Advanced Control Application

WiP 1b Information Technology in Automation

18:00 - 19:00 BOAT TOUR

19:00 - 21:00 WELCOME RECEPTION


09:00 - 10:30 PARALLEL WORKSHOPS 2nd M2H’2016 / 10th SOCNE / 7th 4DIAC Users‘ Workshop


11:00 - 13:00 PARALLEL WORKSHOPS 2nd M2H’2016 / 10th SOCNE / 7th 4DIAC Users‘ Workshop


14:00 - 16:00 PARALLEL WORKSHOPS 2nd RTT2016 / 7th 4DIAC Users‘ Workshop / 10th SOCNE Hands on


16:30 - 18:00 PARALLEL WORKSHOPS 2nd RTT2016 / 7th 4DIAC Users‘ Workshop / 10th SOCNE Hands on


09:00 - 10:15 WELCOME AND SESSION 1


10:45 - 12:15 SESSION 2


13:15 - 14:45 BEST PRACTICE SESSION


15:15 - 17:00 PANEL DISCUSSION, CLOSING SESSION, AND GET-TOGETHER

08:30 - 10:30 PARALLEL SESSIONS T1.3 Semantic and Formal Methods

T4.2 Scheduling and control of manufacturing systems

T5.2 Advanced Industrial Control techniques

T7.2 Planning

WiP 2 / 5 Industrial Communication Technologies and Systems / Industrial Control


11:00 - 12:00 KEYNOTE 3


13:30 - 14:30 KEYNOTE 4

14:30 - 15:30 PARALLEL SESSIONS T1.4 Decision support systems

T2.3 Real-time and industrial networks

T3.2 Design and Methods

WiP 4 Information Technology in Automation

WiP 3 / 8 Real-Time and (Networked) Embedded Systems / Intelligent Sensors, Sensor Networks, and Information Processing


16:00 - 18:00 PARALLEL SESSIONS T1.5 Service-oriented Architectures

T1.6 Modular and Reusable Software Components

T5.3 Predictive Control: Design, Tuning & Applications

T6.1 Optimization and Modern Heuristics

T8.1 Computer Vision, Computational Intelligence, and Modern Heuristics in Automation

19:00 - 24:00 CONFERENCE BANQUET

09:00 - 10:30 PARALLEL SESSIONS T1.7 Virtual Commisioning and Testing

SS03 Safe Human-Robot Collaboration

SS02 Dependability and Robustness of Wireless Sensor Networks

T7.3 Software architectures and sensor applications

WiP 6 / 7 Computer Vision, Computational Intelligence, and Modern Heuristics in Automation / Intelligent Robots & Systems

WiP 9 Information and Communication Technology in Energy Systems


11:00 - 12:00 KEYNOTE 5


13:30 - 14:30 PARALLEL SESSIONS T3.3 IT/OT convergence for Real-Time and (Networked) Embedded Systems

T5.4 Control in Industry and Manufacturing

T4.3 Modeling and analysis based on Petri net models

T6.2 Detection, Recognition and Adaption

T9.2 Information and Communication Technology in Energy Systems: Control and Communication

14:30 - 15:00 CLOSING SESSION

16:00 - 18:00 VISIT PERGAMON MUSEUM (OPTIONAL)

Fraunhofer-Forum at Spreepalais, ETFA’2016 Industry Day

Mövenpick Hotel, Workshops

8 ETFA’2016 ETFA’2016 9

T U E S D A Y, S E P T E M B E R 6 T H , 2 0 1 6

We cordially invite you to the ETFA’2016 Industry Day.

This year, Industry Day is dedicated to the subject of

”Industrie 4.0 in Practice”.

It features presentations by industry experts from

various sectors of manufacturing industry.

The Industry Day offers an opportunity to exchange

views with researches and practitioners from academia

and industry.

The Industry Day also showcases practical solutions

to challenges posed by Industrie 4.0 offered by the

Technology-Network ”Intelligent Technical Systems

OstWestfalenLippe – it’s OWL”. Network partners

from renowned companies are going to share their

experiences related to Industrie 4.0, as well as the

best practices.

ETFA’2016 INDUSTRY DAY DETAILED PROGRAM


09:00 - 09:15 WELCOME AND INTRODUCTION Prof. Dr. Jürgen Jasperneite (Fraunhofer IOSB-INA)

09:15 - 10:15 SESSION 1

09:15 - 09:45 Making machines intelligent: Solutions from the Technology- Network ‚it’s OWL‘ Günter Korder (it’s OWL)

09:45 - 10:15 The perspective of the industrial automation industry on Industrie 4.0 Frank Knafl a (Phoenix Contact)


10:45 - 12:15 SESSION 2

10:45 - 11:15 International approach to Digital Manufacturing Harald Egner (The Manufacturing Technology Centre, Coventry/GB)

11:15 - 11:45 Industrie 4.0 – Reconfi gurable drives in industrial applications. An example of intralogistics systems Marc Vathauer (MSF Vathauer)

11:45 - 12:15 Industrie 4.0 as a key to condition monitoring and predictive maintenance Dr. Jan Stefan Michels (Weidmüller Group)


13:15 - 14:45 BEST PRACTICE SESSION

13:15 - 13:45 Innovation Project –Intelligent adaptation and networking of agricultural machines

Thilo Steckel (Claas E-Systems) and Wilhelm Nüsser (FHDW)

13:45 - 14:15 Transfer Project – UniPack, technology transfer at work

Jan Ottensmeyer (Agoform)

14:15 - 14:45 Business start-ups – topocare, a project for successful netwoking

Simon Jegelka (topcare)


15:15 - 16:00 PANEL DISCUSSION: Industrie 4.0 – what’s next, what’s missing?

moderated by Günter Korder (it’s OWL)

Dr. Roman Dumitrescu (it’s OWL)

Dr. Jan Stefan Michels (Weidmüller Gruppe)

Prof. Dr. Stefan Witte (inIT – Institute Industrial IT)

Tanja Krüger (Resolto)

Thorsten Hülsmann (Effi zienzCluster LogistikRuhr)

Harald Egner (MTC, Coventry/GB)

Marc Vathauer (MSF Vathauer)

16:00 - 16:15 CLOSING SESSION Prof. Dr. Jürgen Jasperneite (Fraunhofer IOSB-INA)

16:15 - 17:00 GET-TOGETHERFraunhofer-Forum at Spreepalais

ETFA’2016 1110 ETFA’2016


7TH 4DIAC USERS’ WORKSHOP 2ND M2H’2016 WORKSHOP

CONTACTS: Alois Zoitl (fortiss GmbH, Germany), Gerhard Ebenhofer (PROFACTOR GmbH, Austria), Thomas Strasser

(AIT Austrian Institute of Technology)

FOCUS: The open source initiative 4DIAC – Framework for Distributed Industrial Automation and Control – has been

founded with the idea to support research activities and industrial adoption of distributed automation systems. With this

workshop we would like to bring the developers and users of 4DIAC together as the users are the main drivers of ongoing

development activities. This event should provide a discussion platform to present novel research and achieved results based

on the 4DIAC open source project. Moreover, new ideas and approaches as well as near future plans for 4DIAC can be

discussed which turn this initiative into the position to become a larger framework for many application domains.

CONTACTS: Gregory Faraut (Univ. Paris-Sud, France), Cristian Mahulea (University of Zaragoza)

FOCUS: The 2nd International Workshop on Models and Methods for healthcare systems management and

planning (M2H’2016) intends to bring together universities and hospitals to discuss actual problems of healthcare

systems related to the hospital management and see how they can receive a mathematical approach. Since the application

domain is very complex, new models of healthcare organization based on advanced ICT systems and services should be

proposed with the participation of both parts: academic and hospitals. The main emphasis of the workshop will be given to

the applications related to the care of older patients and the involvement of the citizen in the decision-makings.

09:00 - 13:00 MORNING SESSION Room Bernina

Welcome and Recent Activities of the 4DIAC Open Source Initiative A. Zoitl (fortiss GmbH)

Agent-based local energy market control using 4DIAC C. Moyo, T. Strasser (AIT)

Smart Grid Automation with IEC IEC 61499 Sergio Tanus (NOJA Power)

Human-Robot Collaborative Assembly: 4DIAC as base Technology in the SYMBIO-TIC project Gerhard Ebenhofer (Profactor GmbH)

Integrating FORTE with ROS Waldemar Eisenmenger (fortiss GmbH)

Architecture for services composition in OPC UA Servers using FORTE Federico Perez (Escuela Superior de Ingenieros)

Integration of OPC UA with 4DIAC Petr Kadera (Czech Institute of Informatics, Robotics, and Cybernetics Czech Technical University in Prague)

Cert-4FUN, Towards a Certified Compiler backend for IEC 61499 Per Lindgren (Lulea University of Technology)

09:00 - 13:00 MORNING SESSION

Room Gotthard Session 1 Scheduling problems

09:00 - 09:40 Appointment Scheduling of Diagnostic Facilities Subject to Non- stationary Emergency Demand and Waiting Time Targets Jing Wen, Na Geng and Xialan Xie

09:40 - 10:20 Operation Planning of Elective Patients in an Orthopedic Surgery Department Daniel Clavel, Cristian Mahulea, Jorge Albareda and Manuel Silva

Session 2 Demonstrators – ICT tools in healthcare

11:00 - 11:40 Improving the dynamic capabilities of an emergency departments using an event- based information architecture Kristofer Bengtsson, Elin Blomgren, Oskar Henriksson, Linnéa Johansson, Edvard Lindelöf, Martin Pettersson and Åsa Söderlund

Towards using Formal Behavioral Specifications in IEC 61499 for Remote Software Health Monitoring Jan Olaf Blech (RMIT)

Modelling Apps for Open CPS with 4DIAC Martin Jobst (fortiss GmbH)

4DIAC in Teaching – Lessons from Lab Exercises and Student Projects Martin Melik Merkumians (Vienna University of Technology)

14:00 - 18:00 AFTERNOON/HANDS-ON SESSION

The afternoon is reserved for hands on and discussions where the 4DIAC team will be available for detailed discussions and explanation on using 4DIAC as well as on implementation details. The following topics can be covered but suggestions from the audience are welcome: Short Introduction to IEC 61499 and 4DIAC Guided small control application example Implementing a control application for a simulated press application Extending 4DIAC-IDE Overview on FORTE Real-time execution and communication architecture

11:40 - 12:20 From clinical guideline to formal models by using HEAT Luis Parrilla, José García, Jorge Albareda and Cristian Mahulea

Session 3 Case study

12:20 - 13:00 Motion Detector Placement Optimization in Smart Homes for Inhabitant Location Tracking Maria Pia Fanti, Gregory Faraut, Jean-Jacques Lesage and Michele Roccotelli

12 ETFA’2016 ETFA’2016 13


2ND RTT2016 WORKSHOP

CONTACTS: Marina Indri (Politecnico di Torino), Antoni Grau (Technical University of Catalonia)

FOCUS: Aim of this 2nd International Workshop on Robotics Technology Transfer: Innovation from Academia to

Industry (RTT2016) is to monitor the current state of the art of robotics technology transfer through successful examples of

conversion of scientific findings from research laboratories into useful products, processes and services. Relevance is given

to the innovative content of the developed applications and to their technology and commercial impact, as well as to their

contribution to the spread of robot systems and to successful solutions for a stable industry academia collaboration. This

collaboration can be also spread to research institutes, universities, industry organizations and stakeholders, technology

transfer offices and governments as well.

