The industrial information technology handbook

Extending the Reach of Automation to Achieve Continuous Productivity Improvements......Page 6
Contributors......Page 9
Organization......Page 10
Locating Topics......Page 16
Acknowledgments......Page 17
The Editor......Page 18
International Advisory Board......Page 20
Contributors......Page 22
SECTION 1 Computer Software and Web Technologies......Page 28
SECTION 2 The Internet and IP Networks......Page 29
SECTION 3 Industrial Communication Systems......Page 30
SECTION 4 The Internet, Web, and IT Technologies in Industrial Automation and Design......Page 32
SECTION 6 Real-Time Embedded Systems......Page 33
SECTION 7 Integration Technologies......Page 34
Web-based Enterprise Computing Development using J2EE......Page 38
1.2 Java Language Basics and Java Program Development......Page 39
Java API Packages......Page 40
Java IDE......Page 42
Java Security......Page 44
1.3 Java JDBC......Page 45
Execute the Query......Page 46
JDBC Efficiency......Page 47
Servlet......Page 48
JavaServer Page......Page 50
Java Naming and Directory Interface......Page 53
Remote Method Invocation......Page 54
Enterprise JavaBeans......Page 56
1.6 Java Transaction Service......Page 64
J2EE Web Service Description......Page 65
1.8 Conclusion......Page 66
References......Page 67
2.1 Characteristics of the .NET Framework......Page 68
2.2 The CLR......Page 71
2.4 Application Development and Execution......Page 72
2.5 Security......Page 73
2.6 Deployment......Page 74
Active Data Objects (ADO.NET)......Page 75
Interoperability with the Component Object Model......Page 76
Web Services......Page 77
2.8 The C# Programming Language......Page 78
References......Page 79
3.1 Introduction......Page 80
3.2 History of UML......Page 81
3.3 Basic OO Concepts......Page 82
Use Case Diagram......Page 83
Class Diagram......Page 85
Statechart Diagram......Page 87
Sequence Diagram......Page 88
Collaboration Diagram......Page 89
3.5 Extending UML......Page 90
Modeling Structure......Page 91
Modeling Behavior......Page 93
3.7 Applications of UML in Control and Automation......Page 96
The FB-Based Approach......Page 97
3.8 UML CASE Tools......Page 98
3.9 Conclusions......Page 99
References......Page 100
Middleware......Page 104
Messaging Middleware......Page 105
4.2 Usage Considerations......Page 106
4.4 The Distributed Computing Environment (OSF/DCE)......Page 107
4.5 The Common Object Request Broker Architecture (CORBA)......Page 109
4.6 Microsoft’s (Distributed) Component Object Model (COM/DCOM)......Page 111
4.7 Java and the Remote Method Invocation Model......Page 112
4.8 The Microsoft .NET Framework......Page 113
4.9 Future Trends: Resource Management and Quality-of-Service......Page 115
References......Page 116
5.1 Overview......Page 117
5.3 Some on the Past and Present......Page 118
Client–server Model......Page 121
Interfaces and Objects......Page 122
Basic Interfaces......Page 123
Interface Identification and Registration......Page 124
DCOM......Page 125
5.5 COM......Page 126
Threads, Apartment, and Activities......Page 127
Messaging and Asynchronous Calls......Page 129
Events......Page 130
features......Page 131
5.6 .NET......Page 132
Runtime Environment......Page 133
Remote Invocation......Page 135
Asynchronous Invocation......Page 137
5.7 Performance......Page 138
References......Page 139
6.1 Overview......Page 140
6.3 Some on the Past and Future of CORBA......Page 141
6.4 Architectural Concept: the OMA Architecture......Page 142
IDL......Page 143
Object References......Page 144
Communication Protocols......Page 145
Asynchronous Method Invocation......Page 146
Collection Service......Page 149
Query......Page 150
6.7 Work on Verticals......Page 151
6.9 Real-time CORBA......Page 152
The ACE ORB (TAO)......Page 155
jacORB......Page 156
ORBit......Page 157
References......Page 158
7.2 The Architecture of the Web......Page 160
General Operation......Page 161
Dynamic Content......Page 162
7.4 Web Clients......Page 163
Web Browsers......Page 164
Other Clients......Page 165
7.5 Intermediate Components......Page 166
About the Author......Page 167
8.1 Introduction......Page 168
8.2 Java......Page 169
Applets......Page 170
Java Servlets......Page 171
8.3 Script Languages......Page 172
Common Gateway Interface — CGI......Page 173
PHP......Page 174
JavaScript......Page 176
8.4 Web Services......Page 177
References......Page 179
9.1 Digital Images......Page 180
Need for Compression......Page 181
Image Format Features......Page 182
Image Compression Principle......Page 183
9.2 Video Formats......Page 186
Video Compression Principle......Page 188
Internet Video Applications......Page 189
Video Coding Standards, Quasistandards, and File Formats......Page 190
References......Page 191
10.1 Introduction to Web Services......Page 193
10.2 Introduction to WSDL and UDDI......Page 194
WSDL Specification of a Sample Web Service......Page 196
The UDDI Web Service Registry......Page 200
10.3 Introduction to SOAP......Page 201
Elements of SOAP Messages......Page 202
Sample SOAP Messages......Page 204
10.4 Web Service Interoperability......Page 205
References......Page 206
11.1 Introduction......Page 208
11.2 Programming a Web Service in the .net Framework......Page 210
The Global XML Web Services Architecture......Page 212
11.3 Programming a Java Web Service......Page 214
Exception Handling......Page 219
Web Services and J2EE......Page 220
References......Page 221
12.1 Introduction......Page 222
Multidimensional History......Page 223
12.3 Spreadsheets and Relations......Page 224
12.4 Cubes......Page 225
12.5 Dimensions......Page 226
12.6 Facts......Page 227
12.8 Querying......Page 228
Relational OLAP Schemas......Page 229
Achieving Fast Query Response Time......Page 230
12.10 Complex Multidimensional Data......Page 231
12.11 Commercial Systems......Page 232
References......Page 233
13.1 ISO/OSI Reference Model......Page 237
The Data Link Layer......Page 238
The Transport Layer......Page 239
13.2 The TPC/IP Reference Model......Page 240
The Internet Layer......Page 241
The Application Layer......Page 242
