AbstractMobile machines are equipped with electronic control units (ECU) comprising sensor, actuating, and processing functionality. They are often networked with other devices, in particular with human machine interfaces and operator displays. Such electronic control systems needs to fulfill safety requirements and associated directives. In ad- dition, there are security requirements protecting the mobile machines against unin- tended manipulation, sabotage, and unauthorized usage. Such requirements are not limited to the ECUs, but cover also the used communication technologies. The re- quirements of governmental authorities, operators, and machine builders are some- times different.

AbstractControl applications for ECUs in mobile machines are nowadays realized either with proprietary software or IEC 61131-3 tools. A significant number of machines needs certifying according to Safety standards, e.g. the EN/ISO 13849. Both device manufacturers and machine builders profit from a validation of the IDE (Integrated Development Environment) for Safety critical applications. In order to access sensors and actors of the machine, it is necessary, to have a Safety certified fieldbus system. CANopen Safety provides the ideal solution: an on-hand and certified system.

AbstractThe safety requirements for mobile machinery have increased considerably since the introduction of the new Machinery Directive (2006/42/EC). The new standards have resulted in new approaches to the design of safety technology. Integrated safety solutions allow safety signals to be used for automation as well. New features increase machine availability, reduce the number of required sensors and decrease the overall complexity of safety solutions. Opensafety is the worldÕs only open-source safety protocol that enables safety communication via any protocol available on the market. In addition, the Opensafety stack is pre-certified for SIL3 by T†V-S†D and T†V-Rheinland. With no licensing costs and a free, pre-certified software stack, users benefit from greatly accelerated time-to-market.

AbstractThe Formula Student is a racing competition, where Students can apply their skills in a practical manner. To support their endeavors, the team asked for a Telemetry System, which is able to handle up to thirty sensors to monitor the cars performance on the racing track. A first Telemetry System was placed on the car, yet only supporting up to 12 sensors. To change that situation a project is issued to create a new Telemetry System based on CAN-Bus to replace the first one. The character of this project is to get familiar with the new technology. The next step will be either to enhance this system with more sensors, or to build again a completely new system based on the findingsobtained within this project.

AbstractIn the past, passenger car manufacturers have learned the lesson that competition on the level of bits and bytes, proprietary bus systems, data communication and diagnostic protocols is unrewarding. As a result, too much time and money has been spent on the development of proprietary diagnostic tools. Standardization serves the price, the quality, and the maintainability via scale and training curve effects. Standardization of tools is an advantage for both the machine manufacturer and the tool supplier. In addition to SAE J1939, which is a widely employed set of CAN-based communication protocols, both the passenger car and truck industry offer a diagnostic technology that is internationally standardized by ISO. State-of-the-art components can be reused by manufacturers of non-road mobile machinery (NRMM). The central software module for the development, testing, validation, production and service of electronically controlled vehicles and machines is the D-Server (ISO 22900). The D-Server processes data in ODX format (ISO 22901), and supports the processing of sequences and routines (e.g. for flash-programming or guided fault finding) that are described in OTX (ISO 13209).

AbstractThe Node ID used by CANopen device is a very essential setting. Each node in a CANopen system requires one unique Node ID number by which it can be identified. If it is duplicated, errors will occur and potentially one or multiple nodes will shut down due to collisions on the network. This paper summarizes the typical options available for configuration of the Node ID and introduces the latest enhancement to LSS (Layer Setting Services), allowing for a fast dynamic assignment of Node IDs through the network.

AbstractIn addition to standard functionalities to control machinery, ECUs have also to deal with an increasing number of functional safety requirements. To prevent potential hazard to human and machine, development according to EN13849 [4] and EN61508 [5] is required. Rising complexity of software applications increases the development efforts. It has to be ensured that safety critical functionalities are not adversely affected by standard functionalities, which are considered as non-safety related. The EN61508-3 [6] describes technical measures to prevent those negative side- effects of software and reduces the effort for certification of non-safety software modules.