14:00 - 16:00 SESSION 1 Room Gotthard

14:00 - 14:10 Opening by Marina Indri and Antoni Grau, RTT2016 Workshop organizers

14:10 - 14:40 Invited talk, Invited person from euRobotics14:40 - 15:00 From Academia to Industry by an Innovative

Project: ECHORD++ Antoni Grau, Yolanda Bolea, Ana Puig-Pey, Alberto Sanfeliu and Josep Casanovas (UPC, Spain)

15:00 - 15:20 Use of machine vision in collaborative robotics: An industrial case Alberto Tellaeche, Iñaki Maurtua, Aitor Ibarguren (IK4-Tekniker, Spain)

15:20 - 15:40 Interactive pose calibration of a set of cameras for video surveillance Gaetano Manzo (Univ. of Berne, Switzerland), Francesc Serratosa (Universitat Rovira i Virgilii, Spain), and Mario Vento (Univ. of Salerno, Italy)

15:40 - 16:00 Introducing Sensitive Compliant Robots for Assembly Operations in a Medium- Sized-Company Christian Lehmann (Bucher Hydraulics, Italy) and J. Philipp Städter (Brandenburg Univ. of Technology)


16:30 - 18:00 SESSION 2

16:30 - 16:50 An Off-Line Robot Motion Planning Approach for the Reduction of the Energy Consumption Alba Fenucci, Marina Indri (Politecnico di Torino, Italy) and Fabrizio Romanelli (COMAU, Italy)

16:50 - 17:10 3D simulation-based user interfaces for a highly-reconfigurable industrial assembly cell Christian Schlette, Eric Guiffo Kaigom, Daniel Losch, Georgij Grinshpun, Markus Emde, Ralf Waspe, Nils Wantia and Juergen Rossmann (Aachen University, Germany)

17:10 - 17:30 Underpinning UK High-Value Manufacturing: Development of a Robotic Re-manufacturing System Richard French and Hector Marin-Reyes (Univ. of Sheffield, UK)

17:30 - 18:00 Round Table: How to foster technology transfer in Robotics? / Panelists: Marina Indri, Antoni Grau, invited panelists to be define / Open discussion among attendees

18:00 Workshop Closing

10TH SOCNE WORKSHOP

CONTACTS: Frank Golatowski (University of Rostock, Germany), Lucia Lo Bello (University of Catania, Italy), Michael Ditze

(TWT Science & Innovation, Germany), Christoph Niedermeier (Siemens, Germany)

FOCUS: The 10th International Workshop on Service-Oriented Cyber-Physical Systems in Converging Networked

Environments (SOCNE) will trigger researchers to publish research work in the field of SOA, CPS, IoT, and related topics.

Identifying, which directions SOA will take under the influence of Internet-of-Things (IoT), Cloud and CPS

Many new protocols in the field of M2M communication and IoT like CoAP, DPWS, 6LoWPAN, XMPP, and MQTT exist.

Which new challenges do exist in service science against the background of tremendously growing number of devices?

09:00 - 10:30 SESSION 1 Room Glacier

09:00 - 09:30 Instant Service Choreographies for Reconfigurable Manufacturing Systems – a Demonstrator Thomas Kothmayr, Alfons Kemper, Andreas Scholz, and Joerg Heuer

09:30 - 10:00 A Small-Scale Model House Evaluation platform for Building Automation Systems Malte Burkert, Joern Esdohr and Heiko Krumm

10:00 - 10:30 Design and implementation of a web- centric remote data acquisition system Tullio Facchinetti, Guido Benetti, Moses A. Koledoye and Gianluca Roveda


11:00 - 13:00 SESSION 2

11:00 - 11:30 TRM-SIoT: A Scalable Hybrid Trust & Reputation Model for the Social Internet of Things Eleftherios Kokoris-Kogias, Orfefs Voutyras and Theodora Varvarigou

11:30 - 12:00 From Mechatronic Components to Industrial Automation Things – An IoT model for cyber-physical manufacturing systems Kleanthis Thramboulidis, Theodoros Foradis

12:00 - 12:30 QoS-as-a-Service in the Local Cloud Luis Ferreira, Michele Albano and Jerker Delsing

12:30 - 13:00 Microservices Approach for the Internet of Things Björn Butzin, Frank Golatowski and Dirk Timmermann


14:00 - 18:00 HANDS-ON SESSION 3

CoAP – A Lightweight IoT protocol for future industrial systems

Hands-on CoAP, University of Rostock

Introduction to CoAP and MQTT (30 min) CoAP-Stack and CoAP Proxy (60 min) Semantic-driven framework with generation

of CoAP services, Phillipp von Rotenhan, Siemens (30 min)

14 ETFA’2016 ETFA’2016 15

W E D N E S D A Y, S E P T E M B E R 7 T H , 2 0 1 6


08:30 - 10:00 PARALLEL SESSIONS

T1.1 Model-based approaches Room Enzian Chairs Alois Zoitl, Martin Melik-Merkumians

08:40 - 09:00 Automatic Generation of Diagnostic Handling Code for Decentralized PLC-based Control Architectures [38] Michael Steinegger, Martin Melik-Merkumians, Johannes Zajc and Georg Schitter

09:00 - 09:30 A Model-Based Approach to Qualified Process Automation for Anomaly Detection and Treatment [7] Dejiu Chen, Dmitri Valeri Panfilenko, Mahmood R. Khabazzi and Daniel Sonntag

09:30 - 10:00 A Model-based Failure Recovery Approach for automated Production Systems combining SysML and Industrial Standards [55] Patrick Bareiß, Daniel Schuetz, Rafael Priego, Marga Marcos and Birgit Vogel-Heuser

T2.1 Automation and industrial Internet of Things Room Limmat Chairs Stefano Scanzio, Stig Petersen

08:40 - 09:00 Evaluation and simulation of building automation systems based on their AutomationML description [34] Damian Eduardo Diaz Fuentes, Uwe Becker, Patrick Diekhake, Michelle Günther, André Scholz, Philipp Puntel Schmidt and Alexander Fay

09:00 - 09:20 Discovery in SOA-Governed Industrial Middleware with mDNS and DNS-SD [164] Ahmed Ismail and Wolfgang Kastner

09:20 - 09:40 Network Models for the Industrial Intranet – A Survey of Requirements, Challenges, and the State of the Art [194] Dirk Schulz

09:40 - 10:00 Performance Impact of Commercial Industrial Firewalls on Networked Control Systems [219] Manuel Cheminod, Luca Durante, Adriano Valenzano and Claudio Zuninor

T7.1 Mobile robots Room Reuss Chairs Sebastian Zug, Raul Suarez

08:40 - 09:00 Towards a Virtual Machine Approach to Resilient and Safe Mobile Robots [181] Sorin Adam, Marco Kuhrmann and Ulrik Schultz

09:00 - 09:20 Optimal Control Based Approach For Autonomous Driving [52] Reza Dariani, Stephan Schmidt and Roland Kasper

09:20 - 09:40 UAV degradation identification for pilot notification using machine learning techniques [172] Anush Manukyan, Miguel Angel Olivares- Mendez, Tegawendé F. Bissyandé, Holger Voos and Yves Le Traon

09:40 - 10:00 Flight Planning and Guidance Features for an UAV Flight Management Computer [74] Bouadi Hakim, Eliker Karam and Haddad Moussa

T9.1 Information and Communication Technology in Energy Systems: Smart Buildings and Cities Room Siemenssaal Chairs Thomas Strasser, Marco Liserre

08:40 - 09:00 Disaggregation of HVAC Load Profiles for the Monitoring of Individual Equipment [21] Enric Sala Cardoso, Konstantinos Kampouropoulos, Miguel Delgado Prieto, Luis Romeral Martínez

Brandenburger Tor, Berlin

DETAILED PROGRAM

ETFA’2016 1716 ETFA’2016

09:00 - 09:20 ENCOURAGEing Results on ICT for Energy Efficient Buildings [48] Thibaut Le Guilly, Arne Skou, Petur Olsen, Per Printz Madsen, Michele Albano, Luis Lino Ferreira, Luis Miguel Pinho, Miquel Casals, Marcel Macarulla, Marta Gangolells and Keld Pedersen

09:20 - 09:40 District heating temperature control algorithm based on short term weather forecast and consumption predictions [92] Nikolaos Papakonstantinou, Jouni Savolainen, Jarmo Koistinen, Antti Aikala and Valeriy Vyatkin

09:40 - 10:00 Communications for AnyPLACE: A Smart Metering Platform with Management and Control Functionalities [106] Dominik Henneke, Christian Freudenmann, Markus Kammerstetter, David Rua, Lukasz Wisniewski and Jürgen Jasperneite

SS01 Methods and Technologies to enhance Software Reuse in Robotics & Automation Room Glacier Chairs Alois Zoitl, Stefan Zander

08:40 - 09:00 A Model Based Engineering Tool for ROS Component Compositioning, Configuration and Generation of Deployment Information [197] Monika Wenger, Waldemar Eisenmenger, Georg Neugschwandtner, Ben Schneider and Alois Zoitl

09:00 - 09:20 From AutomationML to ROS – A Model-driven Approach for Software Engineering of Industrial Robotics using Ontological Reasoning [222] Yingbing Hua, Stefan Zander, Mirko Bordignon and Björn Hein

09:20 - 09:40 ROS Engineering Workbench based on semantically enriched App Models for improved Reusablity [226] Ramez Awad, Georg Heppner, Arne Roennau and Mirko Bordignon

09:40 - 10:00 Distributed Real-Time Control Service Framework for Human-Robot Interaction Applications [144] Carsten Adelbert Niebuhr and Axel Vick

WiP 1a Information Technology in Automation

Room Aare Chairs Alois Zoitl, Holger Flatt

08:40 - 10:00 Orchestration of Arrowhead services using IEC 61499: Distributed Automation Case Study [309] Hasan Derhamy, Dmitrii Drozdov, Sandeep Patil, Jan van Deventer, Jens Eliasson, Valeriy Vyatkin

Behavior Modeling of Automation Components using cross-domain Interdependencies [330] Benjamin Brandenbourger, Milan Vathoopan and Alois Zoitl

