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82.49 www.worldrobotics.org

Part H 82

1467

Home, Of

Part I

Part I Home, Ofﬁce, and Enterprise Automation

83 Automation in Home Appliances

T. Joseph Lui, Benton Harbor, USA

84 Service Robots and Automation

for the Disabled/Limited

Birgit Graf, Stuttgart, Germany

Harald Staab, Ladenburg, Germany

85 Automation in Education/Learning Systems

Kazuyoshi Ishii, Hakusan City, Japan

Kinnya Tamaki, Tokyo, Japan

86 Enterprise Integration and Interoperability

François B. Vernadat, Metz, France

87 Decision Support Systems

Daniel J. Power, Cedar Falls, USA

Ramesh Sharda, Stillwater, USA

88 Collaborative e-Work, e-Business,

and e-Service

Juan D. Velásquez, West Lafayette, USA

Shimon Y. Nof, West Lafayette, USA

89 e-Commerce

Clyde W. Holsapple, Lexington, USA

Sharath Sasidharan, Huntington, USA

90 Business Process Automation

Edward F. Watson, Baton Rouge, USA

Karyn Holmes, Covington, USA

91 Automation in Financial Services

William Richmond, Cullowhee, USA

92 e-Government

Dieter Rombach, Kaiserslautern, Germany

Petra Steffens, Kaiserslautern, Germany

93 Collaborative Analytics

for Astrophysics Explorations

Cecilia R. Aragon, Berkeley, USA

1468

Home, Ofﬁce, and Enterprise Automation. Part I This part is about functional automation areas at home, in

the ofﬁce, and in general enterprises, including multi-enterprise networks. Common to these areas is the power

of automation appliances, such as home and ofﬁce appliances, and of Internetworking, such as collaborative de-

cision support and scientiﬁc exploration, collaborative work, and e-Activities, from service to business, banking

to home-ofﬁce, laboratories, schools, government and tele-work. Chapters also cover the automation theories,

techniques and practice, design, operation, challenges and emerging trends in education and learning, bank-

ing, commerce. General automation principles and functions include decision support, collaboration, integration,

planning, services forunique needs such as disabilities,and businessprocess automation.An important dimension

of the material compiled for this part is that it is useful for all other functional areas of automation, for in-

stance, ofﬁce and school automation, interoperability, client relations management, enterprise resource planning,

and collaborative decision support (all subjects of this part) are directly applicable to industrial, infrastructure,

agriculture, medical, transportation, service, and other domains of automation.

1469

Automation i

83. Automation in Home Appliances

T. Joseph Lui

Home appliances, by their very nature, represent

realizations of the principles of automation. Home

appliances exist for the purpose of automating

otherwise manual processes in the home. The

operation of home appliances has been reﬁned

over the years, though the machine function has

remained essentially the same. Advancements

in the areas of microprocessor-based controls,

sensors, displays, and interconnectivity, however,

are enabling a new generation of appliances

with advanced automation capabilities. Smart

refrigerators, smart cooking appliances, and smart

cleaning appliances are already appearing on the

market. Along with these appliances we observe

the viability of advanced applications in home

automation. Software-based controls, appliance

area networks (AANs), and display devices capable

of creating a rich user experience are enabling

advances in refrigeration automation, cooking

integration automation, automated home utility

management, automated fault and performance

83.1 Background and Theory ........................1469

83.1.1 History...................................... 1469

83.1.2 Enabling Technologies ................ 1470

83.2 Application Examples, Guidelines,

and Techniques....................................1472

83.2.1 Refrigeration ............................. 1472

83.2.2 Cooking .................................... 1474

83.2.3 Cleaning ................................... 1475

83.2.4 General Appliance Automation .... 1475

83.2.5 Household Energy Management... 1478

83.3 Emerging Trends and Open Challenges ...1481

83.3.1 Trends ...................................... 1481

83.3.2 Challenges ................................ 1482

83.4 Further Reading ...................................1483

References ..................................................1483

monitoring, and more. In this chapter we explore

the enabling technologies and applications of

advanced home appliance automation.

Convenience – in the form of home chore automa-

tion – has always been the primary justiﬁcation for

a consumer to purchase a home appliance. Major home

activities including refrigeration, cooking, and cleaning

have enjoyed substantial levels of automation for many

years. In this chapter, we explore the history of home

chore automation, enabling technologies for advanced

automation, and several applications thereof. We will

not address heating, ventilation and air-conditionning

(HVAC), lighting, entertainment, or security systems.

