Cyber Physical Systems (CPS) are predestined for use in Industry 4.0 applications. However, the interaction between the virtual and physical world also creates risks that is essential to be controlled. In highly automated industrial systems, for example, robots are used in confined spaces together with working humans. The risk posed by such systems endangers, among others, the people working there. This paper presents an approach to ensure the safety of the situation described above, which makes the workspace of industrial robots safer by implementing a safe workspace detection system. This system comprises several detection sensors implemented in a 2oo3 safety architecture and a Safety System on a Chip (SSoC) based on a safe 1oo2 system architecture. The safety-related redundancy provided by the detection and calculation elements enables a safe position detection of the robotic arm in the 3-dimensional space. The presented system monitors the position of the robotic arm and thus supports the safety of the surrounding objects and the people working there by leading to a safe standstill or to a reduced speed of movement of the robot as soon as the defined and permitted working space is left.
The production of the palm oil accounted for 10.15% of total palm oil production in Indonesia. Farmland monitoring system is designed to determine the condition of temperature and soil moisture on oil palm plantation. In this study, we design and build a Wireless Sensor Network (WSN) with fitted temperature and moisture sensors for monitoring soil quality. The process of temperature and moisture data communication from sensor nodes to the sink using a routing protocol that named Power-Efficient Gathering in Sensor Information Systems (PEGASIS). The routing process in the PEGASIS is the nodes will form a chain by selecting a leader node as a gateway. The development of WSN is composed of 3 nodes and 1 sink with three different scenarios. The first scenario is placed moisture sensors on three nodes (single sensor), the second is placed the temperature sensors on three nodes (single sensor) and the third is placed moisture sensor on two node and one node equiped by temperature sensor (multi sensor). The evaluation of WSN communication using the PEGASIS routing protocol compared to the direct transmission using delay, packet loss and energy have done. The results obtained are the difference between the lifetime sensor nodes between direct transmission and the pegasis is 7 minutes time difference. For the average delay of PEGASIS and direct transmission is 31.23 and 30.92 ms respectively. All transmission in both scheme have packet loss 0%. Conclusion, the WSN has successfully implemented with longer life time energy using PEGASIS than direct transmission methods.
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