Instrumentation & Measurement Magazine 23-2 - 51

Fig. 4. Use Case Example Robot Sensing.

retrofittable sensors are important for seamless and cost-efficient
upgrading/retrofitting/automating existing infrastructure.
Initial considerations lead to the assumption that such a
system would benefit from tactile/proximity sensors integrated within the grasper. From this starting point, an initial
TEDS of a transducer, i.e., a variant of a proximity sensor, is
created in XML format to describe the transducer, including
the sensor channels with given limits, uncertainties and other
parameters. Such proximity sensors can be simulated in environments such as V-REP [10] (in our case in combination with
Matlab). This allows for studies of the benefit of the devices in
the system and an optimization before an actual device is built.
The previously described development process starts with
the creation of an initial TEDS of a sensor, in this use case example of a proximity sensor. The NCAP can already use this
TEDS to generate a virtual transducer. The Overall process
is controlled via a Web interface on the NCAP. It allows the
system to create and manage Virtual Transducers from an uploaded TEDS, and enables the user to get a list of all active and
connected transducer nodes, retrieve TEDS from a specific
node, write TEDS to a specific node, and create measurement
groups consisting of multiple transducers which belong together within one experiment. The web interface is also used to
configure the way measurement data is provided to the system
April 2020	

once the state of all devices in a measurement group is changed
between a configuration and measurement mode. Besides providing the data via a TCP/IP port, the NCAP can also be used
to connect to certain middleware.
In the robot sensing use case shown in Fig. 4, the Robot Operation System (ROS) is used as middleware, i.e., the sensor
data is provided in the form of ROS topics and can be used in
the common way within the ROS framework. With connectivity to the automation system through an NCAP, the transition
towards the use of lab prototypes and potentially even to a
productive system becomes very easy, as no changes in the
ROS environment are needed because the initial virtual transducer already provides the same ROS topics and messages as
the simulation or hardware realization of the device. Consequently, the benefit of certain sensors, e.g., proximity sensors
in the gripper of a forestry crane as shown in Fig. 4, are investigated and optimized in the simulation. Once a physical
realization is available, no further implementation effort is
needed to on the ROS side of the system as the final sensor is
connected to the NCAP system, and only the TEDS created
during the development cycle is complemented with calibration and other individual information of the sensor.
Based on an initial TEDS, a link to the simulation environment, in our case V-REP, is easily created and the real time

IEEE Instrumentation & Measurement Magazine	51



Instrumentation & Measurement Magazine 23-2

Table of Contents for the Digital Edition of Instrumentation & Measurement Magazine 23-2

