 SEPTEMBER 20, 2006 – Wednesday
9:30 - 9:40
Opening Session
Belvedere
9:40 - 10:40
KEYNOTE
Belvedere
Technology Trends in Industrial Automation
Kenwood H. Hall & Sujeet Chand
Chair:
V. Marik
10:40 - 11:00
Coffee Break
11:00 - 12:00
KEYNOTE
Belvedere
Component-Based Design of Industrial Control Systems
Hermann Kopetz
Chair:
J.D. Irwin
2:00 - 13:30
Lunch Break
Loreta
13:30 - 14:50
MIDDLEWARE AND MODELS
Prague D
13:30 - 13:50
A Clone-Pair Approach for the Determination of the Itinerary of
Imprecise Mobile Agents with Firm Deadlines
Luciana Rech, Carlos Montez, Rômulo de Oliveir
13:50 - 14:10
Adding Synchronous Scheduling to CORBA-RT
Isidro Calvo, Luis Almeida
14:10 - 14:30
Improvements on Ethernet LAN Network Infrastructure for Industrial
Automation: A Case Study
Paulo S. Motta Pires, Ivano Miranda dos Anjos
14:30 - 14:50
A Simple Linear Velocity Estimator for High-Precision Motion
Control
Yuxin Su, Chunhong Zheng, Peter C. Mueller
Chairs:
M. Wollschlaeger
&
K. Thramboulidis
13:30 - 14:50
WIRELESS NETWORKS I
Prague C
13:30 - 13:50
Formal Modelling and Evaluation of the Data Transfer Phase of the
ACL links on the WPAN Bluetooth
Tarik Khoutaif, Guy Juanole
13:50 - 14:10
A Stochastic Petri Net Model for the Simulation Analysis of the IEEE
802.11e EDCA Communication Protocol
Ricardo Morales, Paulo Portugal, Francisco Vasques
14:10 - 14:30
Evaluating the Timeliness of Bluetooth ACL connections for the
Wireless Transmission of MIDI
Paulo Bartolomeu, José Fonseca, Paulo Rodrigues, Luís Girao
14:30 - 14:50
Using Dual-Radio Nodes to Enable Quality Of Service in a Clustered
Wireless Mesh Network
Urban Bilstrup, Katrin Bilstrup, Bertil Svensson, Per-Arne Wiberg
Chair:
S. Cavalieri
13:30 - 14:50
OPERATING SYSTEMS AND FAULT-TOLERANCE
Prague B
13:30 - 13:50
Trampoline An OpenSource Implementation of the OSEK/VDX RTOS
Specification
Jean-Luc Béchennec, Mikaël Briday, Sébastien Faucou, Yvon
Trinquet
13:50 - 14:10
Memory-Aware Feedback Scheduling of Control Tasks
Sven Robertz, Dan Henriksson, Anton Cervin
14:10 - 14:30
An Architecture for Runtime State Restoration after Transient
Hardware-Faults in Redundant Real-Time Systems
Martin Skambraks
14:30 - 14:50
A flexible Method to Tolerate Value Sensor Failures
Alain Girault, Huafeng Yu
Chairs:
L. Gomes
&
N. Navet
13:30 - 14:50
EMERGING TECHNOLOGIES
Prague A
13:30 - 13:50
Operating Systems Portability: 8 bits and beyond
Hugo Marcondes, Arliones Stevert Hoeller Junior, Lucas Francisco
Wanner, Antônio Augusto M. Fröhlich
Chairs:
H. Kirrmann
&
D. Dzung
 13:50 - 14:10
A Framework for Fault Tolerant Real-Time Systems Based on
Reconfigurable FPGAs
Manuel G. Gericota, Luis F. Lemos, Gustavo R. Alves, Mário M.
Barbosa, José M. Ferreira
14:10 - 14:30
A Modular Control Architecture for a Small Electrical Vehicle
Frederico Santos, Joao Trovao, António Marques, Paulo Pedreiras,
Joaquim Ferreira, Luis Almeida, Max Santos
14:30 - 14:50
Empirical Evaluation of SysML through the Modeling of an Industrial
Automation Unit
Marcos Vinicius Linhares, Alexandre José da Silva, Rômulo Silva de
Oliveira
13:30 - 14:50
INDUSTRIALLY ORIENTED APPLICATIONS OF MULTI-SENSORY
TECHNIQUES
Belvedere
13:30 - 13:50
Multi-sensor Electrode Setup Verification and Diagnostics System
for EDM Operation
Beng Siong Lim, Geok Hong Phua, Leck Leng Aw, ZhongQiang Ding,
Hao Zeng, Hao He
13:50 - 14:10
Low-cost Avionics System for Ultra-light Aircrafts
Ondrej Spinka, Jan Krakora, Michal Sojka, Zdenek Hanzalek
14:10 - 14:30
Data Collection and Feature Extraction for a Smart Ward
Application
J. Biswas, V. S. F. Foo, Q. Qiu, M. Jayachandran, A. P. W. Aung,
V. T. Pham, M. H. That, B. S. Lim, P. Yap
14:30 - 14:50
A Micro-fluidic Level Sensing and Dispensing System for Large-scale
