A Robotic System-Robot Components

The various parts of a

robot includes :
1. Base.
2. Links and Joints.
3. End Effectors
/Grippers
4. Wrist
5. Drive / Actuators
6. Controllers
7. Sensors.

ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019

A Robotic System-Robot Components
1. Base, Links and Joints

The main body of the robot

and consist of link , joints
and other structural
elements.

The links are used to

transmit mechanical power.
In between two links one
joint is mandatory.

ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019

A Robotic System-Robot Components
End Effectors /Grippers
This is the part that generally
handles objects, make
connections, or perform
required tasks.

Can be used for gripping /

holding objects

Performs specific tasks like

spot welding, spray painting
nozzle
12/13/2019
A Robotic System-Robot Components
Drive / Actuators
These are the muscles of
the manipulator.

Common type of actuators

/drive are servomotors,
stepper motors,
Pneumatic Cylinders.

Devices which provide the

actual motive force for the
robot joints
Robot classification by Actuating system
Hydraulic Actuator robot (Pressurised Fluid)
• For sophisticated robots needing high speed and
strength to carry heavy loads.

Pneumatic Actuator Robot (Compressed air)

• Low maintenance robot used for smaller robots
requiring pick and place type work.

Electric Actuator robot (Electricity)

• Space saving, easily maintained, Less powerful
than Hydraulic but having high accuracy and
repeatability.
A Robotic System-Robot Components
Controllers
• It receives data from computer, controls the
motion of the actuator and coordinates this
motions with the sensory feedback information.

• It is also called the brain of a Robot. Gives

necessary command to the drive unit.

• It may contain both software as well as

hardware.

ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019

A Robotic System-Robot Components
Sensors
• They are used to collect information about
internal state of robot or communicate with the
outside world.

• Various categories possible i.e. Vision , Touch,

tactile (Binary sensors), Range sensors etc.

• Internal sensors: Position, velocity, force

sensors.
• External Sensors: Proximity , Range sensor
etc.
ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019
A Robotic System-Robot Components

ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019

 Sensors in Robotics
• It is a transducer (that converts one type of
physical variable into another form), that is used
to make measurement of a physical variable of
interest.
• For eg. Stain Gauges (Measures force and
pressure), Thermocouple (Temp), Speedometer
(Velocity).
• Calibration of a sensor is very important, as
correlating measured quantity with known
physical parameter.
 Desirable features of Sensors
• Accuracy: Deviation of the measured data from
actual reading
• Precision : Little or no random variability in measurement
values
• Operating Range: Always should be high.
• Speed of response: Should take minimum time in
responding to the changes in the variable/ object.
• Calibration : Should take minimum time to calibrate with
low re-calibration rate.
• Cost and Reliability : Low cost and easy to operate.
 Classification of Sensors
• Sensors (Based on operation)
• Internal : To operate the drive unit. Velocity, Force etc.
• External : Collect information of the environment.
Temp, Visual and proximity sensors.

• Sensors (Based on Application area)

• Contact : Maintains physical contact with object. Tactile
/ Binary sensors etc.
• Non Contact : No physical contact. Proximity sensor,
Range sensor, visual Sensor
 Classification of Sensors
• Sensors (Based on contact)
• Touch : Also called as Tactile / Binary sensors.
Indicates presence or absence of any object. Maintains
physical contact with object.
Eg. Limit Switch.
• Force: Also called as Analog sensors. Contact is made
along with measuring the force acting between sensors
and objects.
Eg. Pressure Transducer.
Tactile Sensors
 Touch Sensors
• Provides a binary output signal which indicates
whether or not contact has been made with an
object.
• They can be used to indicate the presence or
absence of parts in a fixture or at the pick up
point along the conveyer.
• Even it can be a part of inspection probe which
is manipulated by robot to measure dimensions
on a work part.
Electrical Actuators

91
 SHUNT EXCITED DC MOTOR

The spinning of armature in presence of magnetic field

produces BACK EMF across armature terminal.

eb (t )  kb w(t )
Kb = voltage constant
w(t) = angular velocity.
92
 SHUNT EXCITED DC MOTOR

The spinning of armature in presence of magnetic field

produces BACK EMF across armature terminal.
eb (t )  kb w(t )
Kb = voltage constant
w(t) = angular velocity.