13.3 Reference Model Comparison......Page 243
Frame Creation......Page 244
Media Access Control......Page 245
IPv4......Page 246
IPv6......Page 247
Address Resolution Protocol......Page 248
Transmission Control Protocol......Page 249
Resource Reservation Protocol......Page 251
13.7 Presentation-Layer Protocols and Services......Page 252
13.8 Application-Layer Protocols and Services......Page 253
Hypertext Transfer Protocol......Page 254
Resource Location Protocol......Page 255
Real-Time Protocol......Page 256
References......Page 257
14.2 What is Quality of Service?......Page 259
Bandwidth......Page 261
Latency......Page 262
Jitter......Page 263
FIFO Queuing......Page 264
Weighted Fair Queuing (WFQ)......Page 265
Integrated Services (IntServ)......Page 266
Differentiated Services (DiffServ)......Page 267
Combining QoS Solutions......Page 269
References......Page 270
15.2 Basic Operation of The Internet Protocol......Page 272
15.3 IP Addressing......Page 273
15.4 IP Fragmenting......Page 274
15.5 Internet Protocol Header......Page 276
15.6 ICMP — Internet Control Message Protocol......Page 277
References......Page 279
16.1 Introduction......Page 280
16.2 Protocol Operation......Page 281
TCP Segment......Page 282
Connection Establishment......Page 285
Maintaining the Open Connection......Page 287
Connection Termination......Page 291
Additional Reading......Page 293
UDP Datagram......Page 294
Port Number Assignments......Page 296
Additional Reading......Page 297
18.1 Operation of The Address Resolution Protocol......Page 299
18.2 The Address Resolution Protocol in Detail......Page 300
18.5 Proxy ARP......Page 302
18.7 RARP — Reverse Address Resolution Protocol......Page 303
18.9 Summary......Page 304
References......Page 305
Types of Security......Page 306
Introduction......Page 307
IPv6 Packet Format......Page 308
IPSec Services......Page 309
Authentication Header (AH)......Page 311
ESP......Page 312
Key Management in IPSec......Page 314
Introduction......Page 315
VPN Configurations......Page 316
Methods of VPN Deployment......Page 317
Competing VPN Deployment Protocols......Page 320
References......Page 322
Overview and Classification of IP Routing Protocols — IP Routing: Interior and Exterior Routing Protocols......Page 324
Routing Protocols......Page 325
Routing Design Issues......Page 326
Global or Decentralized......Page 327
Single Path or Multipath......Page 328
Flat and Hierarchical......Page 329
20.4 Interior and Exterior Gateway Protocols......Page 330
RIP......Page 331
Interior Gateway Routing Protocol (IGRP)......Page 333
A hybrid protocol: the Enhanced Interior Gateway Routing Protocol (EIGRP)......Page 334
Link-state Protocols......Page 335
Integrated IS–IS......Page 336
BGP......Page 337
20.7 Case Study: A Global IP Network for a Large-scale MissionCritical Enterprise......Page 339
IP Routing Technologies: Backbone level (Company-wide)......Page 341
Routing Technologies in an AS Domain (Company Site)......Page 343
Choice of Routing Protocols......Page 344
Route Redistribution — Implementation Considerations......Page 345
Redistribution: IGP vs. BGP......Page 346
References......Page 347
21.2 Addressing Principles......Page 349
A. IP Multicast Addresses......Page 350
B. IP Multicast Protocol Overview......Page 351
21.4 Reliable Multicast......Page 352
21.5 Application Layer Multicast......Page 354
References......Page 356
22.1 Introduction......Page 359
22.2 Congestion Control in the Internet......Page 360
Evaluation Criteria for Congestion Control Mechanisms......Page 361
End-to-End Unicast Congestion Control Schemes......Page 364
Network-Based Adaptation......Page 365
The Integrated Services Model (IntServ)......Page 367
QoS Architectures......Page 368
22.4 Adaptation vs. Reservation......Page 369
References......Page 370
23.2 Mobility on the Network Layer......Page 372
23.3 Agent Discovery and Advertisement......Page 374
23.4 Registration......Page 375
23.5 Tunneling and Route Optimization......Page 376
23.7 DHCP and IPv6 Issues......Page 378
References......Page 379
24.1 Introduction......Page 381
24.2 Basic Mobile IP and its Weaknesses......Page 382
Hierarchical Mobile IP (HMIP)......Page 383
MosquitoNet Extensions of Mobile IP......Page 384
Handoff Aware Wireless Internet Infrastructure (HAWAII)......Page 385
Cellular IP (CIP)......Page 387
24.5 Multicast-Based Mobility......Page 388
Mobile People Architecture (MPA)......Page 389
ICEBERG......Page 390
Extended SIP Mobility......Page 391
References......Page 392
25.1 Introduction......Page 394
25.2 Elements for Realizing Quality-of-Service......Page 395
25.3 Evolution of QoS in the Internet......Page 396
Integrated Services Architecture......Page 397
Requirements and Goals of DS......Page 398
The Architecture of DiffServ......Page 399
DiffServ Domains......Page 401
Functional Model of a DiffServ Node......Page 403
25.5 Elements of DS Services......Page 404
Per-Hop Behavior......Page 405
End-to-End Behavior......Page 406
Next Steps in Signaling......Page 408
References......Page 409
26.2 MPLS — Rationale for a New Routing and Forwarding Architecture......Page 411
Multilayer Switching and MPLS......Page 412
Forward Equivalence Class......Page 413
Label Switched Paths and Label Switching Routers......Page 414
Label Encoding......Page 415
26.5 Traffic Engineering and QoS in MPLS Networks......Page 416
MPLS and Differentiated Services......Page 417
26.6 Conclusions......Page 418
References......Page 419
27.1 Introduction......Page 420
27.2 The Integrated Services Architecture......Page 421
Service Classes......Page 424
Basic Properties/Design Choices......Page 426
RSVP Operation......Page 427
27.4 Applicability of Integrated Services and RSVP......Page 428
27.6 Further Information......Page 429
Other references......Page 430
28.1 Multimedia over the Internet......Page 431
28.2 RTP......Page 433
Header Format......Page 435
28.3 Real-time Transport Control Protocol — RTCP......Page 437
RTP Implementation Resources......Page 438
28.4 RTSP......Page 439
RTSP Implementation Resources......Page 440
References......Page 441
Introduction......Page 442