Stem Cell Experi-mentations
Seth Yang En Tan, Eng Soon Loh, Toon Tien Foo, Woon Shin Chong,
Chum Mok Puah, Beng Siong Lim
Chair:
B. S. Lim
14:50 - 15:00
Break
15:00 - 16:00
PLENARY DISCUSSION 1
Belvedere
Vladimir Marik Moderator:
Ronald Schoop, Vladimir Kucera, Vladimir Havlena, Hermann Kopetz
16:00 - 16:20
Coffee Break
16:20 - 17:40
APPLICATIONS
Prague D
16:20 - 16:40
Proactive Computing in Process Monitoring: Information Agents for
Operator Support
Antti Pakonen, Teppo Pirttioja, Ilkka Seilonen, Teemu Tommila
16:40 - 17:00
A Generic Information Model for an XML-based Device Profile of
Pumps
Jochen Müller, Ulrich Epple
17:00 - 17:20
Framework for Building Supervisory Systems in Mobile Devices
Reiner F. Perozzo, Carlos E. Pereira
17:20 - 17:40
Normalization of Industrial Machinery with Embedded Devices and
SOA
Virgilio Gilart-Iglesias, Francisco Maciá-Pérez, Francisco José Mora-
Gimeno, José Vicente Berná-Martínez
Chairs:
F. Simonot-Lion
&
M. Wollschlaeger
16:20 - 17:40
WIRELESS NETWORKS II
Prague C
16:20 - 16:40
Outdoor Localisation in a Wireless LAN
Salvatore Cavalieri
16:40 - 17:00
Trial Implementation of a Wireless Human Machine Interface to
Field Devices
Mogens L. Mathiesen, Reidar Indergaard, Harald Vefling, Niels
Aakvaag
17:00 - 17:20
Verification of the Minimum Cost Forwarding Protocol for Wireless
Sensor Networks
William Henderson, Steven Tron
Chair:
F. Vasques
 17:20 - 17:40
Simulation Analysis of the IEEE 802.11e EDCA Protocol for an
Industrially-Relevant Real-Time Communication Scenario
Ricardo Moraes, Paulo Portugal, Francisco Vasques
16:20 - 17:40
CONTROL
Prague B
16:20 - 16:40
Nano Control Algorithm for Grinding and Polishing Aspherical
Surface
Hyung Tae Kim, HaeJeong Yang, SungChul Kim
16:40 - 17:00
State Feedback Control via Positive Invariance of Max-Plus Linear
Systems Using Gamma-Algorithm
Mourad Ahmane, Laurent Truffet
17:00 - 17:20
A Model for PLC Implementation of Supervisory Control of Discrete
Event Systems
Agnelo Vieira, Jose Cury, Max Queiroz
17:20 - 17:40
Comparing Dispatching Rules in Dynamic Hybrid Flow Shops
Carlos Andres, Pedro Gomez, Jose Pedro Garcia-Sabater
Chairs:
L. Ferrarini
&
A. Kalogeras
16:20 - 17:40
PLANNING / SCHEDULING & SUPPLY CHAIN
Prague A
16:20 - 16:40
A Heuristics-based Advanced Planning and Scheduling System with
Bottleneck Scheduling Algorithm
Tay Jin Chua, Feng Yu Wang, Tian Xiang Cai, Xiao Feng Yin
16:40 - 17:00
Proposal of Risk Communications Supporting Method in Multiplex
Risk Communicator
Hiroshi Yajima, Shinichi Matumoto, Ryoichi Sasaki
17:00 - 17:20
Distributed Integrated Scheduling in Automated Manufacturing
Systems with Transient Machine Failures
Horst F. Wedde, Sanjeev K. Taneja, Sebastian Lehnhoff, Michael ten
Hompel, Dirk Liekenbrock, Sergey Libert
17:20 - 17:40
A Methodology for the Design and Operation of Pull-based Supply
Chains
Pedro L. González R., José M. Framinan, Rafael Ruiz-Usano
Chair:
K. Kurihara
16:20 - 18:40
WIRELESS SENSOR NETWORKS
Belvedere
16:20 - 16:40
A Simple Method for Guaranteed Deadline of Periodic Messages in
802.15.4 Cluster Cells for Control Automation Applications
Jackson Francomme, Gilles Mercier, Thierry Val
16:40 - 17:00
Analytical Analysis of Duty Cycle Adaptation in Wireless Sensor
Networks
Mario Neugebauer, Joern Ploennigs, Klaus Kabitzsch
17:00 - 17:20
Adjustable Voltage Sensors for Power Supply Chains in Passive UHF
RFID Transponders
Ricardo Morales-Ramos, Juan A. Montiel-Nelson, Heinrich Milosiu,
Roc Berenguer, Andrés García-Alonso
17:20 - 17:40
Implementing Business Rules on Sensor Nodes
M. Marin-Perianu, T.J. Hofmeijer, P.J.M. Havinga
17:40 - 18:00
A Component Framework for Wireless Sensor and Actor Networks
Manuel Díaz, Daniel Garrido, Luis Llopis, Bartolomé Rubio, José M.