BACK emf acts as a damping factor. The more the velocity ,

the more the emf.
Ia 
V in  eb 
Armature current : Ra

Torque : T  K m  Ia
93
 SHUNT EXCITED DC MOTOR

Concluding remark : It has a good speed regulation

94
SERIES EXCITED DC MOTOR

Remark : It has a
high initial torque.

95
 COMPOUND DC MOTOR

Speed Speed Remark : It has a

and high initial torque.
Current
Current

Torque 96
Electrical Actuators

97
Brushless Motors

98
Electrical Actuators

99
 Capacitive Touch Sensors
• The working principle is very similar to a simple
switch.
• When there is a contact with the surface of the
touch sensor, the circuit is closed and when
released opposite happens.
• For capacitive touch sensors, one plate of the
sensor act as one electrode while the conducting
finger forms the other.
A
C   0 r
d
Q
C 
V
 Capacitive Sensor
• Capacitive sensor is of non-contact type sensor
and is primarily used to measure the linear
displacements from few millimeters to hundreds
of millimeters.
• It comprises of three plates, with the upper pair
forming one capacitor and the lower pair another.
The linear displacement might take in two forms:
a. one of the plates is moved by the displacement
so that the plate separation changes
b. area of overlap changes due to the
displacement.
 Capacitive Sensor
• As the central plate moves near to top plate or
bottom one due to the movement of the element
of which displacement is to be measured,
separation in between the plate changes. This
can be given as,
C1 = (εr εo A) / (d + x)
C2 = (εr εo A) / (d – x)
• When C1 and C2 are connected to a Schering’s
bridge, then the resulting out-of-balance voltage
would be in proportional to displacement x.
 Force SENSOR
• A commonly used technique is force sensing
wrist. This consists of special load cell mounted
between the gripper and wrist.
• The other technique can be to measure the
torque exerted at each joint by estimating motor
current. (Joint Sensing)
• A more complex yet effective method can be to
form an array of force –sensing elements so that
the shape and other information about the
contact surface can be determined. (Tactile Array
Sensor)
Electrical Actuators

100
AC Motors
• It has two main part
a) Stator and b) Rotor

• Stator is a three coil

winding (120o) , which is
fed by a three phase AC
power.

• When wire carrying

current is fed, it produces
a Rotating Magnetic Field
(RMF).

• The rotational speed of

this magnetic field101
is
synchronous speed.
AC Motors
• If a conductor is kept inside
this RMF, as per Faradays
law, an emf is induced in
the loop.

• Based on the current

generated due to the emf,
as per Lorentz Force
(F = BIL), the loop will start
to rotate.

• For induction motor, the

loop is replaced by a
squirrel cage, which
induces current on 102bars,
rotating the rotor.
AC Motors

• Insulated iron core lamina

bars reduces Eddy current
loss.

103
 AC Motors

• The speed of the rotor is

S = (Ns – N) / Ns
controlled by
synchronous speed
• S = Slip
• Ns = Synchronous Speed
• N = Rotor Seed. 104
 Work Volume
Work volume refers to the space within which the
robot can manipulate its wrist end.
Determined by
– Physical configurations (types of joints etc.)
– Size of the body, arm and wrist
– Number of axes
– The robot mounted position (overhead
gantry, wall-mounted, floor mounted, on
tracks)

ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019

 Work Volume
Work volume refers to the space within which the
robot can manipulate its wrist end.
 Work Volume
Work volume refers to the space within which the
robot can manipulate its wrist end.
 Degree of Freedom (DoF)
The individual joint motions associated with the
performance of a task are referred to as DoF.
A point in 2D will have 2DoF, while in 3D will have
3Dof (or Planer manipulator).
A Rigid body will have 6 DoF (3 position +3
Orientation).
A manipulator than can correctly position and orient
such rigid body should have 6 Dof or Spatial
manipulator. Eg. PUMA.
 Degree of Freedom (DoF)
For more than 6 Dof, such manipulators are called
redundant manipulator.
For spatial manipulator having less than 6 Dof is
called Under actuated system.
 Joints of Robot
Robotic joints can be classified :
1. Linear (Prismatic / Sliding joint).
2. Rotary (Revolute and Twisted Joint).
3. Orthogonal Joints

O/P axis
perpendicular to I/P
axis
ECE2008 Robotics and Automation_Budhaditya_Bhattacharyya 12/13/2019
 Joints of Robot
Robotic joints can be classified :
1. Cylindrical Joints (Prismatic + Revolute).

