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In this paper, we aim to explore path following. We implement a path following component by referring to the existing Pure Pursuit algorithm. Using the simulation and field operational test, we identified the problem in the path following component. The main problems identified were with respect to vehicles meandering off the path, turning a corner, and the instability of steering control. Therefore,...
Robot Operating System (ROS) is a software component framework developed for robot applications. It provides a rich set of software libraries and tools to construct robot components, including implementation of many popular perception, planning, and control algorithms. The state of the art in ROS, however, does not fundamentally support priority and synchronization among tasks, so-called nodes in...
This paper presents a componentized TOPPERS/ASP3 (a real-time operating system) time event notification using a plugin feature for the TOPPERS Embedded Component System (TECS). With emerging trends in cyber-physical systems, productivity is becoming a problem, owing to the complexity of such systems. To solve this problem, TECS has been proposed previously. Whereas TECS supports the generation of...
Vehicular Ad-hoc Networks (VANETs) using a connected-car technology can support safety-critical applications in Cooperative Intelligent Transportation Systems (C-ITS). While WAVE/DSRC has been investigated by a number of researchers to support VANETs, it may not be easy to distribute WAVE/DSRC in the near future due to several practical obstacles. In this paper, we discuss an alternative to support...
The robotics field provides with many typical applications of Cyber-Physical Systems (CPS). Robots are expected to be deployed in a wide variety of applications including life supporting work or disaster response and therefore they need to follow strict safety and dependability constraints. In order to create robots with high utility, safety and dependability, research has focused both on creating...
This study investigates the effect of stochastic behavior in an electricity market comprising farm owners, an electricity company, and a persuasive dialogue system. Numerical simulations confirm the effect of such behavior on the electricity price.
In this study, the authors apply particle swarm optimization to estimate the unknown parameters of a McKibben pneumatic artificial muscle model. The estimation results show that the best parameters are obtained without trial and error of the heuristic method.
In this paper, a controller design methodology is discussed for a large-scale cyber-physical system (CPS) with agents having various characteristics. Especially, a representative model is introduced, which helps us to design controllers. Actually, the representative model is of much lower order than the scale of the large-scale CPS, and thus designing a controller for this model is much easier. In...
This paper considers the problem of sensor attack detection for multiple operating mode systems, building upon an existing attack detection method that uses a transient fault model with fixed parameters. For a multiple operating mode system, the existing method would have to use the most conservative model parameters to preserve the soundness in attack detection, thus not being effective in attack...
Using an unscented Kalman filter (UKF), the paper estimates the contraction ratio and unknown parameters in a mathematical model of McKibben pneumatic artificial muscle. In an application study, the UKF effectively estimated the contraction ratio and the unknown parameters at various the measured pressures.
We propose a masking method to protect agents' privacy for distributed optimization. In the proposed method, Agents add some signals to the own original state to conceal private information. To obtain the correct solution of the optimization problem, they exchange the added signals and subtract the received signals from the own state. Finally, we apply it to a microgrid and show that the supply-demand...
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