Troya
18:00 - 18:20
An Improved Reduced Set Method to Control the Run-time
Complexity of SVM in Wireless Sensor Networks
Mingqing Hu, Andrea Boni
18:20 - 18:40
Estimating Distances Using Neighborhood Intersection
Carsten Buschmann, Dennis Pfisterer, Stefan Fischer
Chairs:
M. Handy
&
R. Morales-
Ramos
19:45
Meeting Point for Welcome Reception by the Hotel Reception
 20:00 - 22:00
Welcome Reception & IEEE IES Awards at Michna Palace
SEPTEMBER 21, 2006 – Thursday
9:00 - 10:40
NETWORK DEPENDABILITY
Prague D
9:00 - 9:20
Function Blocks for Fieldbus Diagnostics
Hassan Kaghazchi, Ronan Joyce, Donal Hefferernan
9:20 - 9:40
Redundancy Performance of Virtual Network Solutions
Fabian Koch, Kai T. Hansen
9:40 - 10:00
Analysis of Ethernet-based safe automation networks according to
IEC 61508
Alberto Elia, Luca Ferrarini, Carlo Veber
10:00 – 10:20
Dedicated vs. Shared Networks for Safety and Controls: An analysis
of the trade-offs involved
Bradley Triden, Siddarth Mantri, Kyle Schroeder, Aditya Thomas,
James Moyne, Dawn Tilbury
10:20 - 10:40
Integrating Inaccessibility Control and Timer Management in CANELy
José Rufino, Paulo Veríssimo, Carlos Almeida, Guilherme Arroz
Chairs:
T. Sauter
&
A. Flammini
9:00 - 10:40
MODEL-BASED TECHNIQUES FOR DEVELOPMENT OF DISTRIBUTED
LOGIC CONTROLLERS
Prague C
9:00 - 9:20
Synthesis of Distributed Controllers by Means of a Monolithic
Approach
Dirk Missal, Hans-Michael Hanisch
9:20 - 9:40
Exploiting Causal Structure in the Refined Diagnosis of Condition
Systems
Jeffrey Ashley, Larry Holloway
9:40 - 10:00
Optimizing Quality of Control in Networked Automation Systems
using Probabilistic Models
Jürgen Greifeneder, Georg Frey
10:00 – 10:20
Evaluation of Response Time in Ethernet-based Automation Systems
Gaelle Marsal, Bruno Denis, Jean-Marc Faure, Georg Frey
10:20 - 10:40
IEC 61499 Model for Avionics Distributed Fuel Systems with
Networked Embedded Holonic Controllers
Carlos C. Insaurralde, Miguel A. Seminario, Juan F. Jiménez, José M.
Giron-Sierra
Organizers &
Chairs:
G. Frey
&
H.-M. Hanisch
9:20 - 10:40
SCHEDULING / WCET
Prague B
9:20 - 9:40
Feasibility Intervals for Fixed-Priority Real-Time Scheduling on
Uniform Multiprocessors
Liliana Cucu, Joël Goossens
9:40 - 10:00
Response-Time Analysis of Tasks with Offsets
Karim Traoré, Emmanuel Grolleau, Ahmed Rahni, Michaël Richard
10:00 - 10:20
Execution Overrun Management for Graph of Subtasks Scheduled
with a Preemptive Fixed Priority Scheduling in Hard Real-Time
Systems
Lamine Bougueroua, Huixue Zhao, Laurent George, Serge Midonnet
10:20 - 10:40
Towards New Methods for Developing Real-Time Systems:
Automatically Deriving Loop Bounds Using Machine Learning
Iain Bate, Dimitar Kazakov
Chairs:
G. Juanole
&
Y. Trinquet
9:20 - 10:40
CONTROL APPLICATION
Prague A
 9:20 - 9:40
Embedded Model Control. Application to Web Winding. Part I:
Modelling
Enrico S. Canuto, Fabio Musso
9:40 - 10:00
Embedded Model Control. Application to Web Winding. Part II: Digital
Control
Enrico S. Canuto, Fabio Musso
10:00 - 10:20
Embedded Model Control: Application to Interferometric Metrology
Lines
Enrico S. Canuto, Fabio Musso
10:20 - 10:40
High-Precision Five-Axis Machine for High-Speed Material Processing
Using Linear Motors and Parallel-Serial Kinematics
Sameh Refaat, Jacques Hervé, Saeid Nahavandi, Hieu Trinh
Chair:
Y. Bolea
9:00 - 10:40
REAL TIME SYSTEMS AND NETWORKS
Belvedere
Experimental Analysis to Estimate Jitter in PROFINET IO Class 1
Networks
Paolo Ferrari, Alessandra Flammini, Daniele Marioli, Andrea Taroni,
Francesco Venturini
Use of Timed Automata Models in the Design of Real-time Control
Network Elements
Margaret Naughton, Donal Heffernan, Gabriel Leen
Profinet IO-Device Emulator based on the Man-in-the-middle Attack
Max Felser, Michel Baud
Performance of an Application Layer Protocol for Wireless Industrial
Communications
Stefano Vitturi, Daniele Miorandi, Iacopo Carreras
UPnP Compression for IP based Field Devices in Building Automation
Stefan Knauth, Alexander Klapproth, Daniel Kaeslin, Rolf Kistler
Towards a Robust Real-Time Wireless Link in a Land Monitoring
Application
Lucia Lo Bello, Giordano Kaczynski, Thomas Nolte
Towards Stochastic Response-Time of Hierarchically Scheduled Real-
Time Tasks
Giordano A. Kaczynski, Lucia Lo Bello, Thomas Nolte