12/13/2019
 Wrist of Robot
Robotic wrist can be classified :
1. Wrist Roll, Wrist Pitch and Wrist Yaw

12/13/2019
Robot classification by Actuating system
Based on the input sources robots can be classified
as :
1. Electric Actuator robot
2. Pneumatic Actuator Robot
3. Hydraulic Actuator robot

12/13/2019
 ECE 3502- ETH

IOT DOMAIN ANALYST Module 1

Lecture 3:
09/02/2021
SEMANTIC DATA MODELS
AND
DATA STANDARDS
 STATE-OF-THE-ART
The Semantic Web is a Web 3.0 web technology and constitutes
away for linking data between systems or entities, allowing the
enrichment and the self-description of data interrelations that are
available across the globe on the web.
Essentially, the semantic web tries to convert the human
understandable data to machine understandable data.

More specifically, in the current web there are data that is

represented in web documents/files such as HTML, XML, JSON, etc.,
which are readable by humans and machines.
The humans have the ability to understand the meaning of the
provided data but the machines meet difficulties to extract meaning
from the current data forms.
 STATE-OF-THE-ART
This situation leads to the need for data models for the
management of distributed data in the Web.
There are numerous technologies and standards that have been
designed and deployed to realise the semantic web.
In the rest of this section, an overview of the relevant Semantic
Web technologies / technological standards for semantic
modelling is provided, as well as a detailed description of the
existing semantic data models standards.
 STATE-OF-THE-ART
The W3C, that leads the Semantic Web technologies and
concepts standardisation, is helping to build a technology stack
to support a “Web of data,” .
The ultimate goal of the Web of data is to facilitate large-scale
data integration and processing and to develop systems that can
support trusted interactions over the network.
Several technologies have been introduced for the
implementation of Semantic Web that make possible the Web of
data by building vocabularies, creating data in standard data
exchange formats and making the web capable of storing data.
STATE-OF-THE-ART
There are many well-known standardized technologies which
realize the linked data process: RDF (Resource Definition
Framework) ; OWL (Web Ontology Language); SKOS (Simple
Knowledge Organization System).
The Linked Data concept is coming as the basic reference to
web of data, namely as an addition to the extension of the
current web of documents, by adding in the same time, the idea
of supplying structured data to the web, which means that data
must be linked so that ”the web of data” can be explored by
people or machines thus making the web more useful.
 STATE-OF-THE-ART
The current web infrastructure (i.e. the ”web of documents”) is
constituted by some Standard Web Technologies, such as: URLs and URIs
that are structured as a set of characters used to identify resources on
the internet or to identify hypertext documents called HTML , in which the
creation of the web content is delegated; and the HTTP as a protocol to
transfer hypertext.
So the point is that the ”web of data” uses these URIs as resources
identification, the HTTP for retrieving resources of its descriptions; and
RDF (the chosen standard web technology for linked data, which is a
XML-based metadata data model) for describing resources.
The above features provide the ability for reliable data processing
linking data, as well as make them manageable (perform
queries/updates) by using corresponding semantic standards for the
data management, such as SPARQL [62].
LINKED DATA
The Linked Data concept, introduced by Tim-Berners Lee in 2006,
suggested the following principles to publish linked-data;
i) URIs for the identification of things,
ii) HTTP URIs so that these things can be referred to and looked
up (”dereferenced”) by people and user agents
iii) the provision of useful information about the thing when its URI
is
dereferenced, using standard formats such as RDF/XML, and
iv) the involvement of links to other, related URIs in the exposed
data to improve discovery of other related information on the
web.
DATA MODELLING STANDARDS
Focusing on the data modelling standards and the existing
data models, the Open Geospatial Consortium (OGC) provides
a set of different standards for the data modeling that have
already started being integrated with the W3C Semantic Web
technologies standards aiming to improve interoperability and
integration of spatial data on the Semantic Web.
DATA MODELLING STANDARDS
DATA MODELLING STANDARDS
Using the layers illustrated in Table 2, Table 3 is an overview
of
existing OGC and Semantic Web standards, complemented by
the description of their main features, the implementation
technologies that support their reference implementations, as
well as an indicative matching of the modelling category in
which the corresponding standard belongs and/or could be
applied.
All referenced standards/models are described in more detail
in the following.
DATA MODELLING STANDARDS
 ECE 3502- ETH