Interested readers can refer to Chaps. 62 and 71 for

treatment of these topics. Here, we focus speciﬁcally on

major appliances, namely, refrigerators, dish washers,

cook tops and ovens, clothes washers and dryers, and

microwave ovens. We do not address smaller appliances

such as food processors.

83.1 Background and Theory

83.1.1 History

Home appliances, by their very nature, automate an oth-

erwise manual process. The clothes washer automates

the manual process of fabric care. The food proces-

sor automates portions of the manual processes of food

preparation. The list goes on. So, in a sense, the home

was the ﬁrst place in which automation received mass-

Part I 83

1470 Part I Home, Ofﬁce, and Enterprise Automation

market appeal. The automatic clothes washing machine

was introduced in the USA commercially in 1911 and

was a common feature of US homes by the close of

the 1920s. Today, 80% of US homes have a clothes

washer [83.1]. Moreover, though the microwave oven

was only introduced in 1967, the convenience provided

has resulted in around 85% of households having the

appliance today. 1967 is the year of introduction of the

ﬁrst commercially viable countertop microwave oven:

the Radarange from Raytheon/Amana. The ﬁrst mi-

crowave oven of any kind was introduced in 1947, also

by Raytheon [83.2].

Home appliances are on a long evolution path in

which they have been improved aesthetically, reﬁned

operationally, and cost-reduced. However, the degree

of automation of the fundamental processes has not

changed substantially: a refrigerator still essentially

keeps food cold; a water heater still basically keeps

water hot. Typically, the quantum leaps in home ap-

pliance automation have not occurred within existing

appliances, but with the introduction of new appliances.

Examples include the microwave oven in 1967 and the

trash compactor in 1969. However, opportunities for

increased automation of the processes performed by ex-

isting appliances do exist and are under development.

Advanced automation opportunities for home appli-

ances appear on two fronts: convenience and precision.

Existing processes can be made more convenient for the

user, for example, by reducing the amount of user input

and intervention required by the process. Processes can

be made more precise and, in particular, more efﬁcient

by transferring some decision-making responsibilities

from the user to the appliance itself.

Start

End

Fill

30s

Agitate

5min

Drain

1min

Spin

2min

Fill

30s

Agitate

5min

Drain

1min

Spin

2min

Fig. 83.1 Simple clothes washer algorithm

83.1.2 Enabling Technologies

Microprocessor Controls

The fundamental enabler for advanced home ap-

pliance automation has been the introduction of

microprocessor-based control systems and associated

software. In the past, electromechanical control systems

have made dramatically increased automation either in-

feasible or impractical. However, virtually all modern

major appliances – spanning refrigeration, fabric care,

and cooking – are now equipped with a programmable

microprocessor, thus setting the stage for quantum leaps

in automation.

Sensors

Microprocessors ostensibly can implement their pro-

cesses without environmental inputs; for example,

a clothes washer could operate based on the simple

algorithm presented in Fig.83.1.

However, advanced automation and, in particular,

increased efﬁciency are dependent on retrieval of in-

formation from the process environment. Thus, another

key technological enabler is environmental sensors. Ex-

amples of important sensors include:

•

Temperature sensors

•

Flow meters

•

Optical cameras

•

Infrared sensors

•

Chemical sensors

•

Radiofrequency identiﬁcation (RFID) receivers.

Temperature sensors give the microprocessor access

to, for example, the temperature of inﬂowing water,

ambient or internal air, and food in the case of refrigera-

tion and cooking appliances. Flow meters are employed

primarily to provide data on water volumes, which

can be crucial to achieving a desired water tempera-

ture. Optical cameras provide inputs to, for example,

food doneness determination algorithms. Infrared sen-

sors provide noninvasivemeans toevaluate temperature,

while chemical sensors provide key data for evaluating

things such as detergent concentrations.

The sensors introduced above generally serve to

evaluate the physical characteristics of some element of

the process being executed, or the thing on which the

process is operating (food, clothing, etc.). However, an

RFID receiver provides access to stored data about the

item being processed which is not otherwise accessible

– at least not cheaply and conveniently. For example,

RFID tags embedded inclothing could contain informa-

Part I 83.1

Automation in Home Appliances 83.1 Background and Theory 1471

Start

End

Read

RFIDs

Determine

clothing

type

Determine

clothing

volume

Read

water

level

Optimize water

temperature & level,

detergent

concentration, cycle

Fill Spin

Drain

Agitate

Water

level, detergent

concentration

OK?

Water level

OK?

Read

water

level

Drain

Water level

OK?

Fill

Agitate

Water level

OK?

Read

water

outflow

Water outflow

adequate?