Towards Plug and Play in Home and Building Automation Networks
Georg Neugschwandtner
Discussion of Aspects in Energy Management with Demand
Response System KNIVES
Charlotte Roesener, Junichi Ichimura, Shinichi Ishida, Hiroaki Nishi
PLC Communication using PROFINET: Experimental Results and
Analysis
Marco Antolovic, Kristen Acton, Naveen Kalappa, Siddharth Mantri,
Jonathan Parrott, Jonathan Luntz, James Moyne, Dawn Tilbury
Advance in Multiply Sectioned Bayesian Networks: Sensor Network
Practitioners' Perspective
Yang Xiang, Kun Zhang
Chair:
S. Vitturi
10:40 - 11:00
Coffee Break
11:00 - 12:00
KEYNOTE
Belvedere
Standard Solutions for Redundancy in Industrial Ethernet
Hubert Kirrmann
Chair:
J. Lazansky
12:00 - 13:30
Lunch Break
Loreta
13:30 - 15:10
Innovation Science
Prague D
Andrew Kusiak
Organizer &
Moderator:
13:50 - 15:10
INSPECTION AND CONTROL TECHNIQUES
Prague C
 13:50 - 14:10
Accessibility Analysis for Automatic Inspection using Bounding
Volume Hierarchies
B.J. Alvarez, P. Fernandez, S. Mateos, J.C. Rico, C.M. Suarez
14:10 - 14:30
Constraints evaluation and working methodology for Laser Scanning
of Free-Form Surfaces
P. Fernandez, B.J. Alvarez, J.C. Rico, D. Blanco, G. Valino
14:30 - 14:50
Delay Compensator: an Approach to Reduce the Variable Sampling
to Actuation Delay Effect in Distributed Real-time Control Systems
Ana Antunes, Fernando Dias, José Vieira, Alexandre Mota
14:50 - 15:10
Adding Function Blocks of IEC 61499 Semantic Description to
Automation Objects
Omar López, Jose Lastra
Chair:
P. Horacek
13:30 - 15:10
ADVANCE FACTORY ARCHITECTURES
Prague B
13:30 - 13:50
Control Architecture for Reconfigurable Manufacturing Systems: the
PABADIS’PROMISE approach
Luca Ferrarini, Carlo Veber, Arndt Lueder, Joern Peschke,
Athanassios Kalogeras, John Gialelis, Jochen Rode, Daniela
Wuensch, V. Chapurlat
13:50 - 14:10
Three Layered Business Process Architecture for Workflow
Cooperation
Ryosuke Saga, Naoto Okada, Hiroshi Tsuji
14:10 - 14:30
Integrating Manufacturing Equipments Using A Shop Floor Control
System
Carlo D'Onofrio, Manfredi Bruccoleri, Umberto La Commare
14:30 - 14:50
A Study on Multi-Agent based Resource Allocation Mechanism for
Automated Enterprise Contracting
Toshiya Kaihara, Susumu Fujii
14:50 - 15:10
Collaborative Continuous Replenishment Planning Process
Implementation Utilizing Web Services, Product Ontologies and
Workflow Management Systems
John Gialelis, Athanasios Kalogeras, Antonios Kaklis, Stavros
Koubias
Chairs:
A. Kalogeras
&
H. Yajima
13:30 - 15:10
HARDWARE AND SOFTWARE OF DEPENDABLE DISTRIBUTED
AUTOMATION SYSTEMS
Prague A
13:30 - 13:50
Systematic Design and Implementation of Distributed Controllers
Valeriy Vyatkin, Martin Hirsch, Hans-Michael Hanisch
13:50 - 14:10
An Algorithm for Siemens STL representation in TNCES
Andrei Lobov, Corina Popescu, Jose Luis Martinez Lastra
14:10 - 14:30
Diner-Waiter Pattern for Time Critical Services
Hao He, Anton J.R. Aendenroomer, Beng Siong Lim
14:30 - 14:50
Re-evaluating Event-triggered and Time-triggered Systems
Jason J. Scarlett, Robert W. Brennan
14:50 - 15:10
SFC inside IEC 61499
Matthias Riedl, Christian Diedrich, Frank Naumann
Chairs:
G. Frey
&
Z. Banaszak
13:30 - 15:10
WIRELESS & SENSOR NETWORKS, INDUSTRIAL COMMUNICATIONS
Belvedere
Operating System Support for Data Acquisition in Sensor Networks
Lucas F. Wanner, Arliones S. Hoeller Jr., Augusto B. de Oliveira,
Antônio A. Fröhlich
A Simulation Study on Dropping Tendencies of an Ad-Hoc Wireless
Network
Christos Antonopoulos, Antonis Athanasopoulos, Stavros Koubias
Giving Neurons to Sensors. Qos Management in Wireless Sensor
Networks
Julio Barbancho, Carlos Leon, Javier Molina, Antonio Barbancho
Efficient Full Duplex Links for Long Distance Wireless Mesh Networks
Chairs:
T. Sauter
&
F. Vasques
 Lucia Lo Bello, Orazio Mirabella
Relative Positioning System Using Simultaneous Round Trip Time of
Flight Measurements
Carlos De Marziani, Jesus Urena, Manuel Mazo, Alvaro Hernández,
Juan Jesus García, Ana Jimenez, Maria del Carmen Perez, Alberto
Ochoa, Jose Manuel Villadangos
Process Plant Reference Model for Communication
Kai T. Hansen
Application-Oriented System Design as an Embedded Systems
Development Strategy: a critical analysis
Danillo Santos, Roberto Matos, Rafael Cancian, Antônio Frohlich
Non-Schedulability Conditions for Off-line Scheduling of Real-Time
