TY  - JOUR
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2023
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/5616
AB  - Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industrial revolution. Besides suitable mechanical design, control of these smart manufacturing resources should facilitate Internet of Things (IoT) integration and reconfigurability. Existing numerical control kernels (NCK)—the major control component for motion control—hinder rapid reconfiguration due to the complexity of their monolithic centralized structure. On the other hand, reconfigurability is naturally promoted by the distributed control paradigm, as proposed by the industrial IoT (IIoT) concept; hence, in this article, we investigate design challenges in distributing the conventional centralized NCK designs used for control of computerized numerical control systems. We introduce an architecture where each axis module is augmented with a networked, IIoT-enabled low-level controller (LLC) that performs local control and exposes a network interface for communication with other LLCs toward executing the desired process. These smart manufacturing resources communicate with an edge-based high-level controller (HLC) that provides the trajectory specification over the network and schedules manufacturing tasks. We investigate real-time and network bandwidth requirements of different mappings of the NCK layers to the LLCs and the HLC, providing design-time tradeoffs for implementing IoT-ready, distributed motion control. We demonstrate feasibility of our approach using industry-grade single-axis robots and low-cost IoT microcontrollers, and show that minimal accuracy impairment is introduced compared to the centralized setup based on ISO 230 and ISO 10791-7 standards.
T2  - IEEE Transactions on Industrial Informatics
T1  - IoT-Enabled Motion Control: Architectural Design Challenges and Solutions
EP  - 2294
IS  - 3
SP  - 2284
VL  - 19
DO  - 10.1109/TII.2022.3202175
ER  - 

@article{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2023",
abstract = "Ever-increasing demands for highly-efficient customized manufacturing are driving the development of Industry 4.0. Reconfigurable manufacturing systems based on modular, convertible, and interoperable equipment present a key enabler of the fourth industrial revolution. Besides suitable mechanical design, control of these smart manufacturing resources should facilitate Internet of Things (IoT) integration and reconfigurability. Existing numerical control kernels (NCK)—the major control component for motion control—hinder rapid reconfiguration due to the complexity of their monolithic centralized structure. On the other hand, reconfigurability is naturally promoted by the distributed control paradigm, as proposed by the industrial IoT (IIoT) concept; hence, in this article, we investigate design challenges in distributing the conventional centralized NCK designs used for control of computerized numerical control systems. We introduce an architecture where each axis module is augmented with a networked, IIoT-enabled low-level controller (LLC) that performs local control and exposes a network interface for communication with other LLCs toward executing the desired process. These smart manufacturing resources communicate with an edge-based high-level controller (HLC) that provides the trajectory specification over the network and schedules manufacturing tasks. We investigate real-time and network bandwidth requirements of different mappings of the NCK layers to the LLCs and the HLC, providing design-time tradeoffs for implementing IoT-ready, distributed motion control. We demonstrate feasibility of our approach using industry-grade single-axis robots and low-cost IoT microcontrollers, and show that minimal accuracy impairment is introduced compared to the centralized setup based on ISO 230 and ISO 10791-7 standards.",
journal = "IEEE Transactions on Industrial Informatics",
title = "IoT-Enabled Motion Control: Architectural Design Challenges and Solutions",
pages = "2294-2284",
number = "3",
volume = "19",
doi = "10.1109/TII.2022.3202175"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2023). IoT-Enabled Motion Control: Architectural Design Challenges and Solutions. in IEEE Transactions on Industrial Informatics, 19(3), 2284-2294.
https://doi.org/10.1109/TII.2022.3202175

Lesi V, Jakovljević Ž, Pajić M. IoT-Enabled Motion Control: Architectural Design Challenges and Solutions. in IEEE Transactions on Industrial Informatics. 2023;19(3):2284-2294.
doi:10.1109/TII.2022.3202175 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "IoT-Enabled Motion Control: Architectural Design Challenges and Solutions" in IEEE Transactions on Industrial Informatics, 19, no. 3 (2023):2284-2294,
https://doi.org/10.1109/TII.2022.3202175 . .