Spin

Read water

outflow &

detergent

concentration

Water

outflow, detergent

concentration

OK?

Xmin

Fig. 83.2 More advanced clothes washer algorithm

tion on the compositionand care of the garment, such as

parameters dealing with appropriate water temperature,

detergent type, and washing cycle. RFIDs contained

in prepared food packaging could contain information

on composition and instructions for preparation, such

as cooking temperature and time. Thus, RFIDspro-

vide access to a rich cache of information which can

be leveraged for automation. The term RFID in this

context is not intended to pertain to any speciﬁc ra-

dio technology or technical standard, but to the general

concept of wireless, short-range, passive information

retrieval.

Now, returning to the algorithm presented above,

given a sufﬁciently capable array of sensors, we might

be able to automate the process as shown in Fig.83.2.

This revised algorithm is critically dependent on the

availability of sensors. Modern home appliances are be-

ing equipped with ever more sensors to enable cycle

optimization and efﬁciency, as well as process automa-

tion.

Part I 83.1

1472 Part I Home, Ofﬁce, and Enterprise Automation

Fig. 83.3 Remote appliance communication

Connectivity

In addition to collecting and processing information

within the home appliance, automation opportunities

are further expanded if the home appliance is able

to communicate information externally. It can be ad-

vantageous to exchange information locally with other

appliances, or remotely with other entities such as the

user, the appliance vendor, or a third party such asa util-

ity (Fig.83.3).

These appliance area networks (AANs) can be re-

alized in any of a number of topologies, such as star,

mesh, and ring (Fig.83.4).

Fig. 83.4 AAN topologies

In order to communicate with entities outside the

AAN, though, an Internet gateway is often required.

The AAN’s Internet gateway could be something as

simple as a broadband modem, or it could be something

more intelligent, for example, in the case that the appli-

ances and/or the networking technology do not natively

support a full suite of internet protocols such as trans-

mission control protocol/Internet protocol (TCP/IP),

dynamic host conﬁguration protocol (DHCP), and do-

main name system (DNS).

AANs can utilize any number of communi-

cation protocols including IEEE 802.3 Ethernet,

IEEE 802.11 wireless local-area network (LAN),

IEEE 802.15.4 low-rate wireless personal area network

(PAN), and a multitude of public cellular networking

technologies.

Once home appliances are networked together and

connected to the Internet, boundless opportunities for

automation exist. Some of these include:

•

Automatic distribution of information amongst the

appliances, for example, time of day

•

Automatic coordination and optimization of electric

power, water, and natura-gas usage

•

Automatic status reporting and remote appliance

control

•

Automatic performance analysis and reporting

•

Automatic fault detection and reporting.

At thetime ofthis writing, home appliance Internet con-

nectivity and some of the applications given above are

becoming available commercially.

83.2 Application Examples, Guidelines, and Techniques

83.2.1 Refrigeration

It has been stated previously that the basic func-

tion of the most widely used home appliance – the

refrigerator – has not changed signiﬁcantly since its in-

ception. There are, however, opportunities to automate

the fridge’s function signiﬁcantly. The penultimate in

refrigeration – the smart fridge – would possess at least:

Part I 83.2

Customer service

back office

Internet

Power company

back office

Automation in Home Appliances 83.2 Application Examples, Guidelines, and Techniques 1473

Table 83.1 Smart refrigerator food inventory

Type Subtype Instance Inventory date Expiry date Capacity Fill level

Milk 2% 1 23-Apr 10-May 4L 30%

Milk 2% 2 01-May 18-May 4L 100%

Olives Green 1 23-Apr 06-Dec 200g 100%

Beer Duff 1 23-Apr N/A 6 17%

Carrots N/A 1 23-Apr N/A 0.5kg 80%

... ... ... ... ... ... ...

•

Automatic food inventory

•

Automatic quality management.

In the basic implementation of the smart fridge con-

cept, the type and quantity of refrigerated food would

be stored in a database by the refrigerator. As items

are placed in the fridge, an identiﬁer – such as an

RFID tag – is read. Similar functionality could be im-

plemented via universal product code (UPC) symbol

instead of RFID, but this would require some user in-

tervention (the scanning of the symbol) and would this

represent asemiautomatic process. The tag indicates the

food type, the product brand name, the container size or

Start

End

Read

RFID

Weigh

food

item

Food item placed

in fridge

Yes

Compare expiry

date with

today's date

Food item

spoiled?

Food item

removed from

fridge?

Food item

returned to

fridge?

Almost

out?