Ecosystems in the manufacturing industry [276] Peter Kress, Ulrich Löwen and Alexander Pflaum

Automatic Setup of Fault Detection Algorithms in Building and Home Automation [278] Henrik Dibowski, Jiri Vass, Ondrej Holub and Jiri Rojicek

A Comparison of Formal Verification Approaches for IEC 61499 [294] Jan Olaf Blech, Per Lindgren, David Pereira, Valeriy Vyatkin and Alois Zoitl

Static Analysis of Sequential Function Charts using Abstract Interpretation [307] Hendrik Simon and Stefan Kowalewski

Supporting the Regression Test of Multi- Variant Systems in Distributed Production Scenarios [310] Sebastian Abele and Michael Weyrich

Feasibility of Connecting Machinery and Robots to Industrial Control Services in the Cloud [321] Christian Horn and J. Krüger


A Human in the Loop Corrective Maintenance Methodology Using Cross Domain Engineering Data of Mechatronic Systems [253] Milan Vathoopan, Benjamin Brandenbourger and Alois Zoitl

A Model-Based Approach for Process Monitoring in Oil Production Industry [290] Edurne Irisarri, Marcelo V Garcia, Federico Pérez, Elisabet Estévez and Marga Marcos

Prototype for Enhanced Product Data Acquistion Based on Inherent Features in Logistics [313] Maximilian Fechteler, Marian Schlüter and Jörg Krüger

Internal Inconsistencies in the third edition of the IEC 61131-3 International Standard [308] Bruno Silva and Mario de Sousa

Fault Injection for IEC 61499 Applications [350] Bernd Glatz, Harald Schuster, Martin Horauer, Thomas Rauscher and Roman Obermaisser

Science Automation in Practice – Performance Data Farming in Workflows [352] Dariusz Król, Ewa Deelman, Rafael Ferreira Da Silva, Gideon Juve, Jacek Kitowski, Mats Rynge and Karan Vahi

Analyzing the Causes and Effects of Complexity on Different Levels of Automobile Manufacturing Systems [285] Seyedarya Mirrashed, Mohammad Rostami Mehr, Magdalena Mißler-Behr and Arndt Lüder

Multicast Authentication Framework for Distributed Control Systems based on IEC 61499 [332] Aydin Homay and Mario De Sousa


10:30 - 11:00 OPENING SESSION Room Enzian 00

11:00 - 12:00 KEYNOTE 1 Room Enzian

Industrie 4.0 – From the Perspective of Applied Research Prof. Dr. Reimund Neugebauer, President of the Fraunhofer-Society, Germany



Automotive Ethernet – Opportunities and Pitfalls Prof. Dr. Rolf Ernst, Technical University of Braunschweig, Germany0



T1.2 Multi-Disciplinary Engineering Models Room Enzian Chairs Alois Zoitl, Arndt Lueder

15:00 - 15:20 Investigating Model Slicing Capabilities on Integrated Plant Models with AutomationML [193] Richard Mordinyi, Dietmar Winkler, Fajar J. Ekaputra, Manuel Wimmer and Stefan Biffl

15:20 - 15:40 AutomationML Review Support in Multi- Disciplinary Engineering Environments [192] Dietmar Winkler, Fajar Ekaputra and Stefan Biffl

15:40 - 16:00 On The Evolution of CAEX: A Language Engineering Perspective [111] Luca Berardinelli, Rainer Drath, Emanuel Mätzler and Manuel Wimmer

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16:00 - 16:20 Concept and development of a semantic based data hub between process design and automation system engineering tools [73] Pouria Ghobadi Bigvand, Alexander Fay, Rainer Drath and Pablo Rodriguez

16:20 - 16:40 Lossless Exchange of Automation Project Configuration Data [88] Arndt Lüder, Nicole Schmidt and Michael John

16:40 - 17:00 Identification of ”Industrie 4.0” Component Hierarchy Layers [99] Hannes Röpke, Kristofer Hell, Zawisza Jacek, Arndt Lüder and Nicole Schmidt

T2.2 Wireless communication Room Limmat Chair Claudio Zunino, Stig Petersen

15:00 - 15:20 Ultra-Reliable and Low-Latency Communication for Wireless Factory Automation: From LTE to 5G [18] Shehzad Ali Ashraf, Ismet Aktas, Erik Eriksson, Ke Wang Helmersson and Junaid Ansari

15:20 - 15:40 Statistical Characterization of the 2.4 GHz Radio Channel for WSN in Indoor Office Environments [45] Dmitrii Kirov, Roberto Passerone, Massimo Donelli

15:40 - 16:00 Design Guidelines to Improve Reliability of Seamless Redundancy in Wi-Fi Networks [115] Gianluca Cena, Stefano Scanzio and Adriano Valenzano

16:00 - 16:20 Parallel Sequence Spread Spectrum: Analytical and Simulative Approach for Determination of Bit Error Probability [120] Lisa Underberg, Armin Wulf, Ramona Croonenbroeck, Wolfgang Endemann and Rüdiger Kays

16:20 - 16:40 DoTHa – A Double-threshold Hand-off Algorithm for Managing Mobility in Wireless Mesh Networks [139] Jesus Aisa, Hossein Fotouhi, Luis Almeida and José Luis Villarroel

16:40 - 17:00 Collaborative Transmission Schemes in Industrial Wireless Sensor Networks [161] Trong Tuan Nguyen and Dong-Seong Kim

T3.1 Timing Verification Room Reuss Chairs Ahlem Mifdaoui, Luis Almeida

15:00 - 15:20 Formal Worst-Case Performance Analysis of Time-Sensitive Ethernet with Frame Preemption [8] Daniel Thiele and Rolf Ernst

15:20 - 15:40 An automated framework for the timing analysis of applications for an automotive multicore processor [211] Davide Compagnin and Tullio Vardanega

15:40 - 16:00 Zero-Time Communication for Automotive Multi-Core Systems under SPP Scheduling [202] Matthias Beckert, Mischa Möstl and Rolf Ernst

16:00 - 16:20 Embedding network calculus and event stream theory in a common model [206] Marc Boyer and Pierre Roux

16:20 - 16:40 Safe tasks: run time verification of the RTFM-lang model of computation [187] Marcus Lindner, Andreas Lindner, Per Lindgren

16:40 - 17:00 A closer look into the AER model [209] Cláudio Maia, Daniel Gracia Pérez, Luís Nogueira and Luis Miguel Pinho

T4.1 Advanced computerized manufacturing systems

Room Siemenssaal Chairs Alexander Fay, Michael Weyrich

15:00 - 15:20 A UML-based Approach to Manage Product Variability in Automated Production Lines [166] Florian Kerber and Gitte Haendel

15:20 - 15:40 Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems [159] Vuk Lesi, Zivana Jakovljevic and Miroslav Pajic

15:40 - 16:00 Analysis of service-oriented architecture approaches suitable for modular process automation [31] Henry Bloch, Alexander Fay and Mario Hoernicke

16:00 - 16:20 New Types of Faults Detection and Diagnosis Using A Mixed Soft/Hard Clustering Framework [78] Heng-Chao Yan, Junhong Zhou and Chee Khiang Pang

16:20 - 16:40 Opportunistic Preventive Maintenance Strategy of a Multi-Component System with Hierarchical Structure by Reinforcement Learning [40] Stephane Barde, Hayong Shin and Soumaya Yacout

16:40 - 17:00 Power-Signature-Based Bayesian Multi- Classifier for Operation Mode Identification [165] Omid Geramifard, Yi Zhi Zhao, Yong Quan Chua and Ian Chan

T5.1 Advanced Control Application Room Glacier Chairs Marian Barbu, Domenico Gorni

15:00 - 15:20 Compensation Techniques for Iterative Rig Control in Multi-Axial Durability Testing [15] Tino Müller and Christian Endisch

15:20 - 15:40 Improvement of load-following capacity of grate boilers based on the combustion power soft-sensor [184] Jukka Kortela and Sirkka-Liisa Jämsä-Jounela

15:40 - 16:00 Sensors Data Fusion to Navigation Inside Pipe Using Kalman Filter [176] Everson Siqueira, Rodrigo Azzolin, Silvia Botelho and Vinícius Menezes de Oliveira

16:00 - 16:20 Optimal temperature set-point planning for residential buildings [57] Domenico Gorni and Antonio Visioli

16:20 - 16:40 Fuzzy Control of an Electrical Energy Gene ration System based on Renewable Sources [227] Ciprian Vlad, Marian Barbu and Ramon Vilanova

WiP 1b Information Technology in Automation

Room Aare Chairs Alois Zoitl, Holger Flatt

15:00 - 17:00 Building Automation Planning and Design Tool Implementing EN 15 232 BACS Efficiency Classes [265] Jakub Grela and Andrzej Ozadowicz

Agent-Based Dimensioning of Intra- Logistics Systems in the Planning [306] Theresa Beyer, Ramin Yousefifar, Peter Göhner and Karl-Heinz Wehking

Asynchronous information consensus in distributed control of irrigation canals [245] Le-Duy-Lai Nguyen, Laurent Lefevre, Denis Genon-Catalot and Youness Lami

An Advanced Data Analytics Framework for Energy Efficiency in Buildings [288] Daniel Schachinger, Stefan Gaida, Wolfgang Kastner, Filip Petrushevski, Clemens Reinthaler, Milos Sipetic and Gerhard Zucker

An Electronic Device Description Language based approach for communication with DBMS and File System in an Industrial Automation Scenario [359] Suprateek Banerjee and Daniel Großmann

Toolchain for Semantically enriched Device Development of flexible Profile conform Field Devices [254] Stefan Mätzler and Martin Wollschlaeger

A Software Framework for Augmented Reality-based Support of Industrial Operations [283] Ian Peake, Jan Olaf Blech and Matthew Schembri

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Case Study on Applying Augmented Reality for Process Supervision in Industrial Use Cases [298] Lukas Baron and Annerose Braune

Using Process Models to Support Customer specific Production Processes [304] Alexander Dennert, Martin Wollschlaeger, Patrick Gering, Thomas Knothe and Anne Lemcke

Plant Floor Communications Integration using a Low Cost CPPS Architecture [289] Marcelo Garcia, Edurne Irisarri, Federico Perez, Elisabet Estevez, Dario Orive and Marga Marcos

Agent-Based Cognitive Architecture Framework [381] Alexander Wendt and Thilo Sauter

Aggregating OPC UA Servers for Monitoring Manufacturing Systems and Mobile Work Machines [79] Ilkka Seilonen, Tomi Tuovinen, Joona Elovaara, Ian Tuomi and Timo Oksanen

Modeling Approach for a Flexible Manufacturing Control System [86] Ambra Calà, Daria Ryashentseva and Arndt Lüder

A Novel Approach Towards Model-Driven Reliability Analysis of Simulink Models [327] Padma Iyenghar, Stephan Wessels, Arne Noyer, Elke Pulvermueller and Clemens Westerkamp

18:00 - 19:00 BOAT TOUR

19:00 - 21:00 WELCOME RECEPTION

During the boat tour through Berlins’ famous waterways you are able to see legendary sights like the Museum Island.