No label
Instrumentation & Measurement Magazine 23-2 - No label
Instrumentation & Measurement Magazine 23-2 - Cover2
Instrumentation & Measurement Magazine 23-2 - 1
Instrumentation & Measurement Magazine 23-2 - 2
Instrumentation & Measurement Magazine 23-2 - 3
Instrumentation & Measurement Magazine 23-2 - 4
Instrumentation & Measurement Magazine 23-2 - 5
Instrumentation & Measurement Magazine 23-2 - 6
Instrumentation & Measurement Magazine 23-2 - 7
Instrumentation & Measurement Magazine 23-2 - 8
Instrumentation & Measurement Magazine 23-2 - 9
Instrumentation & Measurement Magazine 23-2 - 10
Instrumentation & Measurement Magazine 23-2 - 11
Instrumentation & Measurement Magazine 23-2 - 12
Instrumentation & Measurement Magazine 23-2 - 13
Instrumentation & Measurement Magazine 23-2 - 14
Instrumentation & Measurement Magazine 23-2 - 15
Instrumentation & Measurement Magazine 23-2 - 16
Instrumentation & Measurement Magazine 23-2 - 17
Instrumentation & Measurement Magazine 23-2 - 18
Instrumentation & Measurement Magazine 23-2 - 19
Instrumentation & Measurement Magazine 23-2 - 20
Instrumentation & Measurement Magazine 23-2 - 21
Instrumentation & Measurement Magazine 23-2 - 22
Instrumentation & Measurement Magazine 23-2 - 23
Instrumentation & Measurement Magazine 23-2 - 24
Instrumentation & Measurement Magazine 23-2 - 25
Instrumentation & Measurement Magazine 23-2 - 26
Instrumentation & Measurement Magazine 23-2 - 27
Instrumentation & Measurement Magazine 23-2 - 28
Instrumentation & Measurement Magazine 23-2 - 29
Instrumentation & Measurement Magazine 23-2 - 30
Instrumentation & Measurement Magazine 23-2 - 31
Instrumentation & Measurement Magazine 23-2 - 32
Instrumentation & Measurement Magazine 23-2 - 33
Instrumentation & Measurement Magazine 23-2 - 34
Instrumentation & Measurement Magazine 23-2 - 35
Instrumentation & Measurement Magazine 23-2 - 36
Instrumentation & Measurement Magazine 23-2 - 37
Instrumentation & Measurement Magazine 23-2 - 38
Instrumentation & Measurement Magazine 23-2 - 39
Instrumentation & Measurement Magazine 23-2 - 40
Instrumentation & Measurement Magazine 23-2 - 41
Instrumentation & Measurement Magazine 23-2 - 42
Instrumentation & Measurement Magazine 23-2 - 43
Instrumentation & Measurement Magazine 23-2 - 44
Instrumentation & Measurement Magazine 23-2 - 45
Instrumentation & Measurement Magazine 23-2 - 46
Instrumentation & Measurement Magazine 23-2 - 47
Instrumentation & Measurement Magazine 23-2 - 48
Instrumentation & Measurement Magazine 23-2 - 49
Instrumentation & Measurement Magazine 23-2 - 50
Instrumentation & Measurement Magazine 23-2 - 51
Instrumentation & Measurement Magazine 23-2 - 52
Instrumentation & Measurement Magazine 23-2 - 53
Instrumentation & Measurement Magazine 23-2 - 54
Instrumentation & Measurement Magazine 23-2 - 55
Instrumentation & Measurement Magazine 23-2 - 56
Instrumentation & Measurement Magazine 23-2 - 57
Instrumentation & Measurement Magazine 23-2 - 58
Instrumentation & Measurement Magazine 23-2 - 59
Instrumentation & Measurement Magazine 23-2 - 60
Instrumentation & Measurement Magazine 23-2 - 61
Instrumentation & Measurement Magazine 23-2 - 62
Instrumentation & Measurement Magazine 23-2 - 63
Instrumentation & Measurement Magazine 23-2 - 64
Instrumentation & Measurement Magazine 23-2 - 65
Instrumentation & Measurement Magazine 23-2 - 66
Instrumentation & Measurement Magazine 23-2 - 67
Instrumentation & Measurement Magazine 23-2 - 68
Instrumentation & Measurement Magazine 23-2 - 69
Instrumentation & Measurement Magazine 23-2 - 70
Instrumentation & Measurement Magazine 23-2 - 71
Instrumentation & Measurement Magazine 23-2 - 72
Instrumentation & Measurement Magazine 23-2 - 73
Instrumentation & Measurement Magazine 23-2 - 74
Instrumentation & Measurement Magazine 23-2 - 75
Instrumentation & Measurement Magazine 23-2 - 76
Instrumentation & Measurement Magazine 23-2 - 77
Instrumentation & Measurement Magazine 23-2 - 78
Instrumentation & Measurement Magazine 23-2 - 79
Instrumentation & Measurement Magazine 23-2 - 80
Instrumentation & Measurement Magazine 23-2 - 81
Instrumentation & Measurement Magazine 23-2 - 82
Instrumentation & Measurement Magazine 23-2 - 83
Instrumentation & Measurement Magazine 23-2 - 84
Instrumentation & Measurement Magazine 23-2 - 85
Instrumentation & Measurement Magazine 23-2 - 86
Instrumentation & Measurement Magazine 23-2 - 87
Instrumentation & Measurement Magazine 23-2 - 88
Instrumentation & Measurement Magazine 23-2 - 89
Instrumentation & Measurement Magazine 23-2 - 90
Instrumentation & Measurement Magazine 23-2 - 91
Instrumentation & Measurement Magazine 23-2 - 92
Instrumentation & Measurement Magazine 23-2 - 93
Instrumentation & Measurement Magazine 23-2 - 94
Instrumentation & Measurement Magazine 23-2 - 95
Instrumentation & Measurement Magazine 23-2 - 96
Instrumentation & Measurement Magazine 23-2 - 97
Instrumentation & Measurement Magazine 23-2 - 98
Instrumentation & Measurement Magazine 23-2 - 99
Instrumentation & Measurement Magazine 23-2 - 100
Instrumentation & Measurement Magazine 23-2 - 101
Instrumentation & Measurement Magazine 23-2 - 102
Instrumentation & Measurement Magazine 23-2 - 103
Instrumentation & Measurement Magazine 23-2 - 104
Instrumentation & Measurement Magazine 23-2 - 105
Instrumentation & Measurement Magazine 23-2 - 106
Instrumentation & Measurement Magazine 23-2 - 107
Instrumentation & Measurement Magazine 23-2 - 108
Instrumentation & Measurement Magazine 23-2 - 109
Instrumentation & Measurement Magazine 23-2 - 110
Instrumentation & Measurement Magazine 23-2 - 111
Instrumentation & Measurement Magazine 23-2 - 112
Instrumentation & Measurement Magazine 23-2 - 113
Instrumentation & Measurement Magazine 23-2 - 114
Instrumentation & Measurement Magazine 23-2 - 115
Instrumentation & Measurement Magazine 23-2 - 116
Instrumentation & Measurement Magazine 23-2 - 117
Instrumentation & Measurement Magazine 23-2 - 118
Instrumentation & Measurement Magazine 23-2 - 119
Instrumentation & Measurement Magazine 23-2 - 120
Instrumentation & Measurement Magazine 23-2 - Cover3
Instrumentation & Measurement Magazine 23-2 - Cover4
https://www.nxtbook.com/allen/iamm/24-6
https://www.nxtbook.com/allen/iamm/24-5
https://www.nxtbook.com/allen/iamm/24-4
https://www.nxtbook.com/allen/iamm/24-3
https://www.nxtbook.com/allen/iamm/24-2
https://www.nxtbook.com/allen/iamm/24-1
https://www.nxtbook.com/allen/iamm/23-9
https://www.nxtbook.com/allen/iamm/23-8
https://www.nxtbook.com/allen/iamm/23-6
https://www.nxtbook.com/allen/iamm/23-5
https://www.nxtbook.com/allen/iamm/23-2
https://www.nxtbook.com/allen/iamm/23-3
https://www.nxtbook.com/allen/iamm/23-4
https://www.nxtbookmedia.com