Sending Mail — How Does Mail Get Transferred from the Sender to the Mailbox?......Page 443
Multipurpose Internet Mail Extension (MIME)......Page 447
Reading Mail — How to Retrieve Mail from the Mailbox?......Page 448
Introduction......Page 451
FTP Model......Page 452
Common FTP Commands......Page 453
References......Page 454
30.1 Introduction......Page 455
30.3 Uniform Resource Locator and Identifier......Page 456
30.4 Overall Operation of HTTP......Page 458
Date/Time......Page 459
Quality Values......Page 460
30.7 Request and Response......Page 461
30.9 Caching and Proxies......Page 464
30.10 Further HTTP Request Methods by Example......Page 466
POST......Page 468
Informational 1xx......Page 470
304 Not Modified......Page 471
Client Error 4xx......Page 472
407 Proxy Authentication Required......Page 474
References......Page 476
31.1 Introduction......Page 478
31.2 Network Management Architecture......Page 479
31.3 ISO Systems Management Framework......Page 480
Functional Aspects......Page 481
Organization Aspects......Page 482
31.4 Internet Management Framework......Page 483
SNMPv1......Page 484
The SNMPv2......Page 487
SNMPv3......Page 488
SNMP and CMIP......Page 489
Conclusions......Page 490
References......Page 491
32.1 Introduction......Page 494
32.2 History......Page 495
MIB Definition/SMIv1......Page 496
Protocol Operations......Page 500
MIB-II......Page 501
32.4 SNMP v2......Page 502
Protocol Operations......Page 503
SMIv2......Page 504
MIBs......Page 507
Security/SNMPv2 Versions......Page 508
Architecture......Page 509
SMI......Page 510
References......Page 511
33.1 Introduction......Page 513
33.2 Protocol Basics......Page 514
Address Discovery......Page 516
Pushing Reconfiguration Requests......Page 519
33.3 Address Allocation......Page 520
Multi-homed Servers......Page 521
Mode of Operation......Page 522
33.5 Security Considerations......Page 523
References......Page 524
34.1 Introduction......Page 526
34.2 Security Attacks and Security Properties......Page 527
Attack Prevention......Page 528
Attack Avoidance......Page 530
Secret Key Cryptography......Page 531
Public Key Cryptography......Page 532
Attack and Intrusion Detection......Page 533
34.4 Secure Network Protocols......Page 534
34.5 Secure Applications......Page 536
References......Page 537
35.1 Tasks and Basic Principles of Internet Firewalls......Page 539
35.2 Firewall-Relevant Internet Services and Protocols......Page 540
35.4 Firewall Architectures......Page 542
35.5 Packet Filtering......Page 545
35.6 Bastion Hosts and Proxy Servers......Page 548
35.7 Summary......Page 549
References......Page 550
36.2 The Case for Ad Hoc Networks......Page 551
Hidden and Exposed Terminals......Page 554
Networks......Page 555
Routing......Page 556
Routing Protocols......Page 557
Summary......Page 558
TCP and Multi-hop Wireless Networks......Page 559
Applications for Sensor Networks......Page 560
New Approaches in Sensor Networks......Page 561
36.7 Further Issues in Ad Hoc Networks......Page 563
References......Page 565
37.1 Introduction......Page 570
Bit Synchronization......Page 571
Frame Synchronization......Page 573
37.3 Medium Access Control Protocols......Page 574
Requirements and Quality of Service Measures......Page 575
Design Factors......Page 576
Random Access Protocols......Page 577
Fixed Assignment Protocols......Page 581
Demand Assignment Protocols......Page 582
Meta-MAC Protocols......Page 583
Open-Loop Approaches......Page 584
Further Countermeasures......Page 585
References......Page 586
Further References......Page 588
38.1 Introduction......Page 589
38.2 Defining WLAN and WPAN......Page 590
38.3 System Requirements and Quality-of-Service......Page 591
Technical Background......Page 593
Performance......Page 594
Technical Background......Page 596
Technical Background......Page 600
Performance......Page 602
38.7 Coexistence of WPAN and WLAN (Bluetooth and IEEE 802.11b)......Page 603
38.8 Summary and Conclusions......Page 604
References......Page 605
39.1 Basics......Page 608
39.2 Transmission Technologies......Page 609
PROFIBUS DP......Page 611
System Configuration and Device Types......Page 612
Cyclic and Acyclic Data Communication Protocols......Page 613
39.4 Application Profiles......Page 615
General Application Profiles......Page 616
Specific Application Profiles......Page 619
Summary of Specific Application Profiles......Page 623
Master and System Profiles......Page 624
39.5 Integration Technologies......Page 625
Quality Assurance......Page 626
Implementation......Page 627
PROFINET IO......Page 628
Abbreviations......Page 629
References......Page 630
40.1 Introduction......Page 631
40.3 Requirements......Page 632
Identified Data vs. Classical Messages......Page 633
Periodic and Aperiodic Traffics......Page 634
Architecture and Standardization......Page 635
Some Figures......Page 636
Introduction......Page 637
Basic Mechanism......Page 638
The Aperiodic Server......Page 639
Message Transfer......Page 640
40.8 Application Layer......Page 641
Services Associated to the Variables......Page 642
Temporal Validity of Variables......Page 643
Synchronization Services......Page 644
Services Associated with Variables Lists......Page 645
New Development......Page 646
References......Page 647
41.2 Principles of FOUNDATION Fieldbus......Page 649
41.3 Technical Description of FOUNDATION Fieldbus......Page 650
Fieldbus User Application Layer......Page 651
H1 Foundation Fieldbus......Page 653
Fieldbus......Page 660
References......Page 663
42.1 Introduction......Page 665
42.2 CAN protocol basics......Page 666
Physical layer......Page 667
Frame format......Page 669
Access technique......Page 671
Fault confinement......Page 673
Communication services......Page 674
Advantages......Page 675
Drawbacks......Page 676
CANopen......Page 677
DeviceNet......Page 679
References......Page 680
43.1 Introduction......Page 681
43.3 Network Infrastructure......Page 683
43.5 Tools......Page 684
References......Page 685
44.1 Introduction......Page 687
Model of Time......Page 688
Temporal Firewalls......Page 689
Communication Interface......Page 691