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INDUSTRIE 4.0 – FROM THE PERSPECTIVE OF APPLIED RESEARCH

AUTOMOTIVE ETHERNET – OPPORTUNITIES AND PITFALLS

Rolf Ernst Technical University of Braunschweig, Germany

Reimund Neugebauer President of the Fraunhofer-Society, Germany

SUMMARY: “Industrie 4.0” is about real-time data-exchange between cyber-physical systems with the overall goal to

increase productivity, quality and flexibility while lowering costs for personalized products and processes.

Enablers for “Industrie 4.0” are advances in computer, network and sensing technologies. The transformation will further

progress over the next decades in face of new technologies, innovations and infrastructural settings and enable new kinds of

products and business models. The ultimate vision for the factory of the future is based on the smart and digital connection of

machines, robots and 3D-printers, products, sensor systems, resource infrastructures, logistics systems and ordering platforms

together with humans, cloud systems, intelligent assistants and the internet. Hence, the total sourcing, production, retail,

delivery and recycling processes will be regarded as a unified organism. The new and high degree of digitization requires

sophisticated technologies in many areas. These include research and development for e.g. novel forms of cyber security,

networks and fast connectivity (5G and beyond), computing and processing solutions and Machine Learning. Innovative

project examples from these research areas will be shown in the presentation.

BIOGRAPHY: Prof. Reimund Neugebauer was born in Thuringia, Germany, on June 27, 1953. He graduated from the Technische Universität Dresden (TUD) in 1979 with a degree in me-chanical engineering. From 1979 to 1984, he was a scientific associate and a senior scientific assistant at TUD, where he received his doctorate in 1984 and gained the post of professor in 1989. In 1991, he became director of the Fraunhofer Institute for Machine Tools and Forming Technology IWU with locations in Chemnitz, Dresden, Augsburg and Zittau. In 1993 he was appointed chair of the Machine Tools department at the Technische Universität Chemnitz (TU Chemnitz) and in 2000 he became managing director of TU Chemnitz’s Institute of Machine Tools and Production Processes. On October 1, 2012, he took up the post of president of the Fraunhofer- Gesellschaft. Prof. Neugebauer is a Fellow of the International Academy for Production Engineering (CIRP) and a member of the National Academy of Science and Engineering (acatech). From 2010 to 2011 he was the president of the German Academic Society for Production Engineering and since 2014 he has been a member of Leopoldina – the German National Academy of Sciences. This year, Prof. Neugebauer was appointed co-chair of the German federal government’s High-Tech Forum, an advisory board for the development of Germany’s research and development policy.

BIOGRAPHY: Rolf Ernst is a professor at the Technische Universität Braunschweig, Germany. He chairs the Institute of Computer and Network Engineering (IDA) with more than 50 employees covering embedded systems research from computer architecture and real-time systems theory to challenging automotive, aerospace, or smart building applications. His research is or was funded by national and European programs as well as by companies, such as BMW, Bosch, Daimler, Ford, GM, Toyota, Volkswagen, Intel, Siemens, or Thales. He chaired major scientific events, such as ICCAD, DATE, or ESWEEK. He was a member of the European ARTEMIS Strategic Research Agenda team and served as an expert for the successor program ECSEL as well as for H2020. He is an IEEE Fellow, a DATE Fellow, served as an ACM SIGDA Distinguished Lecturer, and is a member of the German Academy of Science and Engineering, acatech. He is a member of the advisory board (Beirat) of the German Ministry of Economics and Technology for entrepreneurship programs (www.exist.de). In 2014, he received the Lifetime Achievement Award of the European Design Automation Association, EDAA.

SUMMARY: The automotive industry is undergoing major changes. Automatic driving, electro mobility, and wireless

connectivity are changing automotive technology at the same time, more than any other innovation over decades

of automotive history. Automotive embedded systems are at the core of this development facing new challenges to

performance, safety and security. Embedded systems technology is answering with a transition from traditional single core

microcontrollers to multi- and manycore systems, and with new network architectures.

Today, Switched Ethernet is generally accepted as the future automotive backbone technology. Switched Ethernet provides

a great opportunity to improve performance and control cost, but is not without risk when it comes to functional safety.

Such risks are not limited to protocol and communication stacks but include switch and gateway implementations as well

as individual car network configurations.

The presentation will start with an overview on the use of Switched Ethernet in time and safety critical applications before

it summarizes potential shortcomings when applied to safety critical systems.

K E Y N O T E 1 K E Y N O T E 2

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T H U R S D A Y, S E P T E M B E R 8 T H , 2 0 1 6

DETAILED PROGRAM


T1.3 Semantic and Formal Methods Room Enzian Chairs Alois Zoitl, Valeriy Vyatkin

08:30 - 08:50 RobotML for Industrial Robots: Design and Simulation of Manipulation Scenarios [64] Selma Kchir, Saadia Dhouib, Jérémie Tatibouet, Baptiste Gradoussoff and Max Da Silva Simoes

08:50 - 09:10 Task planning for human robot interactive processes [158] Nils Wantia, Menno Esen, André Hengstebeck, Frank Heinze, Juergen Rossmann, Jochen Deuse and Bernd Kuhlenkoetter

09:10 - 09:30 Learning Adaptive Dispatching Rules for a Manufacturing Process System: An Ontology- Based, Reinforcement Learning Approach [44] Shuhui Qu, Jie Wang and Shivani Govil

09:30 - 09:50 Reusability and Modularity of Safety Specifications for Supervisory Control [112] Florian Göbe, Oliver Ney and Stefan Kowalewski

09:50 - 10:10 Semantic Subgraph Isomorphism for Enabling Physical Adaptability of Cyber- Physical Production Systems [80] Grischan Engel, Thomas Greiner and Sascha Seifert

10:10 - 10:30 User-friendly formal specification languages – conlusions drawn from industrial experience on model checking [50] Antti Pakonen, Cheng Pang, Igor Buzhinsky and Valeriy Vyatkin

T4.2 Scheduling and control of manufacturing systems

Room Limmat Chairs Stefan Schaefer, Vicente Lucena Jr

08:30 - 08:50 Robust Scheduling for Manufacturing with Energy Consumption Limits [141] Istvan Modos, Premysl Sucha, Zdenek Hanzalek

08:50 - 09:10 A power data driven energy-cost-aware production scheduling method for sustainable manufacturing at the unit process level [5] Xu Gong, Toon De Pessemier, Wout Joseph and Luc Martens

09:10 - 09:30 ReliefF Filtering for Feature Selection in Complex Manufacturing Processes [131] Sitong Xu, Xiang Li and Wen Feng Lu

09:30 - 09:50 Evaluation of operator relief for an effective design of HRC workcells [160] Fabio Pini, Matteo Ansaloni and Francesco Leali

09:50 - 10:10 Self Adaptive System for Flexible Robot Assembly Operation [180] Duc Tho Le, Mayur Andulkar and Wenchao Zou

10:10 - 10:30 An approach of a computerized planning assistant to the system design of collaborative robot installations [16] Sebastian Keller, Robert Hausmann, Lydia Kressner and Alexander Koenig

T5.2 Advanced Industrial Control techniques

Room Reuss Chairs Takao Sato, Josep M. Olm

08:30 - 08:50 Rejection of periodic disturbances using MRAC with minimal controller synthesis [22] Ciro Larco Barros, Josep M. Olm, Ramon Costa-Castelló

Spreepalais, Berlin

08:50 - 09:10 Data-driven Dual-rate Control System Using the TITO Method [27] Takao Sato, Takahiro Honda, Nozomu Araki and Yasuo Konishi

09:10 - 09:30 Model Reference PI Controller Tuning for Second Order Inverse Response and Dead Time Processes [113] J.A. Martinez, Orlando Arrieta, Ramon Vilanova, José David Rojas, Leonardo Marin, Marian Barbu

09:30 - 09:50 Improved relay auto-tuning method for unstable TITO systems [47] Nikita Saxena and Chidambaram Manickam

09:50 - 10:10 Car platooning reconfiguration applying reset control techniques [24] Adriana Costas López, Miguel Cerdeira Corujo, Antonio Barreiro Blas, Emma Delgado Romero and Alfonso Baños Torrico

T7.2 Planning Room Siemenssaal Chairs Raul Suarez, Sebastian Zug

08:30 - 08:50 Dynamic Trajectory Planning for Mobile Robot Navigation in Crowded Environments [136] Stefano Primatesta, Ludovico Orlando Russo and Basilio Bona

08:50 - 09:10 Simplifying Synchronization in Cooperative Robot Tasks – An Enhancement of the Manipulation Primitive Paradigm [189] Christian Pek and Arne Muxfeldt

09:10 - 09:30 Task Planning Using Physics-based Heuristics on Manipulation Actions [25] Aliakbar Akbari, Muhayyuddin and Jan Rosell

09:30 - 09:50 Hierarchical Decomposition of Industrial Assembly Tasks [81] Arne Muxfeldt and Jan Kluth

26 ETFA’2016 ETFA’2016 27


09:50 - 10:10 A Global Approach to Manipulability Optimisation for a Dual-Arm Manipulator [62] Marco Faroni, Manuel Beschi, Antonio Visioli and Lorenzo Molinari Tosatti

10:10 - 10:30 Grasp Synthesis of 3D Articulated Objects with n Links [76] Noé Alvarado Tovar and Raul Suarez

WiP 2 / 5 Industrial Communication Technologies and Systems, Industrial Control

Room Aare Chairs Claudio Zunino, Stig Petersen

08:40 - 10:30 Coexisting Wireless Sensor Networks in Cyber-Physical Production Systems [240] Christoph Cammin, Christopher Schulze, Dmytro Krush, Ralf Heynicke, Gerd Scholl, Sebastian Thiede and Christoph Herrmann

Coexistence of Wireless Control Systems: An Integral Event-based Simulation Approach [312] Dimitri Block, Malte Schmidt, Lars Dürkop and Nico Wiebusch

Evaluation of TSCH scheduling implemen-tations for real WSN applications [300] Víctor Sempere-Payá, Javier Silvestre-Blanes, David Todolí, Marina Valls and Salvador Santonja

Wireless Handover Performance in Industrial Environments: a Case Study [221] Jetmir Haxhibeqiri, Michael Mehari, Wei Liu, Eli De Poorter, Wout Joseph, Ingrid Moerman and Jeroen Hoebeke