TY  - JOUR
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2022
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/101
AB  - Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.
PB  - IEEE - Inst Electrical Electronics Engineers Inc, Piscataway
T2  - IEEE Transactions on Automation Science and Engineering
T1  - Security Analysis for Distributed IoT-Based Industrial Automation
EP  - 3108
IS  - 4
SP  - 3093
VL  - 19
DO  - 10.1109/TASE.2021.3106335
ER  - 

@article{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2022",
abstract = "Internet of Things (IoT) technologies enable development of reconfigurable manufacturing systems--a new generation of modularized industrial equipment suitable for highly customized manufacturing. Sequential control in these systems is largely based on discrete events, whereas their formal execution semantics is specified as control interpreted Petri nets (CIPN). Despite industry-wide use of programming languages based on the CIPN formalism, formal verification of such control applications in the presence of adversarial activity is not supported. Consequently, in this article, we introduce security-aware modeling and verification techniques for CIPN-based sequential control applications. Specifically, we show how CIPN models of networked industrial IoT controllers can be transformed into time Petri net (TPN)-based models and composed with plant and security-aware channel models in order to enable system-level verification of safety properties in the presence of network-based attacks. Additionally, we introduce realistic channel-specific attack models that capture adversarial behavior using nondeterminism. Moreover, we show how verification results can be utilized to introduce security patches and facilitate design of attack detectors that improve system resiliency and enable satisfaction of critical safety properties. Finally, we evaluate our framework on an industrial case study.",
publisher = "IEEE - Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "IEEE Transactions on Automation Science and Engineering",
title = "Security Analysis for Distributed IoT-Based Industrial Automation",
pages = "3108-3093",
number = "4",
volume = "19",
doi = "10.1109/TASE.2021.3106335"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2022). Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering
IEEE - Inst Electrical Electronics Engineers Inc, Piscataway., 19(4), 3093-3108.
https://doi.org/10.1109/TASE.2021.3106335

Lesi V, Jakovljević Ž, Pajić M. Security Analysis for Distributed IoT-Based Industrial Automation. in IEEE Transactions on Automation Science and Engineering. 2022;19(4):3093-3108.
doi:10.1109/TASE.2021.3106335 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Security Analysis for Distributed IoT-Based Industrial Automation" in IEEE Transactions on Automation Science and Engineering, 19, no. 4 (2022):3093-3108,
https://doi.org/10.1109/TASE.2021.3106335 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Lesi, Vuk
AU  - Pajić, Miroslav
PY  - 2021
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3622
AB  - Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.
PB  - Ieee-Inst Electrical Electronics Engineers Inc, Piscataway
T2  - Ieee Transactions on Industrial Informatics
T1  - Attacks on Distributed Sequential Control in Manufacturing Automation
EP  - 786
IS  - 2
SP  - 775
VL  - 17
DO  - 10.1109/TII.2020.2987629
ER  - 

@article{
author = "Jakovljević, Živana and Lesi, Vuk and Pajić, Miroslav",
year = "2021",
abstract = "Industrial Internet of Things (IIoT) represents a backbone of modern reconfigurable manufacturing systems (RMS), which enable manufacturing of a high product variety through rapid and easy reconfiguration of manufacturing equipment. In IIoT-enabled RMS, modular equipment is built from smart devices, each performing its own tasks, whereas the global functioning is achieved through their networking and intensive communication. Although device communication contributes to the system reconfigurability, it also opens up new security challenges due to potential vulnerability of communication links. In this article, we present security analysis for a major part of RMS in which manufacturing equipment is sequentially controlled and can be modeled as discrete event systems (DES). Control distribution within DES implies communication of certain events between smart modules. Specifically, in this work, we focus on attacks on communication of these events. In particular, we develop a method for modeling such attacks, including event insertion and removal attacks, in distributed sequential control; the method is based on the supervisory control theory framework. We show how the modeled attacks can be detected and provide a method for identification of communication links that require protection to avoid catastrophic damage of the system. Finally, we illustrate and experimentally validate applicability of our methodology on a real-world industrial case study with reconfigurable manufacturing equipment.",
publisher = "Ieee-Inst Electrical Electronics Engineers Inc, Piscataway",
journal = "Ieee Transactions on Industrial Informatics",
title = "Attacks on Distributed Sequential Control in Manufacturing Automation",
pages = "786-775",
number = "2",
volume = "17",
doi = "10.1109/TII.2020.2987629"
}

