{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T02:21:36Z","timestamp":1760149296318,"version":"build-2065373602"},"reference-count":22,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2023,7,23]],"date-time":"2023-07-23T00:00:00Z","timestamp":1690070400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Program PORTUGAL2020","award":["POCI-01-0247-FEDER-039764"],"award-info":[{"award-number":["POCI-01-0247-FEDER-039764"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Applied Sciences"],"abstract":"<jats:p>The washing of road tankers is currently still a manual process that requires an operator to place the washing head into the tanks. To increase productivity and operator safety, it is essential to implement automated systems with Fault Detection and Isolation (FDI) capabilities. On the other hand, the industry 4.0 paradigm promotes the use of collaborative systems that integrate with the other organization\u2019s processes. Realizing this new vision requires Supervision, Control and Data Acquisition (SCADA) systems with FDI modules that integrate with collaborative systems and promote the digitalization of companies. This paper proposes a SCADA system for a new road tanker washing robot, aimed at integrating all systems and communication networks of the organization and future FDI modules. To this end, this paper proposes a communication architecture based on open protocols and a common database to connect SCADA to the lower and higher levels of automation. Furthermore, this paper describes the various aspects of SCADA system development, from synoptic design to validation. To support the development of the SCADA system, a Digital Twin (DT) of the road tanker washing robot was used, allowing to test and validate its functionality through this virtual prototype. The results show that the proposed SCADA system and underlying information architecture are suitable for supervision of a robotized wash operation and that the use of a Digital Twin facilitates SCADA system design and validation.<\/jats:p>","DOI":"10.3390\/app13148500","type":"journal-article","created":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T03:17:27Z","timestamp":1690168647000},"page":"8500","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Supervision System 4.0 for a Road Tanker Washing Robot Manipulator"],"prefix":"10.3390","volume":"13","author":[{"given":"Lu\u00eds","family":"Vicente","sequence":"first","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"CARMONA\u2014Sociedade de Limpeza e Tratamento de Combust\u00edveis, S.A., 2925-201 Azeit\u00e3o, Portugal"}]},{"given":"Fernando","family":"Carreira","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"LAETA\/IDMEC\u2014Instituto de Engenharia Mec\u00e2nica, 1049-001 Lisbon, Portugal"}]},{"given":"Francisco M.","family":"Campos","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2448-8667","authenticated-orcid":false,"given":"M\u00e1rio J. G. C.","family":"Mendes","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"CENTEC\u2014Centre for Marine Technology and Ocean Engineering, 1049-001 Lisbon, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6628-4657","authenticated-orcid":false,"given":"Jo\u00e3o M. F.","family":"Calado","sequence":"additional","affiliation":[{"name":"ISEL\u2014Instituto Superior de Engenharia de Lisboa, Instituto Polit\u00e9cnico de Lisboa, 1959-007 Lisbon, Portugal"},{"name":"LAETA\/IDMEC\u2014Instituto de Engenharia Mec\u00e2nica, 1049-001 Lisbon, Portugal"}]},{"given":"Gamboa","family":"Carvalho","sequence":"additional","affiliation":[{"name":"CARMONA\u2014Sociedade de Limpeza e Tratamento de Combust\u00edveis, S.A., 2925-201 Azeit\u00e3o, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1016\/j.ifacol.2022.07.125","article-title":"Development of PLC Based Fault Isolation and Remote IIoT Monitoring of Three Tank System","volume":"55","author":"Mozaryn","year":"2022","journal-title":"IFAC-PapersOnLine"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"182","DOI":"10.1016\/j.isatra.2021.01.030","article-title":"Fault detection and isolation using relative information for multi-agent systems","volume":"116","author":"Bai","year":"2021","journal-title":"ISA Trans."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"825","DOI":"10.1016\/j.renene.2018.05.024","article-title":"Anomaly detection and fault analysis of wind turbine components based on deep learning network","volume":"127","author":"Zhao","year":"2018","journal-title":"Renew. 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