The dataset contains the obtained trajectory (encoder measurements) of the 2D positioning system, as well as the reference (commanded) trajectory. The control task is distributed to the low-level controllers for x and y axes synchronized using IEEE 1588 Precision Time Protocol (PTP), where the movement of the axes is realized based on the data that the low-level controllers receive from the high-level controller. The dataset includes 60 signals (30 measurements for x and y axis) that represent obtained trajectories and 2 signals (x and y axes) that represent commanded trajectory, where the length of each signal is 61,000 samples. The system was designed and built by the Cyber-Physical Systems Lab at the Pratt School of Engineering, Duke University, where it is located. Table 1 shows the list of collected signals, whereas a detailed description of the system can be found in [1]. For more information, see [2, 3].

{"references": ["[1] - Lesi, V., Jakovljevic, Z., Pajic, M., Synchronization of distributed controllers in cyber-physical systems, In 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 710-717, 2019.", "[2] - Lesi, V., Jakovljevic, Z., Pajic, M., Towards plug-n-play numerical control for reconfigurable manufacturing systems, In 21st IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), pp. 1-8, 2016.", "[3] - Lesi, V., Jakovljevic, Z., M. Pajic, Distributing Numerical Control for Reconfigurable Manufacturing Systems, Technical Report, 2022, available at: https://cpsl.pratt.duke.edu/sites/cpsl.pratt.duke.edu/files/images/lesi_cnc19.pdf"]}

This dataset was developed with the support of the Science Fund of the Republic of Serbia, Grant No. 6523109, AI - MISSION4.0, 2020-2022.