Con los avances en la industria 4.0 y la transformación digital, es indispensable lograr la comunicación entre los distintos dispositivos que conforman la planta industrial. Sin embargo, esta orientación a la interoperabilidad de los productos que a nivel de dispositivos como los PLC’s está generalizada, no lo es tanto en el ámbito de los robots. En este caso muchos de robots móviles trabajan con la arquitectura de software ROS en la actualidad, un middleware de código abierto que maneja los datos de control del robot a nivel local, y en el caso de los robots industriales es bastante generalizado el uso de protocolos propietarios. En este artículo se propone una solución que emplea el estándar de comunicaciones OPC UA para hacer accesibles los datos de dispositivos con arquitectura de software ROS a un nivel superior de control de la planta industrial, facilitando así la integración de los datos de los robots en aplicaciones de supervisión, y dando también cabida a la interoperabilidad por medio del uso de los datos en el servidor.
ResumenIn this project tackle the design, supervision and control of a pilot plant, which incorporate several renewable energy sources to simulate control strategies which satisfy electricity demand. Tha main characteristic about the work consist in using two different environment, on one hand, the hardware myRIO that control the plant and manage energy sources. On the other hand, supervision system is based on OPC-UA software multiplatform, which provides interoperability and standarization.Palabras clave: Process supervision and control, OPC-UA protocol, distributed control, renewable energy.
Abstract-Computer vision is one of the most challenging applications in sensor systems since the signal is complex from spatial and logical point of view. Due to these characteristics vision applications require high computing resources, which makes them especially difficult to use in embedded systems, like mobile robots with reduced amount memory and computing power. In this work a distributed architecture for humanoid visual control is presented using specific nodes for vision processing cooperating with the main CPU to coordinate the movements of the exploring behaviours. This architecture provides additional computing resources in a reduced area, without disturbing tasks related with low level control (mainly kinematics) with the ones involving vision processing algorithms. The information is exchanged allowing to linking control loops between both nodes.Index Terms-Humanoid robots, visual servoing control, distributed system, embedded computing.
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