The Fieldbus Protocol TTP/A......Page 692
Fault Containment......Page 693
Error Handling in the Value Domain......Page 694
Architecture Design......Page 695
44.6 Conclusions......Page 696
References......Page 697
45.1 Introduction......Page 698
45.2 IEEE 1394 Basics......Page 699
45.3 IEEE 1394 System Design......Page 701
45.4 Industrial Applications of IEEE 1394......Page 703
45.5 IEEE 1394 Automation Protocol......Page 706
References......Page 709
46.1 Introduction......Page 710
46.2 Production Hierarchies......Page 711
Time-Triggered Systems......Page 712
Discrete Event Control Systems......Page 713
Communications Models......Page 714
Event Ordering......Page 715
46.6 Parameters to Consider in a Choice......Page 716
Controller Area Network......Page 718
MIL-STD-1553......Page 719
PROFIBUS-FMS......Page 720
WorldFIP......Page 721
Solutions from Nonindustrial Markets......Page 722
References......Page 723
47.1 Introduction......Page 725
The Idea of Feedback for Control Systems......Page 726
An Overview to Computer-Based Control......Page 727
Architectures for Control Systems......Page 728
Timing Assumptions in the Closed-Loop Operation......Page 730
Timing Analysis of Different Architectures that can Support the Closed-Loop Operation......Page 731
Performance of Control Systems......Page 732
Constant Communication-Induced Time Delays vs. System Performance......Page 733
Varying Communication-Induced Time Delays vs. System Performance......Page 735
Network Type and Message Scheduling vs. System Performance......Page 737
References......Page 738
48.1 Introduction......Page 741
48.2 Ethernet Roots......Page 742
48.3 Why Use Ethernet at Fieldbus Level......Page 743
Modification of the Medium Access Control Sublayer......Page 744
Addition of a Transmission Control Layer Over Ethernet......Page 745
Switched Ethernet......Page 750
48.5 Recent Advances......Page 751
48.6 Conclusion......Page 752
References......Page 753
49.2 The Switches are Not the Complete Network......Page 755
The Learning Process Inside the Switch......Page 756
Even Highways have Queues......Page 757
Introducing a Standard for Priority and Delivery......Page 758
High-Priority Packets Get High-Priority Treatment......Page 759
Bottleneck Conclusions......Page 760
The Concept of Time Stamping......Page 761
Synchronization Requirements in Substation Automation......Page 762
A Tuned SNTP Time Protocol Implementation......Page 764
Summary and conclusions......Page 766
49.6 Introducing Virtual Subnetworks......Page 767
References......Page 769
50.1 Introduction......Page 770
50.2 Wireless Industrial Communications and Wireless Field-Bus......Page 771
50.3 Wireless LAN Technology and Wave Propagation......Page 772
Wave Propagation Effects......Page 773
Effects on Transmission......Page 774
Wireless Transmission Techniques......Page 775
Problems for Wireless MAC Protocols......Page 776
Methods for Combatting Channel Errors and Channel Variation......Page 778
FIP/WorldFIP......Page 779
Brief Description of IEEE 802.11......Page 780
50.8 Summary......Page 781
References......Page 782
The Basic Idea......Page 785
Channel Arrangement......Page 786
Power Classes......Page 787
Physical Links......Page 788
51.3 Power Consumption......Page 789
Cable Replacement......Page 790
Remote Control......Page 791
51.5 The Protocol Stack......Page 792
Discovering Bluetooth Devices......Page 793
Connection Establishment and Paging......Page 794
51.7 Encryption and Security......Page 796
51.9 Profiles......Page 797
51.10 Bluetooth Qualification......Page 798
References......Page 799
52.1 Introduction and Historical Background......Page 801
Protocol Tunneling......Page 803
Gateways......Page 805
Services......Page 806
Gateway Structure......Page 807
Data Representation......Page 808
52.4 Gateway Access From the Internet......Page 809
SNMP......Page 810
LDAP......Page 811
Web-Based Approaches......Page 812
52.5 The Role of Industrial Ethernet......Page 813
52.6 Summary......Page 814
References......Page 815
53.1 Introduction and Overview......Page 816
53.2 EIA-852 Standard......Page 817
53.3 System Components......Page 819
Encapsulation......Page 820
Packet Sequencing......Page 821
Stale Packet Detection......Page 822
EIA-852 Data Packet Routing......Page 823
53.5 Management......Page 826
53.6 Security......Page 827
53.7 Applications......Page 828
53.8 Conclusion......Page 830
References......Page 831
54.1 Introduction......Page 832
Important Radio Transmission Properties......Page 833
Repeaters......Page 834
Bridges......Page 835
54.4 Major Design Alternatives......Page 836
Repeater-Based Solutions......Page 837
Bridge-Based Solutions......Page 839
54.6 Amenability to Comply with the Fieldbus Requirements......Page 841
References......Page 843
55.1 Introduction......Page 845
Security System Life Cycle......Page 846
Common Security Measures......Page 847
55.3 FAN Security......Page 848
Security for Controlled FANs......Page 849
Security for Uncontrolled FANs......Page 851
55.4 Security for External FAN Connections — An Example......Page 852
Implementation......Page 853
References......Page 856
56.1 Why do we Need Safety in Automation?......Page 858
56.3 Motivation and Objectives for PROFIBUS......Page 859
56.4 PROFIsafe, The Solution......Page 860
56.5 Black Channel......Page 861
56.6 Possible Transmission Errors and Their Remedies......Page 862
56.7 The SIL Monitor......Page 864
56.8 PROFIBUS Messages with PROFIsafe Frames......Page 866
56.10 Safety-Related Programmable Control Logic......Page 867
56.11 Commissioning and Repair......Page 868
56.12 Availability......Page 869
56.13 Status of Profile Guidelines......Page 870
56.15 Peculiarities for Different Industries......Page 871
56.18 Development Tools and Support......Page 874
56.19 Products......Page 875
References......Page 876
57.1 Introduction......Page 878
Functionality......Page 879
Standards......Page 880
Automotive Field Busses......Page 881
High-level Protocols and Communication Software......Page 883
Volvo Car Corporation......Page 884
Volvo Trucks......Page 887
Volvo Construction Equipment......Page 891
