In this study we present a new free tool-chain for model based control design for mechatronic plants applicable to small embedded systems based among other software on the open simulator Scilab-XCos. After a very short introduction of model based design terms this article focuses on the code generator and the other programs of the tool-chain. The design concept is demonstrated by an adaptive self tuning control (STC) of the cart and pendulum system in gantry crane configuration in simulation and on a real laboratory experiment.Index terms: open source, code generation, Scilab-XCos, model based control, parameter identification, embedded systems I. INTRODUCTIONModel-based design (MBD) is a mathematical and visual method of addressing problems associated with designing complex control, signal processing and communication systems. It is used in many motion control, industrial equipment, aerospace, and automotive applications. Model-based design is a methodology applied in designing embedded software. During the past years there is a growing interest of more and more medium to small size engineering companies in order to cut down development time and costs. Common tool-chains are quite expensive commercial solutions due to the origin of MBD in aerospace and automotive industries.Commercial code generators for Matlab-Simulink (M&S) -one of the most complete tool-chains in MBD -, Dymola, etc. do exist. On the other hand, INRIA and others provide free code generators for the outdated Scilab-Scicos -an open source pendant of M&S, e.g., [2], [3], and some more. Scilab-XCos made a major development step concerning the user interface in the last two years but unfortunately the former free code generators do not work anymore. To the best knowledge of the authors there is only one commercial implementation for the new Scilab-XCos suitable for embedded systems.The main idea presented in this paper is the MBD control development for mechatronic plants with a complete free (or low-cost if target hardware is included) tool-chain from the modeling and control design to the hardware realization using an integrated development environment (IDE). Possible fields of application for such a low-cost development toolchain are teaching courses and companies interested in testing this new technology or dealing with MBD projects of moderate complexity.

Establishing mass-customization practices, in a sustainable way, at a time of increased market uncertainty, is a pressing challenge for modern producing companies and one that traditional automation solutions cannot cope with. Industry 4.0 seeks to mitigate current practice's limitations. It promotes a vision of a fully interconnected ecosystem of systems, machines, products, and many different stakeholders. In this environment, dynamically interconnected autonomous systems support humans in multifaceted decision-making. Industrial Internet of Things and cyberphysical systems (CPSs) are just two of the emerging concepts that embody the design and behavioral principles of these highly complex technical systems. The research within multiagent systems in manufacturing, by embodying most of the defining principles of industrial CPSs (ICPSs), is often regarded as a precursor for many of today's emerging ICPS architectures. However, the domain has been fuzzy in specifying clear-cut design objectives and rules. Designs have been proposed with different positioning, creating confusion in concepts and supporting technologies. This paper contributes by providing clear definitions and interpretations of the main functional traits spread across the literature. A characterization of the defining functional requirements of ICPSs follows, in the form of a scale, rating systems according to the degree of implementation of the different functions.

Interest in the control of variable fluid power pumps/motors has increased in recent years. The actuators used are inefficient and expensive and this reduces the variable units' usability. This paper introduces displacement control of pumps/motors by means of a rotating valve plate. By changing the angle of the valve plate, the effective use of the stroke is changed. The rotating valve plate is experimentally verified by a modified in-line pump. In the prototype, the valve plate is controlled with a worm gear connected to an electric motor. The results show potential for this kind of displacement control. However, the rotating valve plate creates pressure pulsations at part-displacement due to the commutation being performed at high piston speeds. If the piston speed and hence the flow from each piston is low, the pressure pulsation is acceptable.

Remanufacturing is the industrial process of returning used products (cores) to a like-new or better condition. During this industrial process, the cores go through several process steps, e.g., inspection, disassembly, cleaning, reprocess (repairs), storage, reassembly and final testing. Manufacturing companies also see remanufacturing as a way to become more circular and sustainable in economic, environmental and social terms. Technological advancements within the robot industry have increased the possibilities for using more automation within the remanufacturing industry, while recently, the remanufacturing of electric and electronic equipment (EEE) has grown around the world. This paper aims to identify the automation potentials of the remanufacturing of EEE. A multiple case study at four EEE remanufacturing companies was conducted to meet this aim. The case study, along with previous research, shows examples of EEE remanufacturing steps that are mainly performed manually. The results from this research show the possible automation potential for the process steps of cleaning, disassembly and reassembly at the four remanufacturing case companies.

Future hydraulic actuation systems can be significantly improved by utilisation of a new type of hydraulic linear actuator technology. By enabling multiple actuating elements, integrated in a compact and lightweight single unit controlled by ordinary directional valves it is possible to achieve a high position accuracy. This is a new way to generate and distribute mechanical linear movement and force by using hydraulic actuators in a cost effective way, in less responsive closed loop systems. This is a variant on the Hydraulic Infinite Linear Actuator, HILA, invention. The technology also represents a new sort of digital hydraulics. The presented technology provides typical hydraulic actuator characteristics with high system pressure and potentially no external oil leakage. It is based on a well-known hydraulic clamping element technology used in a new way, where the piston and the piston rod can quickly be coupled and uncoupled by means of the clamping element in a failsafe way by using well defined incremental steps. HILA in its simplest usage, provides new features to hydraulic cylinders such as providing very long strokes, high rod speed, and small chamber volumes which means high stiffness and low capacitance. The aim of this study is to present a fundamentally new way of using hydraulic actuators. The invention is called the Hydraulic Infinite Linear Actuator with Multiple Rods, HILA MR. The study presents the idea, principles and feasible combinations of the technology. Also applications in the aircraft and robotic field will be presented.