: Dahlkemper, J.; Langen, A.

Abstract
In the past, the architecture of automation systems consisted of a number of sensors and actuators connected to a central processing unit. Fault detection was difficult because of the complexity of the system, a high mean time to repair and qualified personnel was necessary. In recent years, the automobile industry pushed the development of high quality sensors providing higher functionality at lower costs. Simultaneously, research results in the field of artificial intelligence, sensor systems and mobile robots led to a new generation of innovative technologies in the field of service automation. First products, e.g. robots for transportation tasks in hospitals and cleaning robots are now available. These products combine high performance sensor and control functions with low cost technology. The architecture is based upon decentralised smart sensor modules, combining perception, signal processing and control functions. The resulting system architechture is comparable to an object ori ented program. The CAN bus allows a fast and reliable message transfer between smart sensor modules. The application of smart sensor modules minimises development risks and reduces the development time. The CAN bus allows the implementation of comfortable diagnosis functions. This paper presents applications that are based on the concept of smart sensor modules being realised in various projects of the IPA.