AbstractIntelligent compaction is one of the new buzzwords in the construction industry lately and a number of new intelligent compaction systems have entered the market. This article highlights and reviews the common technologies (pass counting, temperature measurement and stiffness measurement) used in these systems. Potential improvements are indicated, followed by an outlook towards roller-to-roller communication as a likely new feature for intelligent compaction systems. If error preventing mechanisms, as in quality assurance systems, provide a measure for intelligence, it is concluded that the currently available systems are not considered intelligent yet but they moving towards it.

AbstractThis presentation will describe advanced development in 77 GHz radar technology, enabling smaller and better collision avoidance systems. Then new development in functional safety chipset solution, MCU and analog, will be explained. The combination of these technologies forms a comprehensive safe solution for advanced driver assistance or autonomous driving. The development of these technologies is driven by the automotive market and can be redeployed to many other types of mobile machines.

AbstractThe article presents an overview of the complex system design as well as of the interactive functionality of the drive and control system of a modern self-driven grape harvester machine. A modular design for hard and software was developed to fulfill the extensive functional and operator requirements. This approach also complies with the legal requirements of functional safety according to the 2006/42/EC Machinery Directive and the standard ÒSafety of machinery Ð safety related parts of control systemsÓ EN ISO 13849-1:2008.

AbstractEspecially in mobile applications system designers face the requirement that data has to be shared between two CAN network protocols Ð SAE J1939 and CANopen. The SAE J1939 protocol is the standard for the power train ECUs (electronic control units) in a vehicle, e.g. motor control or transmission. For trailer add-ons or special I/O requirements CANopen modules are first choice because of their broad functional range and availability (COTS). Both CAN standards share the same physical layer, but different data frame formats and protocols are used.

AbstractCANopen is a widely used network in mobile applications. Due to the limited capabilities of mobile PLCs the configuration and monitoring of CANopen devices becomes often a challenging task. This paper focuses on the configuration process and security issues for a CANopen network.

AbstractBecause of its flexibility and its ease of use, Wi-Fi based Ethernet communication has become state of the art also within automation networks. The fact that statistically 70 % of machine down time is caused by cable breakage or contact problems gives food for thought to mobile machine vendors as well. Furthermore wireless networks enable applications that are simply not possible with a cable connecting moving parts of a system. When connecting components of a safety related system Ð like PLCs or sensors and actuators Ð however, customers are facing serious issues. WLAN according to standard IEEE 802.11 is widely regarded unsuitable as communication channel for real-time and safety applications. Non-determinism and interference liability lead to packet loss or exceeded and variable latency times due to retransmissions.

AbstractToday´s mobile machines provide an enormous functionality Ð they reach further, move smoother, lift higher, react quicker and safer. But still there are limitations that prevent mobile machines from being even better and -once these were overcome- there are limitations to implement these improvements fast. New safety standards like the EN ISO 13849 and their integration in C-level standards impose further restrictions to designers. This paper will describe means that modern electronic control systems provide to further improve the performance of mobile machines, reduce their downtime and increase their flexibility Ð with consideration of the safety requirements set forth in EN ISO 13849.

Abstract3D guidance for operator of an excavator is a daily life in a modern infrastructure jobsite that is utilizing 3D production models. The guidance application creates a real time view of production model and inner-state of a machine. This view helps the operator to finalize the task without external measurements. When measurement task is performed by the machine operator instead of surveyor, new methods are required for geodesy and quality assurance issues. The use of 3D applications in the jobsite increase the performance of an individual task typically 15%. When novel telemetry and fleet management methods are applied to the 3D guidance, even better performance is reached due to online jobsite management. The level of automation grows in the different applications over time. However, the tasks performed by excavator are usually very difficult by their nature to automate. When other applications in the jobsite increase the level of automation, the machine with guidance system and the operator might be in danger. Therefore the challenge of accurate human detection needs to be solved before full automated machines can enter to the same site with machines operated by humans.