57.5 Analysis......Page 894
57.6 Conclusion......Page 895
References......Page 896
58.1 Introduction......Page 898
58.2 The MMS Client/Server Model......Page 899
58.3 The VMD......Page 900
MMS Models and Services......Page 903
58.4 Locality of the VMD......Page 904
58.5 Interfaces......Page 905
58.6 Environment and General Management Services......Page 907
58.7 VMD Support......Page 908
58.8 Domain Management......Page 909
What is the Domain Scope?......Page 910
58.9 Program-Invocation-Management......Page 911
58.10 The MMS Variable Model......Page 912
Access Paths......Page 914
Objects of the MMS Variable Model......Page 918
The Access to Several Variables......Page 926
References......Page 928
59.1 Introduction......Page 931
Energy Management......Page 932
System Architecture......Page 934
Building Gateway......Page 935
Data Acquisition System......Page 936
System Partitioning......Page 937
Interoperability Platform Concerns......Page 938
Semantic Heterogeneity and Data Management......Page 940
System Operation......Page 942
59.8 Summary......Page 943
References......Page 944
Brief History of Telemanipulation......Page 946
Basic Definitions......Page 947
Ideal Telepresence......Page 949
Manipulator Layer......Page 950
Transporter Layer......Page 951
Special Types of Telemanipulation......Page 952
60.3 Master Devices as Haptic Interfaces......Page 953
A Glove-type Haptic Interface......Page 954
Nonlinear Scaling (Virtual Coupling Impedance)......Page 958
Time Delay Compensation of Internet-Based Telemanipulation......Page 960
Friction Compensation for Master Devices......Page 962
Virtual Impedance with Position Error Correction......Page 964
Experiment......Page 967
References......Page 970
61.1 Introduction......Page 972
61.2 Architecture......Page 973
61.3 Experience with a Pilot Installation......Page 976
61.4 Discussion and Conclusion......Page 977
References......Page 978
62.1 Introduction......Page 979
62.2 Open Standards — Automation Technology in Flux......Page 980
62.3 History of OPC......Page 981
Areas of OPC Use......Page 982
62.5 OPC — Advantages for Manufacturers and Users......Page 983
62.6 Structure and Tasks of the OPC Foundation......Page 984
DCOM......Page 985
62.8 XML, SOAP, and Web Services......Page 986
Data Access Specification [4, 5]......Page 988
OPC XML-DA [16]......Page 993
OPC Data eXchange Specification [8]......Page 995
Complex Data Specification [17]......Page 996
OPC Alarms and Events [9]......Page 997
OPC Historical Data Access [11]......Page 999
OPC Batch [13]......Page 1000
OPC Security [15]......Page 1001
Compliance Test......Page 1003
62.10 Implementation of OPC Products......Page 1004
Creating OPC DCOM Components by Means of Tools......Page 1005
62.11 Outlook into Future......Page 1006
62.12 The Future of OPC......Page 1007
References......Page 1008
63.1 Introduction New Programming Paradigms in Industrial Automation......Page 1009
63.3 Problems of Using Java at the Field Level Under Real-Time Conditions......Page 1010
Execution Speed and Predictability......Page 1011
63.4 Specifications for Real-Time Java......Page 1012
Real-Time Specification for Java......Page 1013
Real-Time Core Extensions......Page 1015
Real-Time Data Access......Page 1016
Comparison......Page 1017
Requirements of Control Applications and New Possibilities in Java......Page 1019
Structure of a Control Application in Java — An Example......Page 1020
Integration of Advanced Technologies......Page 1021
References......Page 1022
64.1 Introduction......Page 1024
64.3 The GRAFCET Context......Page 1025
Introduction......Page 1027
Structure......Page 1028
Evolution Rules......Page 1029
Tank Filling Example (I)......Page 1031
Variable Type Extensions......Page 1032
Internal Variables......Page 1033
Action Types......Page 1034
Graphical Composition......Page 1037
Tank Filling Example (II)......Page 1038
64.6 Hierarchical Grafcets......Page 1039
Enclosure......Page 1040
MacroSteps......Page 1041
Tank Filling Example (III)......Page 1042
Acknowledgments......Page 1043
References......Page 1044
65.1 Introduction......Page 1045
Building Blocks......Page 1046
Language Overview......Page 1048
Data Types......Page 1051
65.3 Programming in ST......Page 1052
65.4 Programming in IL......Page 1054
65.7 Configurations......Page 1056
65.8 Programming Example......Page 1058
65.9 The Future......Page 1063
65.11 The MatPLC Project......Page 1064
References......Page 1065
66.1 Reasons for a New Standard......Page 1066
66.2 Basic Concepts of IEC 61499......Page 1067
Describing the Functionality of Control Applications......Page 1068
Specification of the System Architecture......Page 1076
Desired Application Functionality......Page 1078
66.4 Engineering Methods and Further Development......Page 1081
References......Page 1084
67.1 Introduction......Page 1086
67.4 Haptic Framework......Page 1087
Force-Feedback Arms......Page 1088
67.6 Control of Haptic Hardware......Page 1089
67.8 Haptic Rendering......Page 1090
67.9 Potential Applications of Haptics in Engineering......Page 1091
Operator training of complex grinding tasks......Page 1092
Height Maps......Page 1093
The Haptic Model......Page 1094
Dynamic Texture Modification for Enhanced Realism......Page 1096
Inferences......Page 1097
Conceptual Framework for Haptics in Engineering Analysis......Page 1098
Quadratic Assignment Problem (QAP) Formulation......Page 1099
Haptics Process for Design Evaluation......Page 1100
Results of a Testing of the Environment......Page 1101
References......Page 1102
68.1 Introduction......Page 1104
68.2 MMS on Top of TCP/IP......Page 1105
68.3 Virtual Factory Communication System......Page 1107
MMS Companion Standard......Page 1109
VRM Using MMS-CS......Page 1111
68.4 MIMS......Page 1115
References......Page 1116
69.2 Motivation......Page 1118
Integrity......Page 1119
Third-Party Protection......Page 1120
Operational Environment......Page 1121
Hard Perimeter......Page 1122
69.7 Elements of a Security Architecture......Page 1123
Connection Authorization......Page 1124
Action Authorization......Page 1125
Intrusion Detection......Page 1126
Response......Page 1127