Systems Subject to Precedence and Strict Periodicity Constraints
Patrick Meumeu Yomsi, Yves Sorel
Processor Expert Enhances Matlab Simulink Facilities for Embedded
Software Rapid Development
Roman Bartosinski, Zdenìk Hanzálek, Petr Stružka, Libor
Waszniowski
Low-Cost Optical Indoor Localization System for Mobile Objects
without Image Processing
Ralf Salomon, Matthias Schneider, Daniel Wehden
15:10 - 15:30
Coffee Break
15:30 – 16:30
PLENARY DISCUSSION
Belvedere
Martin Wollschlaeger
Max Felser, Kenwood H. Hall, Hubert Kirrmann, Vladimir Kulla
Moderator:
16:30 - 16:40
Break
16:40 - 18:40
NETWORKED CONTROL SYSTEMS TOLERANT TO FAULTS
Prague D
16:40 - 17:00
Modelling and Simulation of Scheduling Policies Implemented in
Ethernet Switch by Using Coloured Petri Nets
Belynda Brahimi, Christophe Aubrun, Eric Rondeau
17:00 - 17:20
Implementation of an Internet-Controlled System Under Variable
Delays
Alexandre Seuret, Miriea Termens-Ballester, Armand Toguyeni, Samir
El Khattabi, Jean-Pierre Richard
17:20 - 17:40
Robust Fault Isolation Filter Design for Networked Control Systems
Shanbin Li, Dominique Sauter, Christophe Aubrun
17:40 - 18:00
Information Packets and MPC Enables Fault-tolerance in Network
Control
Supat Klinkhieo, Chandra Kambhampati, Ron.J Patton
18:00 - 18:20
Fault Tolerance Aspects in Networked Multi-area Power Systems
Alessandro Casavola, Giuseppe Franze, Michela Sorbara
18:20 - 18:40
Using Data Confluences in a Distributed Network with Social
Monitoring to Identify Fault Conditions
Jonathan Aitken, Tim Clarke
Organizer &
Chair:
E. Rondeau
16:40 - 18:00
ROBUST CONTROL
Prague C
16:40 - 17:00
Speed Sensorless Vector Control of Induction Motors Based on
Robust Adaptive Variable Structure Control Law
Oscar Barambones, A Garrido, Francisco J. Maseda, Patxi Alkorta
17:20 - 17:40
Finite Precision Controllers for Robust Pole Assignment of Linear
Systems with Nonlinear Uncertain Structure
Fotis N. Koumboulis, Maria P. Tzamtzi, Michael G. Skarpetis
17:40 - 18:00
Disturbance Rejection Of General Linear Neutral Time Delay Systems
Via Measurement Output Feedback
Fotis N. Koumboulis, George E. Panagiotakis
Chairs:
E. Canuto
&
F. Koumboulis
 17:00 - 17:20
A Helicopter Control based on Eigenstructure Assignment
Nicolás Antequera, Matilde Santos, Jesús Manuel de la Cruz
16:40 - 18:40
THE IEC 61499 FUNCTION BLOCK MODEL IN FACTORY AUTOMATION
Prague B
16:40 - 17:00
Professional Designers’ Adaptations of IEC 61499 to their Individual
Work Practices
Mika P. Strömman, Seppo A. Sierla, Jukka P. Peltola, Kari O.
Koskinen
17:00 - 17:20
Comparative Study of Using CNet, IEC 61499, and Statecharts for
Behavioral Models of Real-time Control Applications
Arastoo Barji, Nils Hagge, Bernardo Wagner
17:20 - 17:40
Towards a Service-Oriented IEC 61499 Compliant Engineering
Support Environment
Kleanthis Thramboulidis, Giannis Koumoutsos, George Doukas
17:40 - 18:00
Combination of UML Modeling and the IEC 61499 Function Block
Concept for the Development of Distributed Automation Systems
Seno Darmawan Panjaitan, Georg Frey
18:00 - 18:20
Modelling and Verification of IEC 61499 Applications using Prolog
Victor Dubinin, Valeriy Vyatkin, Hans-Michael Hanisch
18:20 - 18:40
A Framework for Component Based Distributed Control Software
Development Using IEC 61499
Goran Cengic, Oscar Ljungkrantz, Knut AKesson
Organizer &
Chair:
K. Thramboulidis
16:40 - 18:00
ARCHITECTURES AND ROBOT CONTROL
Prague A
16:40 - 17:00
A Control System for Multi-Robotic Communities
Jan Chudoba, Roman Mazl, Libor Preucil
17:00 - 17:20
Robot Path Planning using Particle Swarm Optimization of Ferguson
Splines
Martin Saska, Martin Macas, Libor Preucil, Lenka Lhotska
17:20 - 17:40
Robust Contouring Control for Multi-Axis Feed Drive Systems
Naoki Uchiyama, Shoji Takagi, Shigenori Sano, Kazuo Yamazaki
17:40 - 18:00
Visual Based Predictive Control for a Six Degrees of Freedom Robot
Paulo Ferreira, Joao Caldas Pinto
Chairs:
L. Preucil
&
J. Chudoba
16:40 - 18:20
DESIGN METHODOLOGY FOR INTELLIGENT AUTOMATION
Belvedere
16:40 - 17:00
An Agent-Oriented Design Methodology for RFID Improved
Manufacturing Control
Andrés García, Adolfo Cenjor, Yoon Chang, Miguel De La Fuente
17:00 - 17:20
Towards an Agent-based Simulation Tool for Manufacturing Systems
Nancy Ruiz, Adriana Giret, Vicente Botti