IOT DOMAIN ANALYST Module 1

Lecture 4:
16/02/2021
SEMANTIC DATA MODELING
 SEMANTIC DATA MODELING
 What is Conceptual DataModeling
 Entity-Relationship (E-R ) Modeling
 Limitations of E-R Modeling
 Object-oriented Modeling: Anothersemantic
model
 WHAT IS CONCEPTUAL DATA MODELING?
A process that represents the entities, relationships, and
activities of an enterprise in terms of a set of abstract
concepts of a chosen data model for specific purposes.
Enterprise Modeling, Business Modeling
Conceptual
Conceptua
Perception
l of
an Enterprise
Perception
of an
Enterprise
BRIDGE THE GAP
STUDENT(
STUDENT(ID,
ID, Name, Age, Address,
Name, Age, Address,GPA
GPA) )
INSTRUCTOR
INSTRUCTOR((Emp#,
Emp#, Name,
Name, Rank, Dept ))
Rank, Dept
COURSE
COURSE( (Course#,
Course#,Credits,
Credits,Title
Title) )
CLASS ( Emp#, ID, Course#, Time, Room )
CLASS ( Emp#, ID, Course#, Time, Room )
 DATA SEMANTICS
 Static Information
 Data -- Entities
 Associations -- Relationships among entities

 Dynamic Information
 Activities -- Operations/transactions
 Integrity constraints -- Business rules/regulations and data meanings
 CONCEPTUAL DATA MODEL REVISITED
A conceptual data model consists of:
 A collection of formal concepts
 A set of usage rules

Different model has different modeling capability

Object-Oriented
Object-Oriented
data
datamodeling
modeling

-- E-R
Semantic
Semantic data
data -- EER
modeling
modeling -- etc.

-- Hierarchical
Conventional
Conventional(Logical
(Logical -- Network
data
datamodeling)
modeling) -- Relational
 E-R MODELING
 Introduced by Peter Chen in 1976
 Basic modelingconcepts:
 Entities, entity types, and attributes
 Relationships

Date
1
Works_for Department

Date
Emp# N
1 1
Language Instructor Assigned Office

Name N
FName
Time
MInit Teaches
LName
Location
M

Course
E-R NOTATION

Entity Relationship

Attribute Primary Key

 ENTITIES
 An entity is a conceptual object
 Physicallyexists
 Usually a noun in requirementspecification
CIS 3730
Jose Alice Steve CIS 2010

Class

Acct CIS
Student

Department
 ENTITY TYPES
 A collection of similarentities
 An abstraction of "physical" entities
 A noun in requirement specifications
 Having "independent"meaning Department
Department

Student
Student

CIS Acct
Jose Steve

Alice Course
Course

CIS 3730
CIS 2010
 WEAK ENTITY TYPES
 Can't exist in DB independently
 Must be identified by its owner
 Owner entity type
 Identify relationship
 Partial key

 Total participation

Parking Color PNum

Lot# Date

N
1
Student Registers Car
 ATTRIBUTES
Properties or characteristics of entities and entity types
 Attribute values -- Properties of entities
 Value set - All acceptable attribute values
 Attributes (definitions) -- Properties of entity types

 A noun or an adjective in requirementspecifications

 No "independent"meaning

ID "123-45-6789"
Student
Student Jose 25
Age
 KEY ATTRIBUTES
One or a group of attributes that can uniquely identify
individual entities of an entity type
 A key refers to one or a group of attributes as a whole
 A key attribute is a component attribute of a key
 Key changes with data semantics

An entity type may have several qualified keys

 Primary key -- One of the candidate keys
 Alternate key - Candidate keys not used as the primary key
 Secondary key -- An identifier of records with similar properties of interest

 The primary key attribute(s) is(are) underlined

CIS
 MORE ATTRIBUTES
 Simpleattribute degrees

Contains atomic values only id

Student
 Composite attribute Student
age

Has component attributes

name

 Single-valuedattribute Fname Lname

Has exactly one value per entity Mname

 Multi-valuedattribute
Contains repeating values per entity CommEarned
EmpNo

 Derivedattribute CommRate
Salesrep
Salesrep

Attribute values computed by means of Lname

Fname
 RELATIONSHIPS
Associations among entities
 Relationships -- Associations among entities

 Usually a verb in requirementspecification

Occurrence Diagram or Semantic Net

Course
Student

CIS2010
Joseph
CIS3210
Alice
CIS3215
Sue
CIS3730
Tom
CIS8140
Peter
Takes ...
...