Xmin

Issue food

spoilage warning

Add food item to

shopping list

Add food item to

shopping list

Fig. 83.5 Smart refrigerator inventory maintenance

weight, the use-by date, and any other information rel-

evant to the inventory process. To this the fridge adds

each item’s purchase date, physical location, and other

information (Table 83.1). As food is consumed, the

relevant database entry is updated; for example, a half-

gallon container of milk weighing 900g is determined

to be just under half full.

Several conditions trigger the ordering of food. If

the food container is not returned to the fridge within

a certain period of time, then the food is presumed to

be fully consumed and the smart fridge ﬂags the item

for replacement. Similarly, if the container is returned

to the fridge, but the fridge determines that the con-

Part I 83.2

1474 Part I Home, Ofﬁce, and Enterprise Automation

tainer’s contents havereached acritically low level, then

the item is also ﬂagged for replacement (Fig.83.5). Fur-

ther, if the item is nearing its use-by date, then the item

is marked for replacement.

Either automatically or pursuant to a demand by the

user, a shopping list can be generated. Using Internet

connectivity, the list can be sent directly to an online

grocer for delivery, or to a bricks-and-mortar grocer for

preparation and eventual collection by the user, or to the

user’s computer or mobile phone. Alternatively, the list

can be sent over the AAN to a printer and hand-carried

by the user to the market, or simply displayed on the

fridge’s own video display device (Fig.83.6).

The smart fridge concept further is conducive to

maximizing food freshness and safety. Detailed knowl-

edge of the fridge contents permits optimization of

temperature and humidity so as to extend food fresh-

ness. And since the smart fridge has retained the use-by

date for each item in its database, any food nearing its

end-of-life can result in safety alerts to the user and

automatic reordering or addition to the shopping list.

Advanced implementations of the smart fridge con-

cept include recipe cognizance. In one realization,

digital recipes – utilizing extensible markup language

(XML) or an appropriate means to identify informa-

tion elements within a recipe – are downloaded to the

fridge over the Internet/AAN, with the fridge alerting

the user as to which ingredients are lacking, and or-

dering them (or adding them to the shopping list) as

necessary. In another realization of recipe cognizance,

the smart fridge alerts the user as to which recipes can

Grocery list

• Milk

• Olives

• Beer

Grocery order

• Milk

• Olives

• Beer

Grocery list

• Milk

• Olives

• Beer

Grocery list

• Milk

• Olives

• Beer

Grocery store

Fig. 83.6 Shopping list generation and notiﬁcation

be prepared with the ingredients on hand by searching

the Internet for digital recipes which are matches to the

fridge inventory.

Clearly, the smart fridge is dependent on all of the

enabling technologies described previously: a compre-

hensive array of sensors, microprocessor control, and

connectivity.

83.2.2 Cooking

Cooking is, by its very nature, a labor-intensive process.

However, there are several opportunities for further au-

tomation of the processes performed by each of the

major cooking appliances, namely, the cook top (stove),

microwave oven, and convection oven. Some possibili-

ties are as follows.

Often, the temperature of convection ovens and

cook tops is not regulated, but controlled indirectly.

Rather than controlling the temperature, the appliance

controls the amount of energy dissipated. The vessels

used forcooking in convectionovens –and oncook tops

in particular – while not part of the appliance per se,

are critical components in the cooking process. Given

the nature of temperature regulation, the cooking ves-

sel is not integrated into the appliance’s temperature

regulation mechanism. Thus, as ingredients are added

to the cooking vessel, temperatures ﬂuctuate. With ap-

propriate sensors, vessel temperature can be stabilized,

with heat being added as sudden drops in temperature

are detected, thus automating what would otherwise be

the manual process of raising and lowering the energy

consumption rate.

For all cooking appliances, automated doneness

detection is possible. Optical sensors and internal tem-

perature probes can be used to cook precisely to the

desired doneness; for example, most meats are cooked

to a desired internal temperature, depending on personal

preferences for doneness. Temperature sensors can be

used to cook precisely to this temperature, without

over- or undershooting,with the appliance subsequently

keeping the meat warm without continuing to cook it.

(Note that, while temperature probes are often available

from third parties, they are strictly external and not inte-

grated with the cooking appliance’s temperature control

logic.)

Further, a sufﬁciently rich portfolio of probes

enables more reﬁned cooking cycles; for example, tra-

ditionally, we might set a convection oven to 232

◦

for 10min, then turn the temperature down to 163

◦

for 2h. A smart ovencouldbeprogrammedtoﬁrst

sear, then cook to an internal temperature of 60

◦

Part I 83.2