Comparison of Wireless Gateway Concepts for Industrial Real-Time-Communication [246] Johannes von Hoyningen-Huene, Steven Dietrich, Andreas Mueller and Gunther May

Towards Real-Time Data Analytics in Industrial Process Control [314] Shaobo Zheng, Tao Gong, Song Han, Joshua Kidd, Noel Bell, Mark Nixon, Eric Rotvold, Lara Rubbelke and Wee-Hyong Tok

An improved MAC protocol for priority based data delivery [315] Zaloa Fernandez, Pedro M. Rodriguez, Mikel Mendicute and Iñaki Val

IoT-based Interoperability Framework for Asset and Fleet Management [356] Jere Backman, Janne Väre, Kary Främling, Manik Madhikermi and Ossi Nykänen

Providing Physical Layer Security for Mission Critical Machine Type Communication [377] Andreas Weinand, Abhijit Ambekar, Michael Karrenbauer and Hans D. Schotten

A First Performance Analysis of the Admission Control in the HaRTES Ethernet Switch [372] Inés Álvarez, Mladen Knezic, Luis Almeida and Julián Proenza

First Implementation and Test of Reintegration Mechanisms for Node Replicas in the FT4FTT Architecture [378] Alberto Ballesteros, Sinisa Derasevic, Manuel Barranco and Julián Proenza

Improving maintenance of FT4FTT: extending it to monitor and analyze its available redundancy through Internet [379] Manuel Barranco, Adel Zendouh, Alberto Ballesteros and Julián Proenza

Analysis of the Cyber-Security of Industry 4.0 Technologies based on RAMI 4.0 and Identification of Requirements [292] Holger Flatt, Sebastian Schriegel, Henning Trsek, Heiko Adamczyk and Jürgen Jasperneite

Active Flow Control for Aerospace Operations by Means of a Dense Wireless Sensor and Actuator Network [36] Ramiro Sámano Robles, Julio Viana, Joao Loureiro, Joao Cintra, Andre Rocha, Eduardo Tovar

Future Research Challenges of Secure Heterogeneous Industrial Communication Networks [70] Apala Ray, Johan Åkerberg, Mats Björkman and Mikael Gidlund

Low-Cost Profibus DP Slave Shield for Embedded Controllers [133] Jos Knockaert, Bram Vanseveren, Wesley Cottegnie, Frederic Depuydt, Stijn Noppe and Philippe Saey

Test and On-Line Monitoring of Real-Time Ethernet with Mixed Pysical Layer for Industrie 4.0 [151] Stefan Fuchs, Hans-Peter Schmidt, Stefan Witte

Autotuning of an In-Line pH Control System [235] Pedro Mercader, Kristian Soltesz, Alfonso Baños

Framework for Implementation of Iterative Learning Control on Programmable Logic Controllers [271] Matthias Bibl, Michael Robin, Michael Steinegger and Georg Schitter.

Alternative Controls for Soft Real-time Industrial Control Services in case of Broken Cloud Links [338] Syed Shiraz Gilani, Florian Jungbluth and Holger Flatt

Invariant Observer Applied to Anaerobic Digestion Model [394] Khadidja Chaib Draa, Holger Voos, Marouane Alma and Mohamed Darouach

Multi-frequency Disturbance Compensation in a Plastic Injection Molding Machine [236] Luca Simoni, Manuel Beschi, Davide Colombo and Antonio Visioli



The Next Wonder – MBSE/MBE: From Ideas to “Making Products and Services” Prof. Dr. John S. Baras, University of Maryland, USA



Big Data and beyond: What can we expect in the future! Prof. Dr. Wolfgang E. Nagel, Technical University of Dresden, Germany


T1.4 Decision support systems Room Enzian Chairs Alois Zoitl, Pekka Aarnio

14:30 - 14:50 Automated Decision Support IoT Framework [213] Willian Tessaro Lunardi, Leonardo Amaral, Sabrina Marczak, Fabiano Hessel and Holger Voos

14:50 - 15:10 Spatio-temporal Reasoning and Decision Support for Smart Energy Systems [30] Jan Olaf Blech, Lasith Fernando, Keith Foster, Abhilash G and Sudarsan Sd

15:10 - 15:30 Moving IEC 61131-3 applications to a computing framework based on CLR Virtual Machine [29] Salvatore Cavalieri and Marco Stefano Scroppo

T2.3 Real-time and industrial networks Room Limmat Chairs Claudio Zunino, Uwe Meier

14:30 - 14:50 Fast Bit Compressor: A Novel Implementation of a Low Latency Modulation Using Binary Signals on Bandwidth Limited Links [135] Matthias Hinkfoth and Ralf Salomon

14:50 - 15:10 Potential of Multipath Communications to Improve Communications Reliability for Internet-based Cyber-physical Systems [170] Mohammad Elattar, Verena Wendt, Arne Neumann and Jürgen Jasperneite

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15:10 - 15:30 Mapping real-time communicating tasks on a distributed IMA architecture [232] Emilie Deroche, Jean-Luc Scharbarg and Christian Fraboul

T3.2 Design and Methods Room Siemenssaal Chairs Rolf Ernst, Sebastian Schriegel

14:30 - 14:50 Reset-Based Recovery for Real-Time Cyber- Physical Systems with Temporal Safety Constraints [199] Fardin Abdi Taghi Abad, Renato Mancuso, Stanley Bak, Or Dantsker and Marco Caccamo

14:50 - 15:10 Eboracum: An Extensible Framework for High-level Modeling and Evaluation of Reactive and Adaptable WSNs [210] Milena Marques, Lisane Brisolara, Paulo Ferreira Jr. and Leandro Indrusiak

15:10 - 15:30 EAICA: An Energy-aware Resource Provisioning Algorithm for Real-Time Cloud Services [216] Hamid Faragardi, Aboozar Rajabi, Kristian Sandström and Thomas Nolte

WiP 4 Information Technology in Automation Room Aare Chairs Javier Silvestre, Pragna Das

14:30 - 15:30 Error handling within highly automated automotive industry: current practice and research needs [284] Ashfaq Hussain Farooqui, Patrik Bergagård, Petter Falkman and Martin Fabian

Automated Sewing Using Conveyor Belts [311] Johannes Schrimpf

A Mathematical Model for Surface Roughness of Ship Hull Grit Blasting [261] Xin Zheng, Sibao Wang, Chew Chee Meng and Wen Feng Lu

EPSCore: A Didactic Open Architecture of an Evolvable Production System [331] Rafael Da Silva Mendonça, Andre Luiz Duarte Cavalcante and Vicente Ferreira De Lucena Jr.

Estimation of Thermal Conductivity for Model with Radiative Heat Transfer by Extended Kalman Filter [339] Akira Yanou, Naoki Hosoya, Katsuhiro Wada, Mamoru Minami and Takayuki Matsuno

Increasing the Flexibility of Manufacturing: A Service-oriented Approach in Automation [346] Dirk Schöttke, Stephan Schaefer, Ulrich Berger, Thomas Kämpfe, Bernd Tauber and Dietrich Kroenke

A Study of Time-varying Cost Parameter Estimation Methods in Automated Transportation Systems based on Mobile Robots [355] Pragna Das and Lluís Ribas-Xirgo

A Design of Semi-Automatic Enclosed Robotic Apparatus for Ship Hull Surface Abrasive Blasting and Cleaning using Copper Grits [260] Xin Zheng, Guojie Lan, Chee Meng Chew and Wen Feng Lu

Challenges for Functional Testing of reconfigurable Production Systems [275] Andreas Zeller and Michael Weyrich

Systematization Approach for the Adaptation of Manufacturing Machines [293] Xuan Luu Hoang, Philipp Marks, Michael Weyrich and Alexander Fay

An Architecture based on IoT and CPS to Organize and Locate Services: an architecture focused on Industrie 4.0 [129] Marcos A. Pisching, Fabrício Junqueira, Diolino J. Dos Santos Filho and Paulo E. Miyagi

Description of an intelligent resource unit for a smart production [230] Matthias Klein, Markus Leitzgen, Michael Weyrich

Approach to Interconnect Existing Industrial Automation Systems with the Industrial Internet [94] Alexander Faul, Nasser Jazdi, Michael Weyrich

WiP 3/8 Real-Time and (Networked) Embedded Systems, Intelligent Sensors, Sensor Networks, and Information Processing

Room Reuss Chairs Michael Short, Lukasz Wisniewski

14:30 - 15:30 Proof-of-concept for a Software-defined Real-time Ethernet [255] Matthias Herlich, Jia Lei Du, Fabian Schörghofer and Peter Dorfinger

State Consistency Checking Using History Information [366] Akramul Azim

Translating Timing Requirements of Embedded Software Systems Modeled in Simulink To A Timing Analysis Model [327] Padma Iyenghar, Arne Noyer, Joachim Engelhardt and Elke Pulvermueller

Deterministic Ethernet and TSN Networking: IEEE TSN for Advanced Industrial Embedded Platforms [326] Mirko Jakovljevic and Astrit Ademaj

Coupling of Timing Properties for Embedded Realtime Systems Using A Hybrid Tool Integration Approach [104] Arne Noyer, Padma Iyenghar, Joachim Engelhardt, Elke Pulvermueller, Gert Bikker

A Heterogeneous Multi-Core SoC for Mixed Criticality Industrial Automation Systems [153] Zoran Salcic, Muhammad Nadeem, Heejong Park and Jürgen Teich

Towards Certified Compilation of RTFM-core Applications [188] David Pereira, Per Lindgren, Luis Miguel Pinho and Marcus Lindner

Robust Factor Graph Optimization – A Comparison for Sensor Fusion Applications [248] Tim Pfeifer, Peter Weissig, Sven Lange and Peter Protzel

A Symbolic Distributed Event Detection Scheme for Wireless Sensor Networks [362] Salvatore Gaglio, Giuseppe Lo Re, Gloria Martorella and Daniele Peri

Active Control and Monitoring Functions with Microlocation in Building Automation and Control Systems – Case Study [266] Andrzej Ozadowicz, Jakub Grela and Michal Zielinski

Non-invasive, energy-autonomous and wireless temperature sensor for the process industry [258] Stephan Wildermuth, Andreas Decker, Jörg Gebhardt, Paul Szasz, Tilo Merlin and Horst Schwanzer

Towards an FPGA-Based Network Layer Filter for the Internet of Things Edge Devices [361] Tiago Gomes, Filipe Salgado, Sandro Pinto, Jorge Cabral and Adriano Tavares

Track Circuit Improvement with High-Voltage Impulse Encoding [347] Lei Yuan, Yuan Yang and Álvaro Hernández

An Industry Analytics Approach to Predictive Maintenance for Machinery Applications [259] Carlos Paiz Gatica, Markus Koester, Tobias Gaukstern, Eugen Berlin and Marek Meyer