Student Takes Course

 RELATIONSHIP DEGREES
The number of entity types associated with that relationship.
Each entity in a relationship is known as a participant.
Unary Binary
Employee
Employee Department
Employee
Employee Work Department
Supervises

Ternary n-ary

Project
Project Supply Part
Part

Supplier
Supplier

CIS
Semantic Modeling 17
 N-ARY RELATIONSHIPS
 A link must associate with all participants
 Cardinality is with respect to individualrelationships
 A N-ary relationship is not equivalent to N binary relationships
Customer

M 1
Salesperson ships Order
 RELATIONSHIP ATTRIBUTE
 Describes the association
 A adverb or noun in requirementspecification

sect# time

Instructor teaches Course

room# date
RELATIONSHIP CARDINALITY E2
E1 R
1 1 x
a []
b [] y
How entities are connected c z
[]
through a relationship ... ... ...
 One-to-One -- An entity of E1 is
connected to at most one entity of E2 1 M
and vice versa. a [] x
b [] y
 One-to-Many -- An entity of E1 may c [] z
be connected to one or more entities ... ... ...
of E2, but an entity of E2 can only be
mapped to at most one entity of E1.
M N
 Many-to-Many -- An entity of E1 may x
a
be linked to one or more entities of b y
E2, and vice versa. c z
... ... ...
 RELATIONSHIP TYPES
• Recursive Relationship
– Relationship type where same entity type participates more than once in
different roles.

• Relationships may be given role names to indicate purpose that

each participating entity type plays in a relationship.
RECURSIVE RELATIONSHIP CALLED
SUPERVISES WITH ROLE
NAMES
ENTITIES ASSOCIATED THROUGH TWO DISTINCT

