Reliable and Robust Wireless Comm. Solution for Mobile Industrial Applications

1. Reliable and Robust Wireless Communications for
Mobile Industrial Applications
Mª Carmen Lucas Estañ (UMH)
m.lucas@umh.es

2. Contents
• Introduction
• Reliable and Robust (R&R) Wireless Communications Service
• Service deployment
• Demonstration introduction
• Conclusions
Éibar, 29/03/2019 Interim Review Meeting

3. Reliable and Robust Wireless Comms. Service
Need
• Highly reliable communications between a controller/dual-arm robot and a mobile
robotic platform
Service
Éibar, 29/03/2019
Reliable and Robust Wireless Comm. Solution for Mobile Industrial Applications
Dual-arm robot Controller Mobile robot
ServerMovement commands and
queries current position
Current status and
position information
Interim Review Meeting

4. Reliable and Robust Wireless Comms. Service
•
Field Device Network (Time Sensitive Network): Real-Time Ethernet, Digital IOs, Camera Link, P&P, …
Workcell Network: Deterministic Ethernet, ROS
Plant Network: Wireless or Wired Ethernet
MES
Service
ERP
Service
Cloud & Edge
Services
3-D
Printing
Service
Storage,
Big Data
High
Performance
Computing
Deep
Learning
CAD
Modeling
Service
Complex
Process
Modeling
Factory
Workcell/
ProductionLine
Field
Devices
Business
Assessment
Tool
Enterprise
Fog / Cloud
Big Data &
High Performance
Computing
Coordination of different
production resources
Contextual adaptation
3D Intention
Visualization
Context
Learning
Object
Recognition
Navigation
system
Obstacle
detection
Object
Localization
MES Service
Sensor
Processing
Localization
SLAM
GMapping
OPC-UA
Server
Interim Review MeetingÉibar, 29/03/2019
Integration in the reference architecture

5. Reliable and Robust Wireless Comms. Service
Reliable and Robust Wireless Communication
• Development of Communication Nodes: CN1 and CN2
Controller
CN2 Server
AP2
AP1
CN1
FogNode
CN1 implemented in the
FogNode.
Directly connected to
AP1 and AP2.
Dual-arm robot
Mobile platform
CN2 wirelessly connected to AP1
and AP2.
Éibar, 29/03/2019 Interim Review Meeting

6. Reliable and Robust Wireless Comms. Service
Reliable and Robust Wireless Communication
• Solution 1: Redundant Wireless Communications
Éibar, 29/03/2019
Controller
CN2 Server
AP2
AP1
CN1
FogNode
Dual-arm robot
Mobile platform
Data
Data
Data
Data
All packets are duplicated
and sent redundantly through
both APs
Interim Review Meeting

7. Reliable and Robust Wireless Comms. Service
Reliable and Robust Wireless Communication
• Solution 2: MultiPath TCP-based Industrial Wireless Communications
Éibar, 29/03/2019
Controller
CN2 Server
AP2
AP1
CN1
FogNode
Dual-arm robot Data
Data
Data
Mobile platform
Each packet is sent through
the best AP
Interim Review Meeting

8. R&R Wireless Comms. Service deployment
Éibar, 29/03/2019
1
Installation of
CN1 and CN2
CN1 in the FogNode
CN2 in a PC in the
Mobile Platform
– Hardware requirements:
 Operating system: Linux
 3 x Ethernet interfaces
– Configuration:
 Run CN1_config file
 Configure IP addresses
– Hardware requirements:
 Operating system: Linux
 1 x Eth, 2 x Wireless interfaces
– Configuration:
 Run CN2_config file
 Configure IP addresses
Interim Review Meeting

9. R&R Wireless Comms. Service deployment
Éibar, 29/03/2019
1
Installation of
CN1 and CN2
CN1 in the FogNode
CN2 in a PC in the
Mobile Platform
2
Configuration
of APs
IP address
Tx channel
Tx power & location
– Same network as CN1/CN2
– Guarantee maximum
coverage
– Based on signal level
in the working area
– Select channels with
less interference
– Use of a WiFi analyzer or
sniffer application:
 Wireshark, LinSSID, WiFi
Analyzer, etc.
Interim Review Meeting

10. R&R Wireless Comms. Demonstration
Verification applications
Éibar, 29/03/2019
CN1 CN2
Interim Review Meeting

11. R&R Wireless Comms. Demonstration
CN1 verification application
Éibar, 29/03/2019
1 second average10 seconds average
AP2
AP1
CN1
CN2
Interim Review Meeting
Pkt Received
Pkt Transmitted
ACTIVE/INACTIVE

12. R&R Wireless Comms. Demonstration
CN2 verification application
Éibar, 29/03/2019
AP2
AP1
CN1
CN2
Interim Review Meeting

13. R&R Wireless Comms. Demonstration
Éibar, 29/03/2019
Experimentation scenario
AP1
AP2
Good quality
from AP1
Bad quality from AP1.
Good quality from AP2.
AP1
AP2
Interim Review Meeting

