In this article, we propose a new approach to addressing the issue of active SLAM. In this design, we used the already functional SLAM algorithm, which we modified for our case. Matlab was used as the main software tool. All proposed methods were experimentally verified on a mobile robotic system. We used LiDAR as the primary sensor. After mapping the environment, we created a grid map. The grid map may be used for the navigation of the mobile robotic system, but the navigation and control of the mobile robotic system are not involved in this article. The result of the whole process is an autonomous mapping of the environment.

Applications of safety-related control systems demand reliable and credible inputs from physical sensors, therefore there is a need to extend their capabilities to provide a validated input with high availability. Our main idea is to insert virtual sensors between physical sensors and the control system’s logic. The created solution can validate the values of real sensors and with the use of multiple virtual sensors we can achieve high availability in addition, therefore our solution is entitled as a virtual redundant sensor. It works by the digital twin’s concept and uses fusion function to calculate validated results. The fusion function is used to transform the measured values from the physical sensors according to designed numerical models. The selection of a numerical model with assigned fusion functions can be performed via the WEB-based graphical user interface. Proposal of the numerical model is created and validated on the experimental workplace with emulation of physical sensors and MQTT integration (smart IoT sensors). The results of testing have shown that our solution can be applied to validate the values of physical sensors. Proposed fusion functions calculated results according to the selected model in all cases, while non-standard cases were handled according to our definition. In addition, the high availability concept with a group of two virtual sensors has proven fast recovery and availability of results for safety-related applications as well.

Competitiveness in industry requires smooth, efficient, and high-quality operation. For some industrial applications or process control and monitoring applications, it is necessary to achieve high availability and reliability because, for example, the failure of availability in industrial production can have serious consequences for the operation and profitability of the company, as well as for the safety of employees and the surrounding environment. At present, many new technologies that use data obtained from various sensors for evaluation or decision-making require the minimization of data processing latency to meet the needs of real-time applications. Cloud/Fog and Edge computing technologies have been proposed to overcome latency issues and to increase computing power. However, industrial applications also require the high availability and reliability of devices and systems. The potential malfunction of Edge devices can cause a failure of applications, and the unavailability of Edge computing results can have a significant impact on manufacturing processes. Therefore, our article deals with the creation and validation of an enhanced Edge device model, which in contrast to the current solutions, is aimed not only at the integration of various sensors within manufacturing solutions, but also brings the required redundancy to enable the high availability of Edge devices. In the model, we use Edge computing, which performs the recording of sensed data from various types of sensors, synchronizes them, and makes them available for decision making by applications in the Cloud. We focus on creating a suitable Edge device model that works with the redundancy, by using either mirroring or duplexing via a secondary Edge device. This enables high Edge device availability and rapid system recovery in the event of a failure of the primary Edge device. The created model of high availability is based on the mirroring and duplexing of the Edge devices, which support two protocols: OPC UA and MQTT. The models were implemented in the Node-Red software, tested, and subsequently validated and compared to confirm the required recovery time and 100% redundancy of the Edge device. In the contrast to the currently available Edge solutions, our proposed extended model based on Edge mirroring is able to address most of the critical cases, where fast recovery is required, and no adjustments are needed for critical applications. The maturity level of Edge high availability can be further extended by applying Edge duplexing for process control.

This article deals with Internet of Things as an integration platform for embedded systems. The problem of traditional hierarchical communication is challenged by direct peer-to-peer communication model among various embedded devices. CoAP protocol is selected as a potential candidate to meet that requirements and enable overall integration among embedded systems and Cloud systems. In addition, there is evaluated an option to use dedicated IoT integration gateway to enable smooth communication of devices with various maturity level protocols. IoT gateway can support protocol translation and various proxy functions for connection with Cloud systems.

This article deals with the challenge of how to integrate industrial devices that support either IoT protocols, such as MQTT devices with industrial de-facto standard protocol OPC UA. The main focus is paid on a model of integration gateway, which is designed to connect various devices and emulate device availability through the same application protocol. The goal is to create the model for bidirectional mapping of OPC variables to MQTT topics and validate proposed model in the lab environment.