Mechanism Protection......Page 1128
69.8 Further Reading......Page 1129
69.10 Summary......Page 1130
References......Page 1131
70.1 Introduction......Page 1133
70.2 A Smart Transducer Model......Page 1134
70.3 Networking Smart Transducers......Page 1135
70.4 Establishment of the IEEE 1451 Standards......Page 1136
IEEE 1451.1 Smart Transducer Information Model......Page 1137
IEEE 1451.2 Transducer-to-Microprocessor Interface......Page 1139
IEEE 1451.3 Distributed Multidrop Systems......Page 1141
IEEE 1451 Family......Page 1142
Benefits of IEEE 1451......Page 1143
70.7 Example Application of IEEE 1451.2......Page 1144
70.8 Application of IEEE 1451-Based Sensor Network......Page 1145
References......Page 1147
71.1 Introduction......Page 1149
71.2 History of smart devices......Page 1150
71.3 Field Device Instrumentation......Page 1153
Fieldbus Communication Configuration......Page 1154
Field Device Application Parameterization — Device Description Languages......Page 1155
Programming of the Control Applications with Integrated Field Device Functions......Page 1158
Field Device System Integration......Page 1160
71.4 Fieldbus Profiles......Page 1162
Device Model......Page 1164
Description and Realization Opportunities......Page 1166
Overall Example Using EDDL......Page 1167
The XML Approach......Page 1168
References......Page 1171
72.1 Introduction......Page 1173
Analysis......Page 1174
The External Model......Page 1176
Functional Decomposition of a Service......Page 1177
Sensor Architectural Design......Page 1179
Description......Page 1181
Illustration......Page 1183
Implementation......Page 1185
72.5 Conclusion......Page 1188
References......Page 1189
Other references......Page 1190
Robot Vision......Page 1191
74.2 Whisker Sensors......Page 1201
74.4 Skin-like Tactile Sensors......Page 1203
Opto-mechanical......Page 1204
Piezoresistive......Page 1205
Ultrasonic......Page 1206
Skin-like Thermal Sensor......Page 1207
Slip Sensing......Page 1208
References......Page 1209
Giving Robots a Sense of Smell......Page 1211
75.1 Application Scenarios......Page 1212
75.2 Robotic Chemical-Sensing Technologies......Page 1213
Quartz Crystal Microbalance......Page 1214
Conductive Polymer......Page 1215
Measuring Both Chemical Concentration and Airflow Direction......Page 1216
Sensing and Airflow......Page 1218
Ant-like Pheromone Trail-Following......Page 1219
Locating the source of chemicals released underground......Page 1220
References......Page 1222
76.1 Introduction......Page 1224
76.3 Piezoelectric Sonar Ring......Page 1225
76.4 Advanced Sonar Sensing......Page 1228
References......Page 1229
77.1 Introduction......Page 1231
Classification of Space......Page 1232
Architecture Required for an Intelligent Space......Page 1233
Related Works......Page 1234
Hardware Architecture......Page 1235
Software Architecture......Page 1236
Position Estimation......Page 1240
Mobile Robot Control......Page 1241
77.6 Conclusion......Page 1244
References......Page 1245
78.1 Introduction......Page 1246
Networks......Page 1247
Radio Propagation Model......Page 1248
78.4 MAC Layer Protocols......Page 1249
Flat Routing Protocols......Page 1250
Cluster-Based Routing Protocols......Page 1253
78.6 Other Important Issues......Page 1254
Security......Page 1255
Location Determination......Page 1256
Power Management......Page 1257
78.7 Conclusions......Page 1258
References......Page 1259
79.1 Introduction......Page 1262
79.2 Preliminaries......Page 1263
Middleware and Services for Sensor Networks......Page 1264
79.3 Current Software Solutions......Page 1265
TinyOS......Page 1266
MATÉ......Page 1268
SensorWare......Page 1270
MiLAN......Page 1271
EnviroTrack......Page 1273
SeNeTs......Page 1274
79.4 Summary......Page 1277
References......Page 1278
80.1 Introduction......Page 1279
80.2 Methods of Fusion......Page 1280
Data Fusion in Probability Theory......Page 1281
Data Fusion in Evidence Theory......Page 1283
Data Fusion in Possibility Theory......Page 1285
80.3 Conclusion......Page 1287
References......Page 1288
81.1 Introduction......Page 1290
Reference Architecture......Page 1292
Models of Interaction......Page 1293
Execution Strategies......Page 1295
Tools for Design of RTSs......Page 1296
Typical Properties of RTOSes......Page 1297
Mechanisms for Real-Time......Page 1298
Off-line Schedulers......Page 1300
81.5 Real-Time Communications......Page 1301
Fieldbuses......Page 1302
Ethernet for Real-Time Communication......Page 1304
Timing Properties......Page 1305
Methods for Timing Analysis......Page 1307
Example of Analysis......Page 1309
Trends and Tools......Page 1311
81.7 Testing and Debugging of RTSs......Page 1312
References......Page 1313
82.1 The Embedded System Revolution......Page 1318
82.2 Design of Embedded Systems......Page 1319
82.3 Functional Design......Page 1323
82.4 Function/Architecture and Hardware/Software Codesign......Page 1324
82.5 Hardware/Software Coverification and Hardware Simulation......Page 1327
References......Page 1329
83.1 Introduction......Page 1332
83.2 Notions of Time......Page 1333
83.3 Communication Support......Page 1334
Dataflow Models......Page 1335
Discrete Event......Page 1337
Finite State Machines......Page 1338
Codesign Finite State Machines......Page 1340
Synchronous/reactive Models......Page 1341
Statecharts......Page 1342
Petri nets......Page 1344
The Tagged Signal Model......Page 1346
References......Page 1347
84.1 Introduction......Page 1349
84.2 What to Expect from Hardware Description Languages......Page 1350
84.3 Levels for Digital System’s Representation......Page 1351
84.5 Verilog......Page 1353
84.6 VHDL......Page 1354
84.7 From Boolean Algebra to Sequential Circuits, or How to Get VHDL into Action......Page 1356
84.8 State Machine Design......Page 1362
84.9 Simulation, Testing, and Design Verification......Page 1364
References......Page 1365
85.2 Software Languages......Page 1367
Assembly Languages......Page 1368
The C Language......Page 1370
C++......Page 1371
Java......Page 1372
Real-Time Operating Systems......Page 1373
Verilog......Page 1374
VHDL......Page 1376