RELATIONSHIPS WITH ROLE NAMES

 ECE 3502- ETH

IOT DOMAIN ANALYST Module 1

Lecture 6:
18/02/2021
MODULE 1-IOT SOLUTION MODELS
Models applied in IoT solutions, Semantic models for data
models
 Application of semantic models, information models,
information models to structure data
Relationships between data categories.
INFORMATION MODELS
INFORMATION MODEL- DEFINITION
An Information Model is an organizational framework that you
use to categorize your information resources.
The framework assists authors and users in finding what they
need, even if their needs are significantly different and
personal.
The framework provides the basis on which you base your
publishing architecture, including print and electronic information
delivery.
INFORMATION MODEL- DEFINITION
An Information Model might encompass the information resources of
one part of an organization.
For example, your Information Model might provide a framework for
categorizing your corporate training materials or the technical and
sales information that accompanies your products.
Your Information Model might include engineering information
produced during product development, policies and procedures used
internally in the day-to-day conduct of business, information about
customers used in your sales cycle or about vendors used in your supply
chain.
INFORMATION MODEL
As you plan what to include under content management and what to
exclude, you must consider a wide range of dimensions through which
you will categorize and label your information. Some of the dimensions
will be specific to the needs of information authors.
Others will meet the requirements of your products and services. Still
others will explicitly meet the needs of internal and external users of
information.
As you design your Information Model, consider how large an
information body it must encompass. Some Information Models are very
small, specific, and limited in scope. Others stretch across entire
organizations, encompassing thousands or millions of pages.
3-TIERED STRUCTURE OF AN
INFORMATION MODEL
The Information Model you build will have a three-tiered structure. At
base, the first tier of the Information Model consists of the dimensions
that identify how your information will be categorized and labeled for
both internal and external use in your organization.
The second tier sorts your information assets into information types.
The third tier provides structure for each information type, outlining the
content units that authors use to build information types.
3-TIERED STRUCTURE OF AN
INFORMATION MODEL
Figure 1illustrates the three-tiered structure. In this article, you learn
how to determine the basic dimensions of your information Model.
3-TIERED STRUCTURE OF AN
INFORMATION MODEL
The dimensions you identify as the foundation of your
Information Model become the attributes and values of the
metadata you will use to label your modules of content in your
repository.
The information types will provide your authors with the basis
for creating well-structured modules that represent a particular
purpose in communicating information.
The content units will describe the chunks of content that are
used to construct each information type.
NEED FOR AN INFORMATION MODEL
Designing an effective, comprehensive Information Model is a
critical and sometimes formidable step in developing a
resource that will provide answers to your customers' most
arcane questions in their search for information.
A content management system that will make information
accessible must be built upon a sound Information Model.
Otherwise, what you will have is a loose collection of files with
cryptic names, inaccessible except to the experts.
NEED FOR AN INFORMATION MODEL
It's what you now face when you try to access a company's information
resources.
Where is the information stored?
How are the files named? What about information inside the files?
What if you don't know the exact titles and content?
What if the people who know the file system leave the organization?
NEED FOR AN INFORMATION MODEL
The evidence that the existing systems of storing information
fail is quite massive. Everyone has stories to tell of the
impossibility of finding the information they need, whether the
resources are in printed volumes or in online systems.
A strong, effective Information Model solves the problems
described when it is designed in the context of a content-
management system.
The model labels information according to the ways it will be
accessed. In fact, the information can be reorganized in many
ways, depending upon who is doing the looking.
NEED FOR AN INFORMATION MODEL
Most important, the model provides the framework needed to make
information accessible to experienced and inexperienced seekers alike.
It reduces frustration and enhances productivity. It means that people
spend less time searching and more time using information resources.
It helps to ensure that resources are not rewritten or recreated through
an author's sheer frustration at not being able to find them.
STATIC INFORMATION MODELS
As you begin to construct your Information Model, you will be
tempted to use the various logical (or illogical, for that matter)
categories that others originally used to set up their files in the
file servers.
For example, technical information that is organized by product
line. All the information associated with Model A is organized
inside file folders labeled Model A.
A similar structure might be in place for Model B of the product,
or the structure might be entirely different because the people in
charge of Model B don't communicate about organizational
schemes with the people in charge of Model A.
STATIC INFORMATION MODELS
Note that Figure 2 illustrates a typical hierarchical arrangement used
in a file-management system.
A hierarchical Information Model, using a system of folders and files,
works well as long as everyone in the organization understands the
design.
STATIC INFORMATION MODELS
Functional departments within companies use categories and
organize them in ways that reflect the ways in which the resident
experts conduct business.
The Human Resources Department, for example, might organize
its information resources into categories such as employee
benefits, employee demographic information, and so on.
The electronic filing system reflects how the experienced people
in the organization think about the information.
DYNAMIC INFORMATION MODELS
The solution to a static representation of your information
resources is a dynamic Information Model, one that changes in
response to the needs of the users.
Take the library, for example; what if a library patron could
wave a magic wand and the library would rearrange itself in
response to a particular set of needs.
Let's say that a patron wants to find not only all the books
written by Steven King but also all the books and articles
written about Steven King
DYNAMIC INFORMATION MODELS
 In addition, the patron would like to know more about mystery
and horror writers in the second half of the twentieth century
living in North America or in the United Kingdom.
Once the patron's need is known, all the books in the library
and the articles in all the periodicals fly around rearranging
themselves into an optimal solution.
Sounds a bit like a magical library; rather messy, I'm afraid.
But it would be a godsend for the individual user.
DYNAMIC INFORMATION MODELS
If you have studied your users and worked hard to anticipate
their needs, or put in place systems to continually monitor their
searches, you can quite literally rearrange the library.
The Information Model is the mechanism that makes dynamic
updating of the information possible. But the Information Model
is only as good as your analysis and creativity can make it.
DEFINING THE COMPONENTS OF THE
INFORMATION MODEL
The Information Model consists of information resources that you have
categorized so that they can be effectively searched and retrieved.
The categories reflect your understanding of the dimensions that
represent the points of view of each relevant group in the user
community.
For each of the dimensions you establish, you assign labels (most
likely in the form of XML metadata tags) that describe each
information resource in terms of the relevant categories and
subcategories.
DEFINING THE COMPONENTS OF THE
INFORMATION MODEL
Look at how the cookbook information designer might develop
an Information Model for a cookbook content-management
system.
Table 1 consists of two columns: the first describes the primary
dimensions and the second lists the individual instances of the
category – the subcategories – that might be found in your
information resources
.
DEFINING THE COMPONENTS OF THE
INFORMATION MODEL
 Because the Information Model is based on an analysis of how users might want to
find the information they need, the more comprehensive the user analysis, the
more successful the dimensions will be.
 The dimensions become your XML metadata attributes and the subcategories are
the values associated with the metadata attributes.
DEFINING THE COMPONENTS OF THE
INFORMATION MODEL
DEFINING THE COMPONENTS OF THE
INFORMATION MODEL
The metadata attributes and values that are embedded
in each information module make it possible for the person
searching for a felicitous menu to come up with a Chinese
main course featuring fish and accommodating a low fat
diet.
Another person searching for a Vietnamese soup would
also be successful.
 ECE 3502- ETH