17:20 - 17:40
An Initial Task Assignment Method for Autonomous Distributed
Vehicle Systems with Finite Buffer Capacity
Yusuke Morihiro, Toshiyuki Miyamoto, Sadatoshi Kumagai
17:40 - 18:00
Automated Vehicles’ Work Planning in Flexible Manufacturing
Systems
Wojciech Muszynski, Zbigniew Banaszak, Izabela Tomczuk-Pirog
18:00 - 18:20
Petri net based Methodology for the Development of Collaborative
Production Systems
Paulo Leitao, Armando Colombo
Chair:
V. Vyatkin
SEPTEMBER 22, 2006 – Friday
9:00 - 10:20
PID AND FUZZY CONTROL
Prague D
9:00 - 9:20
LPV Gain-Scheduled PID for Distributed Motion Control via Ethernet
Chairs:
 Yolanda Bolea, Antoni Grau, Juan Gámiz
9:20 - 9:40
Revisiting IMC based design of PI/PID controllers for FOPTD Models
Ramon Vilanova
9:40 - 10:00
Practical aspects of PID controllers: An industrial experience
Juan J. Gude, Evaristo Kahoraho, Josu Etxaniz
10:00 – 10:20
Rotary Cement Kiln Control for Reducing NOx Emissions to
Atmosphere
Fragiskos Batzias
R. Vilanova
&
J. J. Gude
9:00 - 10:20
NETWORKS / PROTOCOLS
Prague C
9:00 - 9:16
Investigating Connector Faults in the Time-Triggered Architecture
Philipp Peti, Roman Obermaisser, Harald Paulitsch
9:16 - 9:32
Automatic Parameter Identification in FlexRay based Automotive
Communication Networks
Eric Armengaud, Andreas Steininger, Martin Horauer
9:32 - 9:48
Integration of networked subsystems in a resource constrained
environment
Thomas Nolte, Hans A. Hansson, Lucia Lo Bello
9:48 – 10:04
Towards a File System Interface for Mobile Resources in Networked
Embedded Systems
Neil Audsley, Rui Gao, Ameet Patil
10:04 – 10:20
A Simulation Case Study of the new IEEE 802.11e HCCA mechanism
in Industrial Wireless Networks
Henning Trsek, Juergen Jasperneite, Sugun Pradeep Karanam
Chairs:
D. Kazakov
&
F. Simonet-
Lion
9:00 - 10:20
INDUSTRIAL INFORMATION SYSTEMS
Prague B
9:00 - 9:20
Maintenance Integration in A Control-Monitoring Architecture Based
on Petri Net with Objects. Application to a Flexible Manufacturing
System
Eduardo Rocha Loures, Marco Antonio Busetti de Paula, Jean-Claude
Pascal
9:20 - 9:40
Decision Support Systems Based on CLP Approach in SMEs
Izabela Tomczuk-Pirog, Robert Wojcik, Zbigniew Banaszak
9:40 - 10:00
Implementation of a Simulation-Based Optimizer for Semiconductor
Wafer Factories
Oliver Rose
10:00 – 10:20
New Results on Testing Modularity of Local Supervisors using
Abstractions
Patrícia Pena, José Cury, Stéphane Lafortune
Chair:
H. Tsuji
9:00 - 10:20
SENSOR FUSION AND LOCALIZATION
Prague A
9:00 - 9:20
Experimental Research of Probabilistic Localization of Service Robot
Using Range Image Data and Indoor GPS System
Hyeyeon Chang, Jongsuk Choi, Munsang Kim
9:20 - 9:40
Improving Self-Localisation of Mobile Robots Based on Asynchronous
Monte-Carlo Localization Method
Leopoldo Armesto, Josep Tornero, Luis Domenech
9:40 - 10:00
Simultaneous Localisation and Map Building Integrating a Cache of
Features
Jorge Costa, Filipe Dias, Rui Araújo
10:00 – 10:20
Visual – Force Control and Structured Light Fusion to Improve
Recognition of Discontinuities in Surfaces
Jorge Pomares, Pablo Gil, Gabriel J. García, Fernando Torres
Chairs:
L. Preucil
&
J. Chudoba
9:00 - 10:20
CONTROL AND ROBOTICS – 1
Belvedere
Using MILP for UAVs Trajectory Optimization under Radar Detection
Risk
Jose J. Ruz, Orlando Arevalo, Jesus M. de la Cruz, Gonzalo Pajares
Chairs:
L. Waszniowski
&
 Automata Based Modeling for Batching and Mixing Plants for
Concrete
Vasileios Deligiannis, Stamatis Manesis
Embedded Model Control and dynamic simulation
Enrico S. Canuto, Tommaso D'Anna
Implementing Non-Linear Strategies for PID in IEC 61131-3 ST
Language
Nagore Iriondo, Marga Marcos, Elisabet Estévez, Darío Orive
A proposed framework for fine-tuning/training a fuzzy controller
Anila Mjeda, Brendan Jackman, Gabriel Leen
Processing Algorithm for obtaining the Impulse Response in a MIMO
Ultrasonic System
Alberto Ochoa, Jesus Urena, Alvaro Hernandez, Manuel Mazo, Carlos
De Marziani, Carmen Perez
A Supply Planning Model for Multilevel Assembly Systems Under
Random Lead Times
Hnaien Faicel, Dolgui Alexandre
Reconfigurable Logic Control Using IEC 61499 Function Blocks
Emanuel Almeida, Jonathan Luntz, Dawn Tilbury
T. Sauter
10:20 - 10:40
Coffee Break
10:40 - 11:40
KEYNOTE
Belvedere