Jakovljević, Ž., Lesi, V.,& Pajić, M.. (2021). Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics
Ieee-Inst Electrical Electronics Engineers Inc, Piscataway., 17(2), 775-786.
https://doi.org/10.1109/TII.2020.2987629

Jakovljević Ž, Lesi V, Pajić M. Attacks on Distributed Sequential Control in Manufacturing Automation. in Ieee Transactions on Industrial Informatics. 2021;17(2):775-786.
doi:10.1109/TII.2020.2987629 .

Jakovljević, Živana, Lesi, Vuk, Pajić, Miroslav, "Attacks on Distributed Sequential Control in Manufacturing Automation" in Ieee Transactions on Industrial Informatics, 17, no. 2 (2021):775-786,
https://doi.org/10.1109/TII.2020.2987629 . .

TY  - JOUR
AU  - Jakovljević, Živana
AU  - Lesi, Vuk
AU  - Mitrović, Stefan M.
AU  - Pajić, Miroslav
PY  - 2020
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3412
AB  - Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integrated computation and communication capabilities enable high-level modularity, not only with the respect to hardware components but also in terms of control functionality; this can be achieved by distributing control to different network-connected devices. Thus, to enable fast and reliable system reconfigurations, in this brief, we introduce a method for distribution of control tasks and generation of control code for the devices in the control network. Our approach is based on the control interpreted Petri nets (CIPNs) formalism. We start from a CIPN capturing the centralized (overall) control system, and the mapping of input and output signals to local controllers (LCs) (i.e., smart devices) that have direct physical access to system sensors and actuators. From these, our method automatically designs distributed control tasks for LCs in the network, as well as generates control code for each LC. The applicability of the proposed method is experimentally verified on two real-world case studies.
PB  - IEEE - Inst Electrical Electronics Engineers
T2  - IEEE Transactions on Control Systems Technology
T1  - Distributing Sequential Control for Manufacturing Automation Systems
EP  - 1594
IS  - 4
SP  - 1586
VL  - 28
DO  - 10.1109/TCST.2019.2912776
ER  - 

@article{
author = "Jakovljević, Živana and Lesi, Vuk and Mitrović, Stefan M. and Pajić, Miroslav",
year = "2020",
abstract = "Recent trends in manufacturing require the use of reconfigurable equipment that facilitates rapid and cost-effective change of functionality through modular design, which supports fast integration. Intelligent devices (e.g., sensors, actuators) with integrated computation and communication capabilities enable high-level modularity, not only with the respect to hardware components but also in terms of control functionality; this can be achieved by distributing control to different network-connected devices. Thus, to enable fast and reliable system reconfigurations, in this brief, we introduce a method for distribution of control tasks and generation of control code for the devices in the control network. Our approach is based on the control interpreted Petri nets (CIPNs) formalism. We start from a CIPN capturing the centralized (overall) control system, and the mapping of input and output signals to local controllers (LCs) (i.e., smart devices) that have direct physical access to system sensors and actuators. From these, our method automatically designs distributed control tasks for LCs in the network, as well as generates control code for each LC. The applicability of the proposed method is experimentally verified on two real-world case studies.",
publisher = "IEEE - Inst Electrical Electronics Engineers",
journal = "IEEE Transactions on Control Systems Technology",
title = "Distributing Sequential Control for Manufacturing Automation Systems",
pages = "1594-1586",
number = "4",
volume = "28",
doi = "10.1109/TCST.2019.2912776"
}

Jakovljević, Ž., Lesi, V., Mitrović, S. M.,& Pajić, M.. (2020). Distributing Sequential Control for Manufacturing Automation Systems. in IEEE Transactions on Control Systems Technology
IEEE - Inst Electrical Electronics Engineers., 28(4), 1586-1594.
https://doi.org/10.1109/TCST.2019.2912776

Jakovljević Ž, Lesi V, Mitrović SM, Pajić M. Distributing Sequential Control for Manufacturing Automation Systems. in IEEE Transactions on Control Systems Technology. 2020;28(4):1586-1594.
doi:10.1109/TCST.2019.2912776 .