IOT DOMAIN ANALYST Module 2

Lecture 8:
25/02/2021
MODULE 2-DATA MODELS

Tags to organize data,

Tag data to pre-process large datasets,
Predictive models for forecasting,
Application of predictive models.
IOT DATA MODELS
DATA MODELS
IoT systems essentially interface the Internet to the physical world via endpoints
directly connected to things that exist in and can interact with it.
Edge nodes, such as sensors and smart things, have physical properties and
states. For brevity, we will refer to them collectively as generic (IoT) things.
They need to be modeled and represented in the digital form for processing
and communication. The model of a thing needs to express and reflect its
salient physical characteristics.
An IoT thing description is an abstraction of a physical entity that participates
in an IoT system software layer exchanges, e.g., to report status and initiate
actuation where applicable.
 DATA MODELS
Common IoT data are sensor readings with values and units of measure.
In order to be useful to applications and services, IoT data need to include the
identification of the types of physical entities that produced them, such as
temperature sensors, units of measure (°C), and metadata defining conditions
and context in which the data are captured.
For two IoT endpoints to interoperate, they must have a shared understanding
and interpretation of the thing data semantics.
In other words, all communicating parties need to use the same conceptual
model of things that exist in their domain.
One way to accomplish this is by having all parties use the same specification of
an IoT information model.
DATA MODELS
An IoT information model is an abstract, formal representation of IoT thing types
that often include their properties, relationships, and the operations that can be
performed on them
IoT information models and data representations typically include:
•Designation of the type of the physical thing, what it is and what it does, e.g.,
temperature sensor
•Data formats, how to represent and interpret it, e.g., values (string, number, int
or float), engineering units if applicable
• Interactions, access methods – how to access the thing to obtain its state and
data or activate intrinsic functions and actuate outputs

Optional but quite common components of IoT information models also include:
• Metadata describing thing attributes and context in which data are captured
•Links to other objects, used to depict structural connections and for object
compositing
INTEROPERABILITY USING A SHARED
INFORMATION MODEL
Figure 6.1 illustrates two endpoints in an IoT system that intend
to engage in data and control exchanges.
As indicated earlier, all communicating parties need to use the
same conceptual model of things that exist in their domain.
A common way to accomplish this is by having all parties use
the same specification of an IoT information model.
INFORMATION MODEL
INFORMATION MODEL
Software objects that represent things are stored on an IoT server, a software
module that provides interface and representation of the thing, its state, and
its
behaviors.
Figure 6.1 illustrates an IoT server representing the associated physical
endpoint, designated as the thing.
The IoT server internally implements the thing description as a cyber-world
touch point for each particular instance using the format of the information
model defined by the shared specification.
An IoT server typically includes device drivers to access the thing and convert
its state and physical-world measurement into digital representation. It also
needs to implement the actions associated with the device when requested by
the authorized parties via the specified access points.
Depending on the system configuration and hardware capability, an IoT
server may physically reside on the thing or on a proxy device, such as a
directly attached gateway.
STRUCTURE OF IOT INFORMATION
MODEL
There are many standardization efforts underway to define IoT
information models, several of which are presented in detail in the next
chapter on Standards. Individual specifications tend to cover different
application domains – such as the industrial, automotive, and consumer –
and differ in the specifics, terminology, and scope.
However, they tend to follow the same basic modeling structure that is
outlined below.
TAGS (META DATA)
METADATA OR TAGS
Metadata or tags annotate IoT data to provide context, such
as the additional attributes of a thing’s functionality, placement,
structural relationships with other things, and the like.
Their primary function is to provide contextual semantics to
create “rich data” (basically data made useful) for a variety of
post-processing services and applications, such as analytics and
device/asset management.
 AN EXAMPLE OF METADATA USE
Attributes and relationships described by the metadata reflect the
function, states, and physical settings in which things operate.
This information is required and necessary to manage control systems,
such as manufacturing and large buildings. It may be implicit or explicitly
stated in the system design and operational documents.
An example below illustrates a rather common (and quite bad) industry
practice of providing semantic annotation, in order to motivate the need
for the more structured and portable metadata tagging in IoT systems
that is described later in this section.
 AN EXAMPLE OF METADATA USE
As a real-life example, consider an endpoint designation from an actual
commercial building that is intended to encode its semantics:
SODA1R465--ART