Reinforcement Learning in Multi-Agent Systems
Robert Babuska
Chair:
H.-M. Hanisch
11:40 - 13:30
Lunch Break
Loreta
13:30 - 14:50
REAL-TIME ISSUES
Prague D
13:30 - 13:50
Relaxed (m,k)-firm Constraint to Improve Real-time Streams
Admission Rate under Non Pre-emptive Fixed Priority Scheduling
Jian Li, YeQiong Song
13:50 - 14:10
Experimental Determination of Real Time Peer to Peer
Communication Characteristics of Ethernet/IP
Naveen Kalappa, Kristen Acton, Marco Antolovic, Siddharth Mantri,
Jonathan Parrott, Jonathan Luntz, James Moyne, Dawn Tilbury
14:10 - 14:30
Repeater Vs. Bridge-Based Hybrid Wired/Wireless Profibus Networks:
A Comparative Performance Analysis
Paulo Sousa, Luis Ferreira, Mario Alves
14:30 - 14:50
A Wireless Traffic Smoother for Soft Real-Time Communications
Over IEEE 802.11 Industrial Networks
Lucia Lo Bello, Giordano Kaczynski, Francesco Sgro', Orazio Mirabella
Chairs:
F. Vasques
&
G. Juanole
13:30 - 14:30
EVOLUTIONARY AND FUZZY TECHNIQUES FOR AUTOMATION
Prague C
13:30 - 13:50
Combining an Optimizing Method with a Genetic Algorithm to Solve a
Flowshop Scheduling Problem with Additional Resources
Ewa Figielska
13:50 - 14:10
?-calculus : A New Fuzzy Arithmetic
Hakim Lamara, Laurent Vermeiren, Dominique Roger
14:10 - 14:30
Decomposition of a Greenhouse Fuzzy Model
Paulo Salgado, Paulo Afonso
Chairs:
P. Horacek
&
P. Salgado
13:30 - 14:50
TRACING AND TRACKING SYSTEMS
Prague B
13:30 - 13:50
GA Applied VRP Solving Method for a Cooperative Logistics Network
Takashi Onoyama, Takuya Maekawa, Sen Kubota, Norihisa Komoda
13:50 - 14:10
ERMIS: A Helicopter Taxi Company Software Support System based
on GPS, GSM and Web Services
George Goulas, Vassilios Barkayannis, Spilios Giannoulis, Christos
Gogos, Panayiotis Alefragis, Panayiotis Foundas, Christos Valouxis,
Stavros Koubias, Efthymios Housos
Chair:
J. Gialelis
 14:10 - 14:30
The Role of Networked RFID for Driving the Ubiquitous
Ryo Imura
14:30 - 14:50
Networked RFID for use in the Food Chain
Peter Jones
13:30 - 14:50
APPLICATIONS
Prague A
13:30 - 13:50
Variable Pallet Pick-Up for Automatic Guided Vehicles in Industrial
Environments
Daniel Lecking, Oliver Wulf, Bernardo Wagner
13:50 - 14:10
SCARA Type Robot Arm with Mechanically Adjustable Compliant
Joints
Hiroaki Seki, Yoshitsugu Kamiya, Masatoshi Hikizu
14:10 - 14:30
A Safe Set Point Supervisor for MIMO Processes
Christoforos E. Economakos, Fotis N. Koumboulis
14:30 - 14:50
3D High Precision Tube Vebel Measurement using Laser Based
Rotating Scanner
Artzai Picón, Arantza Bereciartua, Jose Angel Gutiérrez, José Pérez
Chairs:
J. Chudoba:
&
L. Preucil
13:30 - 14:50
CONTROL AND ROBOTICS - 2
Belvedere
MPC Applied to Motion Control of an Underactuated Brachiation
Robot
Walter F. Lages, Vinicius M. de Oliveira
An IEC61499 Execution Environment for an aJile-based Field Device
Kleanthis Thramboulidis, Nikolaos Papakonstantinou
Towards Squeezing Forces Control for Cooperating Manipulators
Maria P. Tzamtzi, Fotis N. Koumboulis
Self-tuning Control Using External Integrator Loop for a Synchronous
Generator Excitation System
Ioan Filip, Octavian Prostean, Iosif Szeidert, Gabriela Prostean,
Cristian Vasar
Discrete-time Model Reference Control of Milling Forces under
Fractional Order Holds. Part I: Known Plant
Luis Rubio, Manuel De la Sen, Asier Ibeas
Discrete time Model Reference Control of Milling Forces under
Fractional Order Holds. Part II: Extensions to Adaptive Control
Luis Rubio, Manuel De la Sen, Asier Ibeas
Fault Tolerance for Manufacturing Components
Diego Marcos-Jorquera, Francisco Maciá-Pérez, Virgilio Gilart-
Iglesias, Alfonso Capella-D'Alton
Chairs:
L. Waszniowski
&
T. Sauter
DSAAR: A Distributed Software Architecture for Autonomous Robots
Pedro Santana, Vasco Santos, Jose Barata
14:50 - 15:10
Coffee Break
15:10 - 16:30
SYSTEMS INTEGRATION AND APPLICATIONS
Prague D
15:10 - 15:30
Applicability of RFID and Agent-Based Control for Product
Identification in Distributed Production
Aleksey Bratukhin, Albert Treytl
15:30 - 15:50
GDNET: a Specific Approach to Distributed Input/Output
Synchronization for Plastic Machinery
Ferrari Paolo, Flammini Alessandra, Marioli Daniele, Rosa Stefano,
Taroni Andrea, Cattaneo Carlo, Manduca Carmela
15:50 - 16:10
Vertical Communication from the Enterprise Level to the Factory
Floor - Integrating Fieldbus and IP-based Networks
