Synchronization of Distributed Controllers in Cyber-Physical Systems
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.
Keywords:
reconfigurable manufacturing systems / distributed position control / cyber-physical synchronizationSource:
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, 2019, 2019, 710-717Publisher:
- Institute of Electrical and Electronics Engineers Inc.
Funding / projects:
- ONR [N00014-17-1-2012]
- NSF grant [CNS-1652544]
- An innovative ecologically based approach to implementation of intelligent manufacturing systems for production of sheet metal parts (RS-MESTD-Technological Development (TD or TR)-35004)
DOI: 10.1109/ETFA.2019.8869467
ISSN: 1946-0740
WoS: 000556596600091
Scopus: 2-s2.0-85074212362
Collections
Institution/Community
Mašinski fakultetTY - 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 . .