AbstractPresentation of information such as, distance, fuel consumption, temperature, time, in the drives of agricultural vehicles provides comfort. These features in some of the new vehicles are available. But a lot of old or new vehicles are not still available. In this study, board computer software that can be applied to all vehicles has been made. This software is implemented on an experimental setup. Also vehicleÕs cruise control can be done with the software. While large agricultural land is cultivating at a constant speed, cruise control can provide great convenience. Cruise control software has been developed with the PID algorithm. In this way, Cruise control can be comfortable and proper.

AbstractA prototype of a device for automated attaching of the supporting wires was developed. The device consists of a main assembly mounted on the front-end loader and a special carrier for the wire coil attached to a three-point linkage of the tractor. The subsystems for positioning, wire attaching and intermediate storage of the wire allow continuous pulling of the wire from the coil and its automated attachment to the longitudinal cables of the 7-8 m high trellis systems. The attachment of the supporting wires is controlled by a programmable logic controller (PLC) and carried out on defined distances whereas the tractor moves forward along the longitudinal cable with up to 1.8 km/h. The possibilities and advantages of the usage of a mobile data acquisition system and automated data analysis during the prototype testing are described and discussed in this paper. The data acquisition system provides important information considering the system performance and allows error analysis in case of outage.

AbstractTUEV Rheinland was asked by company RWE Power to support the implementation of the Machinery Directive in Lignite Mining Equipment according to the requirements of Functional Safety. Due to extreme dimensions and environmental conditions in the opencast mines and a wide range of company standards based on operational experience and lessons learned, an approach based on proven-in-use, company standards and regulations was used. The analysis of the safety functions came to the result, that the quantitative parameters (PFH etc.) fulfill the requirements of the Functional Safety standards. However, the Systematic Capability of the complex components did not fulfill the requirement just by proven-in-use analysis. Therefore they had to be assessed in detailed and - as a result of the assessment - additional safety measures had to be implemented.

AbstractCleaning vegetation in hazardous environments that are close to roads, rivers or railways lines, requires heavy-duty mowers capable to move on steep slopes and uneven ground. The operator usually drives the mower by control means installed on the machine, thus being exposed to physical risks and to uncomfortable working conditions. The need to protect the operator from risks and provide a comfortable point of control became paramount and has been solved by use of electronics. A specifically designed wireless control system has solved safety and control issues by removing the operator from the machine and providing all the maneuverability required by the application. The radio control interface has been studied in cooperation with the mower manufacturer to independently adapt track speed to different slope inclinations by real time adjustments from the portable console. The use of a wireless control system with safety functions certified according to ISO 13849-1 (PL d / e) provides an increased level of safety. The solution, originally employing a radio control directly interfaced to hydraulic valves, has now evolved into a system based on a simple CAN network with improvements in flexibility, diagnostics, size and cabling.

AbstractThe amount of the control system software used in the mobile work machines has increased radically during the last ten years. The software enables development of new features and further automation. Consequently, the productivity of the work machines increases, bringing cost savings. However, the development of control system software is challenging because they have special characteristics, such as close dependency to hardware, strict real-time requirements, distribution, and long life-cycle of the products. In addition, standards and regulations dictate how functional safety should be taken into account. In software engineering, architecture is often seen as the key element of the system enabling high quality design and implementation. Good software architecture helps the developer to easily maintain and further develop the code through the life cycle of the system. Therefore, in this paper we clarify which quality properties and constraints are important now and in the future from the point of view of the software architects of the work machine control systems. The study is based on the questionnaire targeted to the experts of the field and various interview surveys we have carried out during several years in the leading international work machine manufacturers.

AbstractThe complexity of electronic control functions of agricultural machines has been increasing dramatically over the past years. Some of these changes have been driven by statutory provisions like emission related legislation. The introduction of additional sensors and actuators as well as additional control mechanisms has driven the increase of internal complexity of subsystems such as engines. The external interface of such subsystems is becoming more complex as well; even if only a few of CAN messages are required to integrate such subsystems into an agricultural machine. Besides engines, there are other subsystems such as positioning/navigation systems, electric drives, etc. that will create a very similar situation. In addition, the electronic architecture will no longer be determined by the agricultural machine manufacturer.