Kahn Process Networks......Page 1378
Synchronous Dataflow......Page 1379
Esterel......Page 1380
SDL......Page 1381
SystemC......Page 1382
85.6 Summary......Page 1383
References......Page 1384
86.1 Introduction......Page 1385
Simulation-based Verification......Page 1386
Formal Verification......Page 1387
Formal Specification of Properties......Page 1388
86.3 Languages for Hardware Verification......Page 1389
Open Verification Library......Page 1390
Temporal......Page 1391
Programming Languages......Page 1394
System-Level Modeling Languages......Page 1396
Domain-Specific System Languages......Page 1398
References......Page 1400
87.1 Introduction......Page 1403
Changing the SoC Design Paradigm......Page 1404
What is an Embedded System, What is Embedded SW?......Page 1405
HW Related Trade-offs in Embedded SW......Page 1406
Basic Concepts in ESW......Page 1407
HdS Seen from Different Perspectives......Page 1410
Gaps in the SoC Design Flow. How A Standardized HdS-API could Help......Page 1411
Running Standardization Activities. The Role of VSIA’s HdS-DWG......Page 1412
References......Page 1413
88.1 Introduction......Page 1414
Overall System Architecture......Page 1416
Process and Thread Model......Page 1420
Processor Scheduling......Page 1422
Interprocess Synchronization and Communication......Page 1423
Network Support......Page 1426
Hardware Requirements......Page 1427
88.3 The POSIX Standard......Page 1428
Process Scheduling......Page 1429
Memory Management......Page 1430
Multiple Threads......Page 1431
Commercial Operating Systems......Page 1432
Open Source Operating Systems......Page 1434
References......Page 1435
89.1 Introduction......Page 1437
89.2 Energy and Power Modeling......Page 1439
Micro-architectural Models......Page 1440
Battery Models......Page 1442
89.3 System/Application-Level Optimizations......Page 1443
Voltage and Frequency Scaling......Page 1444
Dynamic Resource Scaling......Page 1445
Processor Core Selection......Page 1446
Cache Hierarchy Tuning......Page 1447
Novel Horizontal and Vertical Cache Partitioning Schemes......Page 1448
Dynamic Scaling of Memory Elements......Page 1449
Improving Access Patterns to Off-Chip Memory......Page 1450
Special-Purpose Memory Subsystems for Media Streaming......Page 1451
89.6 Summary......Page 1452
References......Page 1453
Motivation......Page 1460
Outline......Page 1461
IPSec......Page 1462
90.3 Basic Access Authentication Scheme......Page 1463
Cryptographical Prerequisites......Page 1464
Digest Authentication......Page 1465
Digest Authentication with Integrity Protection......Page 1466
Replay Attacks......Page 1467
Man-in-the-Middle Attack......Page 1468
Servers......Page 1469
Browsers......Page 1470
Appendix: A Brief Review of the HTTP......Page 1471
References......Page 1473
91.1 Introduction......Page 1474
Data Link Layer Security......Page 1475
Network-Layer Security......Page 1476
Transport-Layer Security......Page 1478
Application-Layer Security......Page 1480
Generation of True Random Numbers......Page 1481
Public Key Operations......Page 1482
91.4 Example of an SSL/TLS-enabled Embedded Platform......Page 1483
References......Page 1485
92.1 Introduction......Page 1486
92.3 System-on-a-Programmable-Chip......Page 1487
92.4 IP Cores......Page 1489
92.6 Platforms and Programmable Platforms......Page 1490
92.7 Integration Platforms and SoC Design......Page 1491
92.8 Overview of the SoC Design Process......Page 1492
92.9 System-Level Design......Page 1495
92.11 Computation and Memory Architectures for Systems on Chip......Page 1496
92.13 Summary......Page 1497
References......Page 1498
93.1 Introduction......Page 1499
93.2 Platform-Based Design......Page 1500
(Micro-) Architecture Platforms......Page 1502
System Platform Stack......Page 1503
Definitions......Page 1504
Quality of Service......Page 1505
93.5 Analog Platforms......Page 1506
Definitions......Page 1507
Analog Platform Stacks......Page 1509
Design Flow with APs......Page 1510
References......Page 1512
94.1 Introduction......Page 1514
System-Level Design Flow......Page 1516
SoC Design Automation — An Overview......Page 1517
Introduction to IP Integration......Page 1518
Integrating Software IP......Page 1519
Communication Synthesis......Page 1520
Design Methodology Principles......Page 1521
Virtual Architecture......Page 1522
HW/SW Wrapper Architecture......Page 1523
Design Tools......Page 1524
Defining IP-Component Interfaces......Page 1525
Specification......Page 1527
MPSoC RTL Architecture......Page 1528
Evaluation......Page 1529
References......Page 1531
95.1 Introduction......Page 1533
95.2 Design Challenges for On-Chip Communication Architectures......Page 1535
95.3 Related Work......Page 1536
Network Link......Page 1537
Switch......Page 1539
Network Interface......Page 1541
95.5 Network-on-Chip Topology......Page 1545
Domain Specific Network-on-Chip Synthesis Flow......Page 1546
References......Page 1549
96.1 Introduction......Page 1551
Distributed Nature......Page 1552
Usability, Dependability, and Availability......Page 1553
Automobile: Safety-Critical Vs. Telematics......Page 1555
Data Acquisition: Precision Agriculture and Habitat Monitoring......Page 1556
Defense Applications: Battle-Space Surveillance......Page 1557
96.4 Design Considerations for NES......Page 1558
Hardware......Page 1559
Software......Page 1560
96.6 Design Methodologies and Tools......Page 1562
References......Page 1565
97.1 Introduction......Page 1569
97.2 e-Manufacturing: Rationale and Definitions......Page 1570
97.3 e-Manufacturing: Architecture......Page 1573
97.4 Intelligent Maintenance Systems and e-Maintenance Architecture......Page 1574
97.5 Conclusions and Future Work......Page 1576
References......Page 1577
98.1 Introduction: The Need for Information Exchange in the Engineering of Automation Systems......Page 1578
98.2 XML for the Description of Control System Hardware Components......Page 1579
98.3 XML for the Description of Control Programs According to IEC 61131-3......Page 1580
98.4 XML for the Exchange of Plant Engineering Information......Page 1582
References......Page 1585
