# Supervision System 4.0 for a Road Tanker Washing Robot Manipulator
## 3 SCADA 4.0 System
### SCADA 4.0 Software
The SCADA system connection to the database allows the sharing of the process data with big data analysis software (machine learning, for example), carrying out the necessary analyses to introduce improvements in the process or alert to possible failures or breakdowns. As the proposed SCADA system supports communication using the standard open protocols of Industry 4.0, whenever new equipment is added to the washing process, it can be integrated into the existing SCADA system, making the M2M communication easier to obtain. Figure 7: Supervision application for mobile devices: (**a**) layout for screens wider than 500 pixels; (**b**) layout for screens less than 500 pixels wide. 3. FDI, alarm generation and management  
The safety of installations and processes has become increasingly important in production systems. To identify possible faults/failures and solve them in the shortest possible time, an alarm triggering and management function was included in the proposed SCADA 4.0 system. In the event of a fault, it is important that the problem is identified, the appropriate alarm is triggered and a notification is issued. In this sense, whenever a parameter falls outside its safe value range, an alarm is issued by the SCADA system. To categorize the alarms, a criticality scale with five different levels was adopted, and the alarms were categorized according to their severity. The current alarm functionalities will be extended, in the future, with the adoption of FDI systems based on classic and machine learning methodologies. There exist several possible faults/failures in this kind of system, and Table 1 presents some of them, as well as some feasible solutions to detect, diagnose and solve these faults/failures. 4. Report generation and management  
Reports are one of the most important resources for communicating information about the process operation to the organization's management. In the SCADA 4.0 paradigm, it is essential to automate production status reports to make organizational management more efficient by using complete and updated data. By using the software modules provided by Ignition, automatic report generation is performed by configuring their layout and selecting the data from the database to be displayed in each report. In the SCADA system under study, a weekly report was thus automated with all the alarms that occurred during that period. The report distribution process was also automated, with the alarm report being sent by email to select users. The implemented SCADA system allows preparing additional reports according to the operation and the organization needs. 5. Robot manipulator safety and SCADA system security  
Since the monitoring interfaces of the robot manipulator can be accessed via the Internet, it is essential to establish a security policy to ensure that only authorized operators have access. Unauthorized access to the robot manipulator can cause serious accidents [7; 22]. Thus, a security policy was adopted for the robot manipulator control, which consists of allowing restricted access via the Internet and limiting the interventions that operators can perform remotely through the SCADA system. To adopt this strategy, a role-based policy based on three distinct categories was used, with each category having different permissions within the SCADA system. In this sense, each user is assigned a role that specifies their permissions. To complete the supervision system, an audit system was also developed which stores the interactions between the operator and the robot manipulator.