This particular installation used a rather arbitrary labeling of endpoints with

14-character names, probably due to restrictions imposed by its BMS system.
In this particular example, the first three letters designate a site (SOD),
followed by a letter designating the type of equipment (A for air-handling
unit), and followed by
its number (1).
This is followed by a one-letter zone designation (R), and its three character
number (465).
In this case, it is followed by the two filler delimiter characters to pad the whole
thing to 14 characters, ending with a designation for the ambient room
temperature (ART).
AN EXAMPLE OF METADATA USE
To indicate how the more formalized and structured metadata
annotations may be used to help alleviate this problem, consider the
information that is of interest to operators and applications about this
endpoint. It should communicate that it:
• Is an air-temperature sensor
• Is located on the fourth floor
• Is part of an air-handling unit 1 (AHU-1)
• It belongs to an HVAC zone

Other useful information may be added, such as that the zone

temperature in question is operated on a specific occupancy schedule,
say occSchedule1, that is in effect from 7:30 am to 6:30 pm.
TYPES OF IOT METADATA
Metadata can come in a variety of forms. As an illustration of metadata
diversity and range, below is a partial list of IoT sensor data and metadata
grouped into some representative categories with italicized names.
This example omits endpoint reading (values) and writing (actuation), because
they are technically data which metadata can annotate.
Sensing point
– Units of measurement
– Range – min, max values
– Resolution, sampling rate
– Frequency of reporting
– Scaling factor
– Time stamp

Location
– Location – static or dynamic if sensor is mobile
TYPES OF IOT METADATA
Maintenance and asset management
– Status = {active, inactive, connected, fault}
– Battery status
– Accuracy, calibration
– Manufacturer, part#, serial#
– Configuration settings
– Firmware, software version installed
Access rights, privacy, security
Owner/domain and associations
Reputation
Other, extensions, etc.
 METADATA OR TAGS
Location is a very important aspect of metadata. For static sensors, such
as thermostats, it may be useful to know the geographic location, such
as the GPS coordinates or street address, as well as indoor location,
such as the floor and the room where it operates.
This type of metadata is static. It rarely if ever changes during the life
cycle of the thing, so it need not be reported with every reading.
For mobile sensors, such as those in vehicles and smart phones,
annotating each reading with the GPS location of its capture is often
valuable.
METADATA OR TAGS
Some metadata fields that describe intrinsic attributes of a thing – such
as the range for temperature sensor readings, accuracy, manufacturer,
and model – may be defined at the manufacturing time and included as
a part of its instance definition depicted in Table 6.1 the
attributes/fields area.
Other metadata annotations – such as its location within a building –
can be defined later in the system life cycle, at system installation and
commissioning time.
An IoT system needs to provide a mechanism for adding data
annotations, metadata, at various times in system life cycle; for
associating metadata with the thing that it relates to, using its identifier;
and for retrieving data and metadata in response to service requests.
METADATA OR TAGS
In general, much of the metadata tends to be relatively static
or to change much less frequently than the associated data.
This, fortunately, can be used to reduce the size of the endpoint
reports as only the metadata that has changed since the last
reported value needs to be included.