99.2 Integration Challenges......Page 1586
99.3 Solutions......Page 1587
99.4 B2MML......Page 1588
99.5 ISA-95 Standard......Page 1589
99.6 ISA-95 Models......Page 1590
99.7 B2MML Architecture......Page 1593
99.8 Using the B2MML Schemas in XML Documents......Page 1596
99.9 Usage Scenario......Page 1599
99.10 Schema Customization......Page 1601
99.11 Conclusion......Page 1603
References......Page 1604
100.1 Introduction......Page 1605
100.3 ABB Industrial IT Platform......Page 1606
Architecture......Page 1608
Client Compatibility......Page 1610
Object Designation......Page 1611
Overall Architecture of Web Services for an Automation System......Page 1612
Client Compatibility......Page 1613
Design for Performance......Page 1614
100.7 Future......Page 1616
Reference......Page 1618
101.1 Introduction......Page 1619
Document Organization......Page 1620
Interenterprise Integration Scenarios......Page 1621
Integration Options......Page 1623
Prototype Components......Page 1625
Use Case......Page 1630
Prototype Realization......Page 1631
101.5 Functional Integration......Page 1632
Technical Concept......Page 1633
Prototype Realization......Page 1634
Event-Based Data Submission......Page 1635
Data Submission using Bulk Data Transfer......Page 1638
101.7 Conclusions and Outlook......Page 1641
References......Page 1642
102.1 Introduction......Page 1643
Distributed Automation (Component Model)......Page 1644
102.3 Decentralized Field Devices (PROFINET IO)......Page 1646
Functional Scope......Page 1647
Device Description (GSD)......Page 1648
Diagnostics......Page 1649
PROFINET Components......Page 1650
PROFINET Engineering......Page 1651
PROFINET Runtime......Page 1653
Standard Communication with TCP/UDP......Page 1654
Real-Time Communication......Page 1655
Communication between Technological Modules......Page 1656
102.6 Installation Technology for PROFINET......Page 1657
PROFINET Cable Installation......Page 1659
Plug Connectors......Page 1660
Network Management......Page 1661
Web Utilities......Page 1662
OPC......Page 1664
Integration by Means of Proxies......Page 1665
Integration of Field Bus Applications......Page 1666
Technology Development......Page 1667
Quality Measures......Page 1668
Technical Support......Page 1669
103.1 Introduction......Page 1671
103.3 IDA Architecture......Page 1672
103.4 The IDA Communication Model......Page 1673
103.5 IDA and Modbus TCP/IP......Page 1674
103.6 Using Web Technologies......Page 1675
103.8 Summary......Page 1676
104.2 OSACA Technical Overview......Page 1677
Communication Platform......Page 1678
Configuration System......Page 1680
Demonstrators......Page 1681
HÜMNOS Applications......Page 1683
Tools......Page 1684
Projects Based on OSACA......Page 1685
OSACA Project Background and Phases......Page 1686
105.1 OCEAN Background......Page 1688
105.2 Objectives......Page 1689
Analysis of Communication Systems, Platforms, and Tools......Page 1691
OSACA......Page 1692
LINUX......Page 1693
Comparison of Available CORBA Implementations......Page 1695
Interoperability between Different ORBs......Page 1696
Investigation of the CCM......Page 1697
Conclusion......Page 1698
105.5 OCEAN Consortium Members......Page 1699
106.1 Introduction......Page 1700
106.2 Background......Page 1701
106.3 Holonic Concepts......Page 1702
106.4 Holonic Architectures......Page 1705
106.5 Holonic Systems and Information Technology......Page 1710
References......Page 1711
107.1 Introduction......Page 1715
MAS......Page 1716
107.3 Cooperation and Coordination Models......Page 1717
Agent Communication and Agent Communication Language......Page 1719
107.5 Ontologies......Page 1720
107.6 HMS......Page 1721
107.7 Agent Platforms......Page 1723
Costs and Maintainability of the Source Code......Page 1724
Agent Platforms Overview......Page 1725
Platforms — Conclusion......Page 1727
107.8 Role of Agent-Based Simulation......Page 1728
107.9 Conclusions......Page 1729
References......Page 1732
108.1 Motivation and Introduction......Page 1734
General Overview......Page 1735
Overview of Architecture and Processes......Page 1736
The MAS......Page 1739
The Agency......Page 1742
The CMU Concept......Page 1745
108.3 Benefits of the Agent-Based Architecture for Job Control in Turbulent Industrial Environments......Page 1748
108.4 Summary and Conclusions......Page 1750
References......Page 1751
From CIM to Heter-archical Control and Production Management......Page 1753
Collaborative Factory Automation. A Result of the Integration of Emerging Technologies and Paradigms: Agent Technology, Holonic......Page 1754
The Technical Challenge of Holonic Manufacturing Systems and its Relation to Collaborative Automation......Page 1755
Multiagent-based Automation Software Technology......Page 1756
Agent and Collaborative Automation Units......Page 1757
Motivation and General Characteristics......Page 1758
Architecture and Communication Interface......Page 1759
109.4 Negotiation Mechanisms and Interactions between Production Agents for Factory Automation......Page 1763
Collaborative Automation of an Industrial Production System......Page 1765
Interoperability among Agent-Based Automation Systems: An Approach on how to Implement a Holonic Intraenterprise Platform......Page 1766
Challenges......Page 1769
TSIs......Page 1770
References......Page 1771
110.1 Introduction......Page 1774
110.2 Primary Application of the Standard IEC 61850......Page 1775
110.3 Information Models......Page 1778
110.4 Information Exchange Models......Page 1782
110.5 IEC 61400-25 communication for wind power plants......Page 1786
110.6 Implementation......Page 1789
110.7 Reusability and device modeling......Page 1790
110.8 Resume......Page 1792
References......Page 1793
111.1 Introduction......Page 1795
111.2 JEVis Architecture......Page 1796
111.3 Distributed Data Acquisition, Storage, and Access......Page 1800
111.4 Global Energy Management......Page 1802
References......Page 1805
112.2 System Architecture......Page 1806
112.3 Real Case......Page 1808
112.4 Implementation Approaches......Page 1809
112.5 Benefits......Page 1813
References......Page 1814
Author Index......Page 1816