Dealing with Time-Series Data in Predictive Maintenance Problems [319] Gian Antonio Susto and Alessandro Beghi

Dynamic extension of network for collection data from multiple nodes [201] Weilian Su and Burak Yanar


30 ETFA’2016 ETFA’2016 31



T1.5 Service-oriented Architectures Room Enzian Chairs Valeriy Vyatkin, Martin Melik-Merkumians

16:00 - 16:20 Transformation of the NAMUR MTP to OPC UA to allow Plug and Produce for Modular Process Automation [93] Sachari Wassilew, Jan Ladiges, Thomas Holm, Leon Urbas and Alexander Fay

16:20 - 16:40 Integration of IEC 61499 with OPC UA [173] Slavomír Kožár and Petr Kadera

16:40 - 17:00 Integrating Industrial Middleware in Linked Data Collaboration Networks [42] Markus Graube, Jan Hladik and Leon Urbas

17:00 - 17:20 A Service-Oriented Domain Specific Language Programming Approach for Batch Processes [68] Martin Melik Merkumians, Matthias Baierling and Georg Schitter

17:20 - 17:40 Extending SOSJ Framework for Large-Scale Dynamic Manufacturing Systems [14] Udayanto Dwi Atmojo, Zoran Salcic and Kevin I-Kai Wang

17:40 - 18:00 An RDF-based Approach for Implementing Industrie 4.0 Components with Administration Shells [121] Irlan Grangel, Lavdim Halilaj, Diego Collarana, Sören Auer, Steffen Lohmann and Christoph Lange

T1.6 Modular and Reusable Software Components

Room Limmat Chairs Cesare Fantuzzi, Birgit Vogel-Heuser

16:00 - 16:20 Extended Mapping Algorithm Based on Modularity from Synchronous Block Diagrams to AUTOSAR Runnables [155] Shunsuke Hori and Takuya Azumi

16:20 - 16:40 Generation of safe operation sequences using iterative refinements and abstractions of timed automata [66] Thomas Cochard, David Gouyon and Jean-François Petin

16:40 - 17:00 Deploying New Functionality to Manufac turing Resources Safely at Runtime [124] Julius Pfrommer, Miriam Schleipen, Selma Azaiez, Michael Boc, Loïc Cudennec, Selma Kchir, Thibaud Tortech and Xenia Klinge

17:00 - 17:20 Design of cyber-physical systems: definition and metamodel for reusable resources [71] Giacomo Barbieri and Cesare Fantuzzi

17:20 - 17:40 Requirements engineering and modelling for Building automation systems [35] Michelle Günther, Patrick Diekhake, André Scholz, Damian Diaz, Philipp Puntel Schmidt, Uwe Becker and Alexander Fay

T5.3 Predictive Control: Design, Tuning and Applications

Room Reuss Chairs Amer Atta Yaseen, Jani Jokinen

16:00 - 16:20 Multivariable GPC for Processes with Multiple Time Delays: Implementation Issues [59] Andrzej Pawlowski, José Luis Guzmán, Manuel Berenguel, Julio E. Normey-Rico and Sebastián Dormido

16:20 - 16:40 Design and Implementation of a Predictive Control System for a Photovoltaic Generator [118] Andres Larrea, Oscar Barambones and Jose Antonio Ramos-Hernanz

16:40 - 17:00 Repetitive Control Applied to Robot Manipulators [186] Israel Gonçalves de Oliveira, Walter Fetter Lages

17:00 - 17:20 Design of Model Predictive Control for Time-Varying Nonlinear System Based on Gaussian Process Regression Modeling [77] Min Zhou, Zhao-Qin Guo and Xiang Li

17:20 - 17:40 Intelligent Generalized Predictive Control Strategy for Networked Control System with an Internal Cyber-Attack Detector [185] Amer Yaseen and Mireille Bayart

T6.1 Optimization and Modern Heuristics Room Aare Chairs David Fofi, Helene Dörksen

16:00 - 16:20 Dynamic Optimization Approaches for Resource Allocation Planning in Inland Navigation Networks [41] Eric Duviella, Houda Nouasse, Arnaud Doniec and Karine Chuquet

16:20 - 16:40 Designing Optimal Harmonic Filters in Power Systems Using Greedy Adaptive Differential Evolution [212] Miguel Leon Ortiz, Yigen Zenlander and Ning Xiong

16:40 - 17:00 Evaluation and Improvement of Global Pose Estimation with Multiple AprilTags for Industrial Manipulators [43] Christian Nissler, Stefan Büttner, Zoltan-Csaba Marton, Laura Beckmann and Ulrike Thomas

17:00 - 17:20 Intelligent Operating Strategy for an Internal Rubber Mixer’s Multi-Motor Drive System Based on Artificial Neural Network [6] Malte Strop and Detmar Zimmer

T8.1 Computer Vision, Computational Intelligence, and Modern Heuristics in Automation

Room Siemenssaal Chairs Michael Short, Weilan Su

16:00 - 16:20 Generator for Modular Virtual Sensors [63] Burkhard Hensel and Klaus Kabitzsch

16:20 - 16:40 Accelerated Deep Neural Networks for Enhanced Intrusion Detection System [145] Sasanka Potluri and Christian Diedrich

16:40 - 17:00 Energy-Aware Routing Scheme in Industrial Wireless Sensor Networks for Internet of Things Systems [148] Long Bach Nguyen and Dong-Seong Kim

17:00 - 17:20 An integrated node for Smart-City applications based on active RFID tags; Use case on waste-bins [167] Dimitris Karadimas, Andreas Papalambrou, John Gialelis and Stavros Koubias

17:20 - 17:40 Speculative Precision Time Protocol: submicrosecond clock synchronization for the IoT [168] Antônio Augusto Fröhlich, Davi Resner and Lucas Wanner

17:40 - 18:00 Scheduling Master-Slave Wireless Networks in the Presence of Interference [203] Michael Short

19:00 - 24:00 CONFERENCE BANQUET

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K E Y N O T E 3 K E Y N O T E 4

THE NEXT WONDER – MBSE/MBE: FROM IDEAS TO “MAKING PRODUCTS AND SERVICES”

BIG DATA AND BEYOND – WHAT CAN WE EXPECT IN THE FUTURE!

Wolfgang E. Nagel Technical University of Dresden, Germany

John S. Baras University of Maryland, USA

SUMMARY: Advances in Information Technology have enabled the design of complex engineered systems, with large

number of heterogeneous components and capable of multiple complex functions, leading to the ubiquitous cyber-physical

systems (CPS). These advances have at the same time increased the capabilities of such systems and have increased their

complexity to such an extent that systematic design towards predictable performance is extremely challenging, if not

infeasible with current methodologies and tools. We first describe a rigorous framework we are developing for model-based

systems engineering (MBSE), a system level design methodology that addresses these challenges, which also incorporates

manufacturing, operation and life cycle considerations. We describe applications of the framework to several important

current technological problems (several major domains of CPS): power grids, automotive, aerospace, energy efficient buildings,

sensor and communication networks, smart manufacturing, robotics and UAVs, health care, cyber-security. And we close

with a description of what is still lacking, research challenges and future promising research directions.

SUMMARY: The sheer volume of data generated and accumulated in industry as well as in many scientific disciplines

is a critical issue that needs even more attention, especially on the management and political level. The data is

generated already today by production environments with hundreds of millions of parts, cameras, sensors, robots, but

also technical devices like microscopes, usage and business data, as well as logistic information, to name just a few

sources. This will be driven to even higher levels by the developments in the Internet of Things. Autonomous driving

and Cyber-Physical Systems as further enabling technologies for new business opportunities, but also challenging

operation procedures for data processing. In future, the successful management of these challenges may decide

on business success – or failure. There is an urgent need for intelligent mechanisms to acquire, process, and analyze

data, which have to run and scale efficiently on current and future computing architectures. To be prepared for

the future, we need quite some changes in our data processing procedures, but essential will be the availability

of experts working as data architects, data scientists, but also data change agents and information brokers.

BIOGRAPHY: John S. Baras received B.S. in Electrical and Mechanical Engineering from the National Technical University of Athens, Greece, 1970; M.S. and Ph.D. in Applied Mathematics from Harvard University 1971, 1973. Since 1973 with the Electrical and Computer Engineering Department, and the Applied Mathematics Faculty, at the University of Maryland College Park. Since 2000 faculty member in the Fischell Department of Bioengineering. Since 2014 faculty member in the Mechanical Engineering Department. Founding Director of the Institute for Systems Research (ISR) from 1985 to 1991. Since 1991, Founding Director of the Maryland Center for Hybrid Networks (HYNET). Since 2013, Guest Professor at the Royal Institute of Technology (KTH), Sweden. Life Fellow of the IEEE, Fellow of the SIAM, Fellow of the AAAS and a Foreign Member of the Royal Swedish Academy of Engineering Sciences. Received the 1980 George Axelby Award from the IEEE Control Systems Society, the 2006 Leonard Abraham Prize from the IEEE Communications Society, the 2014 Tage Erlander Guest Professorship from the Swedish Research Council, and a three year (2014-2017) Hans Fischer Senior Fellowship from the Institute for Advanced Study of the Technical University of Munich, Germany. Professor Baras’ research interests include automatic control, communication and computing systems and networks, and model-based systems engineering.

BIOGRAPHY: Wolfgang E. Nagel has studied computer science at Rheinisch-Westfälische Technische Hochschule (RWTH) Aachen and received his PhD in 1993. After 12 years at Jülich Supercomputing Center and Center for Advanced Computing Research (CACR), Caltech he got a Full Professorship at Technische Universität Dresden in 1997. Since 2001, he holds the Chair for Computer Architecture in the Department of Computer Science and is Director of the Institute of Computer Engineering. Wolfgang Nagel is chairman of the Gauß-Allianz, chairman of the Advisory Board of the HLRS Stuttgart, and head of the Scientific Advisory Council of FIZ Karlsruhe. He has published more than 150 papers covering modern programming concepts and software tools to support the development of scalable and data intensive applications, analysis of innovative computer architectures, and the development of efficient parallel algorithms and methods. He has been the Founding Director of the Center for Information Services and High Performance Computing (ZIH) at TUD. Since October 2014, he is the Scientific Coordinator of ScaDS Dresden/Leipzig, one of the two German Big Data competence centers funded by the BMBF.