Maxim Lobashov, Thilo Sauter
16:10 - 16:30
Dynamic Topology Management in CAN
Valter Silva, Joaquim Ferreira, José Fonseca
Chair:
T. Sauter
15:10 - 16:50
APPLICATION SYSTEMS
Prague C
 15:10 - 15:30
Removing ill-structured arcs in Hierarchical and Concurrent State
Diagrams
Luis Gomes, Anikó Costa
15:30 - 15:50
Cost-based Deployment Planning for Components in Smart Item
Environments
Juergen Anke, Klaus Kabitzsch
15:50 - 16:10
Petri Nets and Java. Real-Time Control of a flexible manufacturing
cell
Ramón Piedrafita Moreno, Jose Luis Villarroel Salcedo
16:10 - 16:30
VITRAL - A Text Mode Window Manager for Real-Time Embedded
Kernels
Manuel Coutinho, Carlos Almeida, Jose Rufino
16:30 - 16:50
Wake on Lan over Internet as Web Service
Juan Antonio Gil-Martínez-Abarca, Francisco Maciá-Pérez, Diego
Marcos-Jorquera, Virgilio Gilart-Iglesias
Chairs:
T. Nolte
&
X. Rebeuf
15:10 - 16:58
THE IEC 61499 FUNCTION BLOCK MODEL IN FACTORY AUTOMATION
Prague B
15:10 - 15:28
Formal Modeling of Function Block Applications Running in IEC
61499 Execution Runtime
Goran Cengic, Oscar Ljungkrantz, Knut AKesson
15:28 - 15:46
UML-based Development Process for IEC 61499 with Automatic Test-
case Generation
Tanvir Hussain, Georg Frey
15:46 - 16:04
Towards Zero-downtime Evolution of Distributed Control Applications
via Evolution Control based on IEC 61499
Oliver Hummer, Christoph Sünder, Alois Zoitl, Thomas Strasser,
Martijn Niels Rooker, Gerhard Ebenhofer
16:04 - 16:22
Component based deployment of industrial control systems: a hybrid
scheduling approach
Mohamed Khalgui, Xavier Rebeuf, Françoise Simonot-Lion
16:22 - 16:40
Design Alternatives in the IEC 61499 Function Block Model
Kleanthis C Thramboulidis
16:40 - 16:58
Applying the IEC-61499 Model to the Shoe Manufacturing Sector
Marco Colla, Emanuele Carpanzano, Alessandro Brusaferri
Organizer &
Chair:
K. Thramboulidis
15:10 - 16:50
INDUSTRIAL APPLICATIONS
Prague A
15:10 - 15:30
Reusing a System Testing Process Using with a Model
Hirohisa Furuta, Akira Ishihara, Takayuki Yamaoka
15:30 - 15:50
Moving from Spontaneous to Cooperative/Concurrent R&D in
Biotechnology – The Case of Biosensors
Fragiskos Batzias, Christina Siotnorou
15:50 - 16:10
Quality and Process Control of Nd:YAG – Laser Welding using Fuzzy
Pattern Recognition Techniques for Multisensorsystems
Michael Kuhl, Reimund Neugebauer
16:10 - 16:30
Branching Probabilities Planning of Stochastic Network for Project
Duration Planning
Kenzo Kurihara, Manabu Nagai, Nobuyuki Nishiuchi, Kazuaki Masuda
16:30 - 16:50
A Formal Method Based Re-Implementation Concept for PLC
Programs and Its Application
Mohammed Bani Younis, Georg Frey
Chairs:
T. Kaihara
&
J Gialelis
15:10 - 16:50
MODELING, INTEGRATION AND AUTOMATION
Belvedere
Partitioning of Petri net models amenable for Distributed Execution
Aniko Costa, Luis Gomes
Towards an Approach for the Verification of Downtimeless System
Evolution
Christoph Sünder, Bernard Favre-Bulle, Valeriy Vyatkin
Chairs:
F. Vasques
&
M. Wollschlaeger
 An Approach to Swept Volume Generation for NC Machining using
Gauss Map
Seok-Won Lee
FPGA-based Implementation of a Correlator for Kasami Sequences
Carmen Pérez Rubio, Álvaro Hernández Alonso, Jesús Urena Urena,
Carlos De Marziani, Ana Jiménez Martín
Integration of Multi-Agent Systems: Architectural Considerations
Marek Obitko, Vladimir Marik
Data Integration by considering spatial diversity in an IR barrier
J. Jesús García, Jesús Urena, Manuel Mazo, Cristina Losada, Álvaro
Hernández, Carlos De Marziani, Fernando Álvarez
Routes for Splitting and Merging Maneuvers of Platoon Followers in
Urban Environments
Fernando Valdes, Felipe Espinosa, Abdel Baset, M.H. Awawdeh, Julio
Pastor
Development of Hard-Realtime Control Software for Critical
Industrial Automation Tasks using Graphical System POLYGON
Vera Larionova, Svetlana Larionova
Specification of Holistic Mechatronic Objects based on Semantic
Web Technology
Uwe Schmidtmann, Gerd von Coelln, Gerhard Kreutz, Joerg
Thomaschewski, Rainer Koers, Bodo Wenker
16:50 - 17:00
Break
17:00 - 17:15
Closing Session
Belvedere
19.30
Meeting Point for Farewell Dinner by the Hotel Reception
20:00 – 22:30
Farewell Dinner at
Rudolph’s Foundry of
Vikárka Restaurant at
Prague Castle
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