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Formal methods help in coping with the growing functionality and complexity, time-to-market and costs in cyber-physical systems (CPSs). Supervisory control synthesis (SCS) is such a method. It can be used to synthesize a controller for a CPS from the uncontrolled system model (plant) and the specification model (requirements). While SCS is an active research topic, reports on industrial applications...
This paper investigates the event-triggered and self-triggered state feedback control problem of networked control systems(NCSs) with short network-induced delays. The proposed switched system modeling method is able to describe the uncertainty and the time-varying characteristics of the network-induced delays well. In this paper, for NCSs with short network-induced delays, we co-design the event-triggered...
In this paper, a novel technology is presented in which organic substrate manufacturing is used to create sensors and actuators directly in the CPU package. The dielectric material surrounding some interconnect traces in the substrate is removed, allowing those traces to act as sensors and actuators, while the CPU itself is used for signal processing and conditioning. To demonstrate proof of concept,...
The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition,...
An overview of the current state of the formal modeling of cyber-physical systems (CPSs) is presented, and the challenges in developing high-confidence CPSs are discussed. To ensure the dependability of CPSs, CPSs formal model (CPSFM) is proposed based on a kind of Object-Oriented Petri nets (OPN). CPSFM describes the structure and behaviors of sensors, actuators and controllers. A variety of well-established...
This study investigates a Wi-Fi-based Wireless Networked Control System. This system is first modified in order to enhance resistance to interference. Then, it is subjected to different types of interference. The system consists of a workcell containing 30 sensors, 30 actuators and 1 controller. All forms of interference modeled focus on the operating frequency band used by the control nodes. All...
The multi-domain model established based on Modelica can effectively describe the dynamics and randomicity of failure behavior in complex systems. Firstly, the characteristics of multi-domain model are described, and the modeling methodology of failure behavior in complex systems based on multi-domain language is introduced; then the multi-domain model of actuator is established based on the components...
Service robot is one of the most promising industries in the future. Modular framework for designing and implementing a distributed service robot system including robot and intelligent environment is proposed. Components as sensors and actuators of a robotic system are standardized in both hardware and software design, resulting in an abstraction of digital smart devices with certain functions. A...
It has become a common practice to employ networks in control systems for connecting controllers and sensors/actuators on controlled plants and processes. A networked switched control system, as a special case of networked control systems, is studied. Such a system is represented with network-induced delays and packet dropout as a switched time-varying delay system. Sufficient conditions for exponential...
In this note we consider centralized and decentralized control policies for the detection and containment of a moving source in 2D diffusion-advection PDE, often describing environmental processes. Such a task is enabled by the employment of a network of sensing devices judiciously located within the 2D spatial domain. These devices are assumed to have actuating capabilities aimed at containing the...
In this paper we extend our previous work and consider two related problems: the first one proposes a method for the scheduling of static sensors in a network where it is assumed that an array of sensing devices is available to provide measurements on the state of a process governed by a partial differential equation. The second problem considers the guidance of a mobile sensor network used in a process...
This paper examines the effects of position-dependent delays of mobile actuator/sensor pairs when employed for the control of spatially distributed systems. It is assumed that a collocated pair moves freely within the spatial domain in order to minimize the effects of a moving source. A time delay that depends on the distance of the actuator/sensor pair from the base station is incorporated into the...
We use an approximate input reconstruction algorithm to reconstruct unknown inputs, which are then used as a basis for fault detection. The approximate input reconstruction algorithm is a least squares algorithm that estimates both the unknown initial state and input history. The estimated inputs are then compared to the commanded values and sensor values to assess the health of actuators and sensors...
This paper proposes a scheme for the guidance of a moving collocated sensor/actuator pair for the performance enhancement of a class of spatially distributed processes. It is assumed that a spatially moving source forces the process state to deviate from its equilibrium throughout the spatial domain. Such a configuration minimizes the control effectiveness of a fixed-in-space sensor/actuator pair...
Cabled robotic systems have been used for a diverse set of applications such as environmental sensing, search and rescue, sports and entertainment and air vehicle simulators. In this paper, we introduce a new cabled robot- Networked Info Mechanical System for Planar actuation (NIMS-PL), with energy profiling capabilities. Accurate energy measurements supported by NIMS-PL enable path planning that...
Traditional method of structural vibration control through stiffen the components, decoupling the harmonic resonance system, vibration and damping isolation, or dynamic vibration absorb, all rely structure damping consumption the energy, the control effect is limited because the constraints of materials performance. Piezoelectric smart structure with advantages such as fast response, arrangement flexible,...
It has become a common practice to employ networks in control systems for connecting controllers and sensors/actuators on controlled plants and processes. A networked switched control system, as a special case of networked control systems, is studied. Such a system is represented with network-induced delay and packet dropout as a switched delay system. Sufficient conditions for robust exponential...
Since the aircraft has the special requirements for the electromechanical actuator (EMA), the electrical servo control system using brushless DC (BLDC) motor is designed to fulfill these requirements in this paper. An angular position detecting method of helm is proposed to overcome the electromagnetic interference from the PWM inverter. This method combines motorpsilas discrete Hall sensors signal...
We consider the development of a systematic optimization process that can be used to locate sensors in distributed parameter systems. We focus on two components in this process: developing a performance metric, and invoking optimization algorithms to find the best location of sensors according to this metric. In choosing a metric, we incorporate the notion of a worst-case, spatially distributed disturbance...
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