# An Experimental Framework for 5G Wireless System Integration into Industry 4.0 Applications
## 6 Conclusions  
This paper presented an experimental framework for 5G wireless system integration into industrial applications, aimed at providing service to industries, motivated from the lack of digitalization reference models considering in depth wireless performance integration and performance. The presented experimental framework consists on an operational flow that describes the different steps to be applied to move from the understanding of the needs of a factory, to the deployment and optimization of 5G-integrated applications. The framework is complemented by a number of prototyping tools: a network traffic sniffer, a 5G emulator, and a wireless multi-access gateway, which are of a great utility throughout the integration process. The prototyping devices have been carefully designed and calibrated to ensure an optimal behavior and a negligible impact when interconnected with operation industrial machines. Further, this paper exemplifies the application of the framework on a real industrial use case: the 5G-integration of autonomous mobile robots. Two looped runs of the operational flow are applied: the first focusing on the overall 5G control of the robots, and the second one focusing on the 5G mobile edge-cloud operation of the robot path planner. In both cases, the potential of 5G for operating reliably the use case of autonomous mobile robots was demonstrated. It was also shown how the 5G operation of the robots was superior in terms of control-loop reliability to the one of Wi-Fi 6, which resulted in several robot outages of a few seconds. The current flow, prototyping tools and lab environment are proven to be effective at current, but the experimental framework will need to continue evolving in order to support the integration of future 5G releases, time-sensitive networks, ultra-low latency control-loop features, or even future more advanced wireless technologies such as 6G. Conceptualization, I.R. ; methodology, I.R., R.S.M. and P.M.; hardware and software, R.S.M., P.H.C., A.F., T.R. and S.M. ; validation, R.S.M., A.F., T.R. and S.M. ; investigation, I.R., R.S.M., A.F., T.R., S.M., G.B. and C.S. ; writing--original draft preparation, I.R., R.S.M. and A.F. ; writing--review and editing, I.R., R.S.M., A.F., G.B. and C.S. ; supervision, I.R., P.M., C.S. and O.M. ; project administration, I.R. ; funding acquisition, P.M. and O.M. All authors have read and agreed to the published version of the manuscript. This research was partially funded by Industriens Fond Denmark through the project \"Real-Time Industrial IoT with 5G\". * _[PERSON] et al. (2020)_ [PERSON]; [PERSON]; [PERSON]; [PERSON] Multi-Connectivity as an Enabler for Reliable Low Latency Communications--An Overview. _IEEE Commun. Surv. Tutor._**2020**, _22_, 156-169. [CrossRef]
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