Jakovljević, Živana, Lesi, Vuk, Mitrović, Stefan M., Pajić, Miroslav, "Distributing Sequential Control for Manufacturing Automation Systems" in IEEE Transactions on Control Systems Technology, 28, no. 4 (2020):1586-1594,
https://doi.org/10.1109/TCST.2019.2912776 . .

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3119
AB  - Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments.
PB  - Assoc Computing Machinery, New York
C3  - Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)
T1  - Reliable Industrial IoT-Based Distributed Automation
EP  - 105
SP  - 94
DO  - 10.1145/3302505.3310072
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2019",
abstract = "Reconfigurable manufacturing systems supported by Industrial Internet-of-Things (IIoT) are modular and easily integrable, promoting efficient system/component reconfigurations with minimal downtime. Industrial systems are commonly based on sequential controllers described with Control Interpreted Petri Nets (CIPNs). Existing design methodologies to distribute centralized automation/control tasks focus on maintaining functional properties of the system during the process, while disregarding failures that may occur during execution (e. g., communication packet drops, sensing or actuation failures). Consequently, in this work, we provide a missing link for reliable IIoT-based distributed automation. We introduce a method to transform distributed control models based on CIPNs into Stochastic Reward Nets that enable integration of realistic fault models (e. g., probabilistic link models). We show how to specify desired system properties to enable verification under the adopted communication/fault models, both at design-and run-time; we also show feasibility of runtime verification on the edge, with a continuously updated system model. Our approach is used on real industrial systems, resulting in modifications of local controllers to guarantee reliable system operation in realistic IIoT environments.",
publisher = "Assoc Computing Machinery, New York",
journal = "Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)",
title = "Reliable Industrial IoT-Based Distributed Automation",
pages = "105-94",
doi = "10.1145/3302505.3310072"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2019). Reliable Industrial IoT-Based Distributed Automation. in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19)
Assoc Computing Machinery, New York., 94-105.
https://doi.org/10.1145/3302505.3310072

Lesi V, Jakovljević Ž, Pajić M. Reliable Industrial IoT-Based Distributed Automation. in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19). 2019;:94-105.
doi:10.1145/3302505.3310072 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Reliable Industrial IoT-Based Distributed Automation" in Proceedings of the 2019 International Conference on Internet of Things Design and Implementation (IoTDI ’19) (2019):94-105,
https://doi.org/10.1145/3302505.3310072 . .

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2019
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/3172
AB  - Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation of actuation signals-we refer to this as physical-synchronization. In this paper, we define general requirements for cyber-physical synchronization, as well as show their use on a specific real-world application-distributed motion control for reconfigurable manufacturing systems. We present synchronization challenges in such systems and investigate effects of synchronization errors on the overall system functionality (i.e., machining accuracy). Furthermore, we introduce a low-cost synchronization scheme that can be implemented with of-the-shelf components and validate it on standardized accuracy tests with 2D configurations of industry-grade single-axis robots. We show that our cyber-physical synchronization techniques ensure minimal accuracy impairment of distributed motion control without introducing significant cost/overhead to system design.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
T1  - Synchronization of Distributed Controllers in Cyber-Physical Systems
EP  - 717
EP  - ONR [N00014-17-1-2504]
SP  - 710
VL  - 2019
DO  - 10.1109/ETFA.2019.8869467
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2019",
abstract = "Due to misaligned clock sources, distributed control in Cyber-Physical Systems (CPS) requires not only synchronous execution of control algorithms on distributed system components, which we refer to as cyber-synchronization, but also appropriate generation of actuation signals-we refer to this as physical-synchronization. In this paper, we define general requirements for cyber-physical synchronization, as well as show their use on a specific real-world application-distributed motion control for reconfigurable manufacturing systems. We present synchronization challenges in such systems and investigate effects of synchronization errors on the overall system functionality (i.e., machining accuracy). Furthermore, we introduce a low-cost synchronization scheme that can be implemented with of-the-shelf components and validate it on standardized accuracy tests with 2D configurations of industry-grade single-axis robots. We show that our cyber-physical synchronization techniques ensure minimal accuracy impairment of distributed motion control without introducing significant cost/overhead to system design.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
title = "Synchronization of Distributed Controllers in Cyber-Physical Systems",
pages = "717-ONR [N00014-17-1-2504]-710",
volume = "2019",
doi = "10.1109/ETFA.2019.8869467"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2019). Synchronization of Distributed Controllers in Cyber-Physical Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Institute of Electrical and Electronics Engineers Inc.., 2019, 710-717.
https://doi.org/10.1109/ETFA.2019.8869467