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F R I D A Y, S E P T E M B E R 9 T H , 2 0 1 6

DETAILED PROGRAM


T1.7 Virtual Commisioning and Testing Room Enzian Chairs Alois Zoitl, Holger Voos

09:10 - 09:30 A Measurement Study on Virtualization Overhead for Applications of Industrial Automation Systems [13] Yu Kaneko, Toshio Ito and Takahiro Hara

09:30 - 09:50 Test methodology for virtual commissioning based on behaviour simulation of production systems [28] Sebastian Süß, Stephan Magnus, Mario Thron, Holger Zipper, Ulrich Odefey, Anton Strahilov, Adam Kłodowski and Thomas Bär

09:50 - 10:10 Integrating dynamic process simulation into detailed automation engineering [89] Niklas Paganus, Karri Honkoila and Tommi Karhela

10:10 - 10:30 Context Modeling with Situation Rules for Industrial Maintenance [174] Pekka Aarnio, David Hästbacka and Valeriy Vyatkin

SS03 Safe Human-Robot Collaboration Room Siemenssaal Chairs Andrea Orlandini, Kaspar Althoefer

09:10 - 09:30 FourByThree: Imagine humans and robots working hand in hand [229] Iñaki Maurtua, Nicola Pedrocchi, Andrea Orlandini, José de Gea Fernández, Christian Vogel, Aaron Geenen, Kaspar Althoefer and Ali Shafti

09:30 - 09:50 Enhancing Safe Human-Robot Collaboration through Natural Multimodal Communication [214] Iñaki Maurtua, Izaskun Fernandez, Johan Kildal, Loreto Susperregi, Alberto Tellaeche and Aitor Ibarguren

09:50 - 10:10 Towards a Planning-based Framework for Symbiotic Human-Robot Collaboration [131] Amedeo Cesta, Giulio Bernardi, Andrea Orlandini and Alessandro Umbrico

SS02 Dependability and Robustness of Wireless Sensor Networks

Room Glacier Chairs Manuela Klocker, Werner Rom, Michael Karner

09:10 - 09:30 Generic Framework Enabling Secure and Efficient Automotive Wireless SW Updates [217] Marco Steger, Michael Karner, Joachim Hillebrand, Werner Rom, Kay Roemer and Carlo Boano

09:30 - 09:50 An in-vehicle wireless sensor network for heavy vehicles [191] Dhasarathy Parthasarathy, Russ Whiton, Jonas Hagerskans and Tomas Gustafsson

09:50 - 10:10 RLL – Reliable Low Latency Broadcast Data Dissemination in Dense Wireless Lighting Control Networks [98] Conrad Dandelski, Bernd-Ludwig Wenning, Michael Kuhn and Dirk Pesch

10:10 - 10:30 Active Flow Control for Aerospace Operations by Means of a Dense Wireless Sensor and Actuator Network [WiP] [36] Ramiro Sámano Robles, Julio Viana, Joao Loureiro, Joao Cintra, Andre Rocha and Eduardo Tovar

T7.3 Software architectures and sensor applications

Room Limmat Chairs Raul Suarez, Sebastian Zug

09:10 - 09:30 Material Comparison and Design of a Flexible Tactile Sensor Matrix for Industrial Manipulators [190] Jan Niklas Haus and Arne Muxfeldt

09:30 - 09:50 Vision-based Sorting of Medium Density Fibreboard and Grade A Wood Waste [183] Maarten Verheyen, Wim Beckers, Eric Claesen, Geert Moonen and Eric Demeester

09:50 - 10:10 An embedded architecture for robotic manipulation in the construction field [177] Matteo Tanzini, Juan Manuel Jacinto-Villegas, Massimo Satler, Carlo Alberto Avizzano and Marta Niccolini

10:10 - 10:30 Robotic Cell Work-Flow Management through an IEC 61499-ROS architecture [162] Niccolò Iannacci, Matteo Giussani and Federico Vicentini

WiP 6 / 7 Computer Vision, Computational Intelligence, and Modern Heuristics in Automation / Intelligent Robots & Systems

Room Aare Chairs Magnus Hanses, Sebastian Zug

09:10 - 10:30 A Generic Framework for Defect Detection on Vessel Structures based on Image Saliency [335] Francisco Bonnin-Pascual and Alberto Ortiz

Automated Enhancement and Detection of Stripe Defects in Large Circular Weft Knitted Fabrics [353] Marcin Kopaczka, Hanry Ham, Kristina Simonis, Raphael Kolk and Dorit Merhof

Setting governor properties on ARM architectures in image processing applications [301] Javier Silvestre-Blanes

A Generic Approach for Detection of Wear- out Situations in Machine Subsystems [385] Fabian Paschke, Christian Bayer and Olaf Enge-Rosenblatt

A Concept for Self-Configuration of Adaptive Sensor and Information Fusion Systems [295] Alexander Fritze, Uwe Mönks and Volker Lohweg

Detection of Commercial Offset Printing using an Adaptive Software Architecture for the DFT [320] Anton Pfeifer and Volker Lohweg

Vision based, statistical learning system for fault recognition in industrial assembly environment [69] Zsolt Janos Viharos, Dimitrij Prof. Csetverikov, András Dr. Háry, Ramóna Sághegyi, András Barta, László Zalányi, István Pomozi, Szilveszter Soós, Zsolt Kövér and Balázs Varjú

Hand-guiding robots along predefined geometric paths under hard joint constraints [250] Magnus Hanses, Roland Behrens and Norbert Elkmann

Exploiting Tactile Surface Sensors as a Gesture Input Device for Intuitive Robot Programming [317] Arne Muxfeldt, Jan Niklas Haus, Jingyuan Cheng

Towards a Robot Fleet for Intra-Logistic Tasks: Combining Free Robot Navigation with Multi- Robot Coordination at Bottlenecks [252] Matthias Lutz, Christian Verbeek and Christian Schlegel

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Towards Automatic Visual Sea Grass Detection in Underwater Areas of Ecological Interest [243] Antoni Burguera, Francisco Bonin.Font, José Luís Lisani, Ana Belén Petroa and Gabriel Oliver

Context aware architecture for distributed robotics [305] Martin Seidel and Sebastian Zug

Semi-automatic pose estimation of a fleet of robots with embedded stereoscopic cameras [3] Francesc Serratosa, Xavier Cortés and Carlos-Francisco Moreno-Garcia

Generator for Modular Virtual Sensors [63] Burkhard Hensel and Klaus Kabitzsch

Usability Study to Qualify a Dexterous Robotic Manipulator for High Radiation Environments [156] Richard French, Hector Marin-Reyes and Evangelos Kourlitis

Dual-Arm framework integration for cooperative applications [39] Carlos Rodriguez, Abiud Rojas-De-Silva and Raul Suarez

WiP 9 Information and Communication Technology in Energy Systems

Room Reuss Chairs Marita Blank, Oliver Langthaler

09:10 - 10:30 Toward an Accurate and Fast Hybrid Multi- Simulation with the FMI-CS Standard [267] Jean-Philippe Tavella, Mathieu Caujolle, Stephane Vialle, Cherifa Dad, Charles Tan, Gilles Plessis, Mathieu Schumann, Arnaud Cuccuru and Sebastien Revol

A Framework for Communication and Provisioning in an Intelligent Secondary Substation [239] Stephan Cejka, Alexander Hanzlik and Andreas Plank

An Embedded Prototype of a Residential Smart Appliance Scheduling System [263] Chris Ogwumike, Michael Short and Fathi Abugchem

Cost Controlling of Wind Energy Plants using Maintenance Process Modelling [281] Fazel Ansari, Ulrich Seidenberg, Aline Stock and Matthias Vogel

A Fuzzy Logic Approach to Predictive Maintenance of High Voltage Switching Devices [334] Bogdan Filip, Flaviu Mihai Frigura-Iliasa, Doru Vatau and Petru Andea

Optimal Power Distribution for Decentralized Electric Energy Network with Electric Vehicles [282] Katsuhiro Sakato, Ittetsu Taniguchi, Kazutoshi Sakakibara, Takuya Matsumoto, Hisashi Tamaki and Masahiro Fukui

A Test bed dedicated to the Study of Vulnerabilities in IEC 61850 Power Utility Automation Networks [303] Maëlle Kabir-Querrec, Stéphane Mocanu, Jean-Marc Thiriet and Eric Savary

ICT Emulation Platform Setup Demonstration of Smart Grid Component Prototype Examples [382] Marcus Meisel, Stefan Wilker, Matthias Wess, Alexander Wendt, Thilo Sauter and Georg Kienesberger

Automation and User Interaction Schemes for Home Energy Management – A Combined Approach [380] David Rua, Cláudia Abreu, Tiago Soares Da Costa and Miguel Heleno

Towards an Integrated Development of Control Applications for Multi-Functional Energy Storages [268] Claudia Zanabria, Filip Pröstl Andrén, Johannes Kathan and Thomas Strasser

Towards a Foundation for Holistic Power System Validation and Testing [341] Marita Blank, Sebastian Lehnhoff, Kai Heussen, Daniel Esteban Morales Bondy, Cyndi Moyo and Thomas Strasser

Open and Interoperable ICT Solution for Integrating Distributed Energy Resources into Smart Grids [251] Filip Pröst Andrén, Thomas Strasser, Oliver Langthaler, Armin Veichtlbauer, Christian Kasberger and Gregor Felbauer

Towards Applied Security-by-Design for DER Units [358] Armin Veichtlbauer, Oliver Langthaler, Dominik Engel, Christian Kasberger, Filip Pröstl Andrén and Thomas Strasser

Towards a Communication Network Model Generator for Evaluating Smart Grid Applications [296] Rene Dapra, Christof Brandauer, Filip Pröstl Andrén and Thomas Strasser

An Energy Monitoring and Management System Based on Key Performance Indicators [179] Rihab Fadhel Khalifa and Khaled Jelassi



Automatic Control: Future Challenges, Solutions, and Systems Prof. Dr. Alf Isaksson, ABB Corporate Research, Sweden



T3.3 IT/OT convergence for Real-Time and (Networked) Embedded Systems

Room Siemenssaal Chairs Guillermo Rodriguez-Navas, Wilfried Steiner

13:30 - 13:50 An SDN-based Solution for Increasing Flexibility and Reliability of Dedicated Network Environments [198] Marius Corici, Benjamin Reichel, Bernd Bochow and Thomas Magedanz

13:50 - 14:10 Model Driven Engineering Approach to Design Sensing and Actuation Subsystems [208] Fernando S. Gonçalves and Leandro Buss Becker

14:10 - 14:30 Next Generation Real-Time Networks Based on IT Technologies [224] Wilfried Steiner, Pablo Gutierrez Peon, Marina Gutierrez, Ayhan Mehmed, Guillermo Rodriguez-Navas, Elena Lisova and Francisco Pozo

T5.4 Control in Industry and Manufacturing Room Enzian Chairs Andrzej Pawlowski, Israel Gonçalves

13:30 - 13:50 Updating probabilistic method of the fuzzy control model’s parameters of the production facilities [17] Valery Finaev, Ekaterina Sinajvskaya, Arndt Lüder and Daria Ryashentseva

13:50 - 14:10 Integrating Semantics for Diagnosis of Manufacturing Systems [56] Andreas Bunte, Alexander Diedrich and Oliver Niggemann