14. R&R Wireless Comms. Service performance
• Test 1: R&R Wireless Comms. Service non deployed
Éibar, 29/03/2019
AP1
Only AP1 is deployed to
guarantee good
coverage near the dual-
arm robot.
Dual-arm robot and
mobile robot
disconnected
Dual-arm robot
and mobile robot
connected
Interim Review Meeting

15. R&R Wireless Comms. Service performance
• Test 2: R&R Wireless Comms. Service deployed
Éibar, 29/03/2019
AP1
AP2
AP1 & AP2
Service
continuity
Interim Review Meeting

16. Conclusions
• Development of Reliable and Robust Wireless Comm. Services
for Mobile Industrial Applications
• Provides ubiquitous connectivity and reliable communication
• Two different solutions:
– The use of a particular solution will be based on the particular requirements of
the scenario and/or application
Éibar, 29/03/2019
Solution 1: Redundant communications Solution 2: MP-TCP based solution
+ Robust connectivity
+ Reduces latency
– Increases overhead
+ Robust connectivity
+ Low overhead
Interim Review Meeting

17. Before AUTOWARE
• Intermittent connectivity
• Connectivity outage
• Loss of data
• High transmission delays
• Challenge to support mobility-based
industrial services
Éibar, 29/03/2019
After AUTOWARE
• Ubiquitous connectivity
• Reliable data delivery
• Reduced transmission delays
• Capacity to support mobility-based
industrial services
• Easier and faster reconfiguration of
industrial plants
Interim Review Meeting
Concept of I4.0: Flexible and collaborative cell

18. Éibar, 29/03/2019 Interim Review Meeting
Reliable &
Robust
Wireless
Comms:
added value
in the
scenario
• In operation
• Robustness
• Autonomy
• Waiting times reduction
• Shorter human intervention
• In deployment
• New mobile value-added services
• Faster deployment
• Easier reconfiguration
• Cost savings

19. THANK YOU FOR YOUR ATTENTION!

20. Bach-up slides
Éibar, 29/03/2019 Interim Review Meeting

21. Dual-arm robot Controller
Mobile robot
Server
AP1
AP2
Trial 1: Redundancy for reliable and low latency industrial wireless comms
Wireless solutions for reliable industrial comms
Brussels, 29/05/2018 PR1 Review Meeting
Data
Data
Data
Data
Data packets are duplicated at
UMH node 1.
Each copy is sent through a
different AP.
UMH node 2 sends to the
Mobile Robot the first data
packet received.
Second copy is discarded.
Data
UMH node 1
UMH node 2

22. Wireless solutions for reliable industrial comms
Trial 1: Redundancy for reliable and low latency industrial wireless comms
Brussels, 29/05/2018 PR1 Review Meeting
AP1
AP2
Signal level
received from
data packets
Latency
experienced by
data from
AP1/AP2
End-to-end
latency
Trial 1

23. Wireless solutions for reliable industrial comms
Trial 1: Redundancy for reliable and low latency industrial wireless comms
CDF of the experienced latency
Éibar, 29/03/2019 Demo Meeting
Redundancy improves latency and significantly
reduces the percentage of packets that experience
higher latency values compared to individual
wireless links.
46.5% and 20.0% of the packets experienced a
delay higher than 136ms when transmitted through
AP1 and AP2 respectively.
This percentage is reduced to 3.9% with
redundancy.

24. Dual-arm robot Controller
Mobile robot
Server
AP1
AP2
UMH node 1
UMH node 2
Wireless solutions for reliable industrial comms
Trial 2: Wireless multipath TCP for reliable and low latency
industrial wireless communications
Brussels, 29/05/2018 PR1 Review Meeting
Data
Data
Data
Several paths are
established between the
communication entities.
Data
Data packets are sent
through the path with best
estimated quality.

25. Wireless solutions for reliable industrial comms
Trial 2: Wireless multi-path TCP for reliable and low latency
industrial wireless communications
Brussels, 29/05/2018 PR1 Review Meeting
AP1
AP2
Data is sent only
through one link
Trial 2
End-to-end
latency

26. Dual-arm robot Controller
Mobile robot
Server
AP1
AP2
UMH node 1
UMH node 2
Wireless solutions for reliable industrial comms
Trial 3: Robustness against interference of redundant industrial wireless
comms
Brussels, 29/05/2018 PR1 Review Meeting
Data
Data
Data
Data
Data packets are duplicated
at UMH node 1.
Each copy is sent through a
different AP.
Interferences to the best AP.
Data
Data
Data packets are still
delivered through the
other AP.
Interference source IN

27. Wireless solutions for reliable industrial comms
Brussels, 29/05/2018 PR1 Review Meeting
Trial 3: Robustness against interference of redundant industrial wireless
comms
IN interferes AP2
AP1
AP2
Interference
source IN
IN starts
Trial 3