Lesi V, Jakovljević Ž, Pajić M. Synchronization of Distributed Controllers in Cyber-Physical Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. 2019;2019:710-717.
doi:10.1109/ETFA.2019.8869467 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Synchronization of Distributed Controllers in Cyber-Physical Systems" in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2019 (2019):710-717,
https://doi.org/10.1109/ETFA.2019.8869467 . .

TY  - CONF
AU  - Lesi, Vuk
AU  - Jakovljević, Živana
AU  - Pajić, Miroslav
PY  - 2016
UR  - https://machinery.mas.bg.ac.rs/handle/123456789/2322
AB  - Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.
PB  - Institute of Electrical and Electronics Engineers Inc.
C3  - IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
T1  - Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems
VL  - 2016-November
DO  - 10.1109/ETFA.2016.7733524
ER  - 

@conference{
author = "Lesi, Vuk and Jakovljević, Živana and Pajić, Miroslav",
year = "2016",
abstract = "Modern manufacturing systems require fast and effective adaptation to fluctuating market conditions and product diversification. This high level adaptability can be achieved through the utilization of Reconfigurable Manufacturing Systems (RMS), which should be based on modular equipment that is easily integrated, scalable, convertible in terms of functionality, and self diagnosable. RMS also necessitate the use of a dynamic controller architecture that is distributed, fully modular, and self configurable. In this paper, we present a control system design approach for reconfigurable machine tools through the use of modularized and decentralized CNC control. Specifically, we investigate design challenges for Plug-n-Play automation systems, where new system functionalities, such as adding new axes in existing CNC units, can be introduced without significant reconfiguration efforts and downtime costs. We propose a fully decentralized motion control architecture realized through a network of individual axis control modules. Reconfiguration of motion control systems based on this architecture can be achieved by only presenting the controller on each axis with information about machine configuration and the type of axis. This effectively enables modularity, reconfigurability, and interoperability of the machine control system. Finally, we present an implementation of the decentralized architecture based on the use of a real-time operating system, wireless networking, and low-cost ARM Cortex-M3 MCUs; we illustrate its effectiveness by considering machining of a standard test part defined in ISO 10791-7 using a software-in-the-loop testbed.",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
journal = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
title = "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems",
volume = "2016-November",
doi = "10.1109/ETFA.2016.7733524"
}

Lesi, V., Jakovljević, Ž.,& Pajić, M.. (2016). Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Institute of Electrical and Electronics Engineers Inc.., 2016-November.
https://doi.org/10.1109/ETFA.2016.7733524

Lesi V, Jakovljević Ž, Pajić M. Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems. in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA. 2016;2016-November.
doi:10.1109/ETFA.2016.7733524 .

Lesi, Vuk, Jakovljević, Živana, Pajić, Miroslav, "Towards Plug-n-Play Numerical Control for Reconfigurable Manufacturing Systems" in IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2016-November (2016),
https://doi.org/10.1109/ETFA.2016.7733524 . .