14:10 - 14:30 Industrial monitoring and control approach for dynamic and distributed intelligent systems [101] Jani Jokinen and Jose Martinez Lastra

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F R I D A Y, S E P T E M B E R 9 T H , 2 0 1 6K E Y N O T E 5

T4.3 Modeling and analysis based on Petri net models

Room Limmat Chairs Jolanda Coppola, Manuel Navarro-Gutierrez

13:30 - 13:50 A Colored Timed Petri Net model for a cyber- physical view of automated warehouse systems [26] Francesco Basile, Pasquale Chiacchio and Jolanda Coppola

13:50 - 14:10 Adaptive Fault Diagnoser based on PSO Algorithm in a class of Timed Continuous Petri Nets [234] Ricardo Casas-Carrillo, Ofelia Begovich, Javier Ruiz-León and Sergej Čelikovský

14:10 - 14:30 On the duality between firing rate and initial marking variations in TCPN [237] Manuel Navarro-Gutierrez, Antonio Ramirez- Trevino and Manuel Silva

T6.2 Detection, Recognition and Adaption Room Reuss Chair Volker Lohweg, Helene Dörksen

13:30 - 13:50 Industrial Process Monitoring by means of Recurrent Neural Networks and Self Organizing Maps [169] Daniel Zurita Millan, Enric Sala Cardoso, Jesus Adolfo Carino Corrales, Miguel Delgado Prieto and Juan Antonio Ortega Redondo

13:50 - 14:10 Anomaly Detection on ATMs via Time Series Motif Discovery [84] Sahar Torkamani, Alexander Dicks and Volker Lohweg

14:10 - 14:30 A Holistic and Adaptive Approach for Automated Prototyping of Image Processing Functionality [157] Alexander Jungmann and Bernd Kleinjohann

T9.2 Information and Communication Technology in Energy Systems: Control and Communication

Room Aare Chairs Oliver Langthaler, Marita Blank

13:30 - 13:50 Evaluating XMPP Communication in IEC 61499-based Distributed Energy Applications [85] Armin Veichtlbauer, Manuel Parfant, Oliver Langthaler, Filip Pröstl Andrén and Thomas Strasser

13:50 - 14:10 Control and Communication in the Smart Transformer-fed Grid [105] Zhi-Xiang Zou, Giampaolo Buticchi and Marco Liserre

14:30 - 15:00 CLOSING SESSION 00

16:00 - 18:00 VISIT PERGAMON MUSEUM (OPTIONAL) 00

AUTOMATIC CONTROL – FUTURE CHALLENGES, SOLUTIONS, AND SYSTEMS

Alf Isaksson ABB Corporate Research, Sweden

SUMMARY: Since the turn of the century the on-going Digitalization has more or less completely transformed the consumer

markets. The similar change in industry has only started and the next decade we will see a lot of changes also in process

and manufacturing industry as well as power systems. This talk will focus on the impact this has on Automatic Control in

a broad sense. The notion of Internet of Things, as well as related topics like Cyber-Physical Systems, means that the entire

architecture for control systems will be subject to change. As a major supplier of automation systems, ABB has long been at

the forefront of technology that connects devices to each other, helping lead the revolution that began with the Intranet of

Things. There are multiple possible directions in which the future systems may develop. The access to cheap microprocessors

may lead to a much more decentralized control than today’s control systems. On the other hand improved means of

communication, such as 5G, and the scalable potential of cloud computing could lead in the complete opposite direction.

Similarly, what used to be independent systems, e.g. process automation and power systems, are getting more and more

integrated with each other.

BIOGRAPHY: Alf Isaksson received his MSc and PhD from Linköping University, Sweden in 1983 and 1988 respectively. After graduating he stayed at Linköping University until 1991 as an Assistant Professor. From 1991 to 1992 he spent one year as a Research Associate at The University of Newcastle, Australia. Returning to Sweden in 1992 he moved to the Royal Institute of Technology (KTH) in Stockholm, where eventually in 1999 he was promoted to full Professor. In 2001 he made the shift from academic to industrial research and joined ABB Corporate Research in Västerås, Sweden. After a specialist career culminating in an appointment to Corporate Research Fellow 2009, he is now since January 2014 Global Research Area Manager with the responsibility of internally funding all research in Control at all ABB’s research centers world-wide. At the same time he still kept a connection to the academic world as Adjunct Professor at Linköping University for 10 years 2006-2015.

ETFA’2016 4140 ETFA’2016

S O C I A L E V E N T S

Pergamon Museum www.smb.museum/en/museums-institutions/pergamonmuseum/

Tipi am Kanzleramtwww.tipi-am-kanzleramt.de/en

Mark Brandenburgwww.sternundkreis.de

Welcome Reception and a Cruise, Sept. 07, 2016

Fraunhofer Forum, Berlin, 6 pm – 9 pm

On September 7th, 2016, at 5:50 pm, a bus transfer will take attendees from the conference site to the Berlin’s Treptow harbor for a boat tour, on “Mark Brandenburg”, of Berlin‘s famous waterways. The tour will take attendees around Berlin‘s legendary sights such as “Nikolai Viertel”, Berlin Cathedral, and the Museum Island.

At 7 pm, the boat will dock close to Fraunhofer Forum for the Welcome Reception. From Fraunhofer Forum, Berlin’s attractions are at the walking distance.

For more information on the welcome reception, the public transportation in Berlin, etc. please visit: www.etfa2016.org/program/transportation

Conference Banquet, Sept. 08, 2016

Tipi am Kanzleramt

The conference banquet will be held at the Tipi am Kanzleramt, which is the largest fixed pavilion stage in Europe. The marquee theatre with its impressive four supporting masts, is regarded as one of Berlin’s most exceptional event locations. It is close to the Office of the Federal Chancellor in the center of Berlin.

You reach the TIPI am Kanzleramt with Berlins S-Bahn from S Anhalter Bahnhof – directly next to the conference Hotel – to Brandenburger Tor and a short walk along the Kanzleramt. Or by Bus number 100 from Potsdamer Platz to Platz der Republik.

For more information please visit: www.etfa.org/program/transportation or our help-desk at the conference hotel.

Additional Tour, Sept. 09, 2016

Guided Tour Pergamon Museum

After the closing session, interested participants are welcome to join a special tour of the Pergamon Museum – one of the most famous museums in Germany and the World.

The Pergamon museum houses three of the “Staatliche Museen zu Berlin’s” most impressive collections: the antic collection, the Middle East collection, and the collection of Islamic art.

The antic collection is one of the world’s most important collections of Greek and Roman art. The Middel East collection primarily collects artefacts from a 6000-year timespan of cultural history from the regions Mesopotamia, Syria, and Anatolia. The approximately 270,000 objects in its overwhelming collection were mainly found during the major German excavations in Babylon, Assur, Uruk, and Habuba Kabira.

SOCIAL EVENTS @ ETFA’2016

The Museum for Islamic Art boasts one of the most outstanding collections of Islamic art outside the Islamic world. It brings together masterpieces of the decorative arts and archaeological artefacts created by Muslim peoples and the Christian and Jewish groups living with and among them, dating from the 7th to the 19th century.

We meet at 4 pm in front of the Pergamon Museum. You can reach the Museum with the S-Bahn from S Anhalter Bahnhof to Berlin-Friedrichstrasse and a short walk of 650 meters.

For more information please visit: www.etfa.org/program/transportation

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S P O N S O R S A N D S U P P O R T E R S

www.phoenixcontact.com

www.iosb-ina.fraunhofer.de

www.init-owl.de www.msf-technik.de

SPONSORS: FINANCIAL SUPPORT:

www.weidmueller.de

44 ETFA’2016

C O M M I T T E E S

Honorary ChairmanReimund Neugebauer, President of the Fraunhofer-Society, Germany

General Co-ChairsJürgen Jasperneite, Fraunhofer IOSB-INA, GermanyRichard Zurawski, ISA Group, USA

Program Committee Co-ChairsHolger Voos, Univ. of Luxembourg, Luxembourg

Roman Obermaisser, University of Siegen, Germany

Work-in-Progress Co-ChairsLukasz Wisniewski, Institute Industrial IT/OWL University, GermanySebastian Schriegel, Fraunhofer IOSB-INA, Germany

Special Sessions Co-ChairsAlberto Ortiz, Universitat de les Illes Balears, SpainCarsten Röcker, Institute Industrial IT/OWL University, Germany

Workshops Co-ChairsHolger Flatt, Fraunhofer IOSB-INA, GermanyMarek Miskowicz, AGH Univ. of Sc. & Tech., Krakow, Poland

Finance ChairmenOliver Niggemann, Fraunhofer IOSB-INA, GermanyThomas Nolte, Mälardalen University, Sweden

Organizing Committee ChairCarolin Schönknecht, Fraunhofer IOSB-INA, GermanyAstrid Alteheld, Fraunhofer IOSB-INA, GermanyBenedikt Lücke, Institute Industrial IT/OWL University, Germany

Publication ChairStefan Windmann, Fraunhofer IOSB-INA, Germany

Track Co-ChairsValeriy Vyatkin, Luleå University of Technology

Alois Zoitl, Fortiss GmbH

Stig Petersen, SINTEF ICT

Claudio Zunino, IEIIT - CNR

Achim Rettberg, Hella KGaA Hueck & Co.

Ahlem Mifdaoui, University of Toulouse

Cristian Mahulea, University of Zaragoza

Michael Weyrich, University of Stuttgart

Ramon Vilanova, Universitat Autònoma Barcelona

Antonio Visioli, University of Brescia

Volker Lohweg, OWL University

David Fofi, University of Burgundy

Raul Suarez, Universitat Politècnica de Catalunya

Sebastian Zug, Otto-von-Guericke-Universität Magdeburg

Michael Short, Teesside University

Weilian Su, Naval Postgraduate School, Monterey, CA, USA

Peter Palensky, TU Delft

Thomas Strasser, Austrian Institute of Technology

I M P R I N T

Fraunhofer IOSB-INA Langenbruch 6, 32657 Lemgo, Germany Tel.: +49 52 61/ 9 42 90-22 Fax: +49 52 61/ 9 42 90-90 www.iosb-ina.fraunhofer.de

Realisation: Carolin Schönknecht-Albinus

Layout: Daniela Bartsch ([email protected])

Photos: ©Fraunhofer IOSB-INA (Page 10/26/42.1), ©Tipi-am-Kanzleramt (42.2), ©Shutterstock: canadastock (1/16), Noppasin (23), elxeneize (42.3), Patricia Hofmeester (42.4)

COMMITTEES OF ETFA’2016

46 ETFA’2016

Download ETFA´2016 Program (PDF)

Documents

Transcript of Download ETFA´2016 Program (PDF)