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共 35037 条记录，以下是4891-4900 订阅

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Comprehensive Analysis on Safety and Reliability of Safety-Related systems Considering Common Cause Failure 7

Comprehensive Analysis on Safety and Reliability of Safety-R...

引用

7th international conference on control automation and Information Sciences (ICCAIS)

作者： Du, Siqi Ma, Lianchuan Cao, Yuan Beijing Jiaotong Univ Sch Elect & Informat Engn Beijing Peoples R China Beijing Jiaotong Univ Natl Engn Res Ctr Rail Transportat Operat & Contr Beijing Peoples R China

ISBN: (纸本)9781538660201

The common cause failure (CCF) has severe impacts on the safety and reliability of the system, and is the main cause of dangerous failure or function failure. The risk of CCF can be effectively reduced by adopting proper redundancy architectures in the design of safety-related system. In this paper, several common L-channel M-out-of-N parallel redundancy architectures are chosen for study. Firstly, the formulas of the redundancy architectures' safety and reliability indicators are derived respectively, and then the indicators are comprehensively analyzed. Secondly, by comparing the PFH and failure rate of the independent failure parts between that of the CCF parts of the single-channel architecture separately, it is verified that the CCF is the crucial cause of the system failure. Finally, through comprehensively analyzing the PFH and failure rate of all the redundancy architectures, it shows that the overall performance of the four-channel 2-out-of-4 architecture is optimal.

关键词： common cause failure safety reliability PFH failure rate

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A high efficient 3D SLAM algorithm based on PCA

A high efficient 3D SLAM algorithm based on PCA

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Shangjie Shi Wei Zhou Shuang Liu School of Mechanical and Powering East China University of Science Technology Shanghai China Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Nanjing University of Science and Technology Nanjing China

ISBN: (纸本)9781509027347

In this paper, an improved algorithm for 3D SLAM is presented. A data dimensional reduction algorithm-Principal Component Analysis (PCA) is adopted, so as to speed up the rate of feature extraction from RGB-D images(640×480). To overcome the poor efficiency performance on the original RGB-D SLAM, a novel memory management algorithm and an incremental appearance-based loop closure detector are used to realize the 3D mapping and robot's trajectory estimation. In the back-end, the robot's trajectory and global map is optimized by g2o. The experiments demonstrate that the proposed method is faster and more effective than the original RGB-D SLAM.

关键词： Three-dimensional displays Simultaneous localization and mapping Algorithm design and analysis Principal component analysis Feature extraction Memory management Covariance matrices

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In-vitro Intravascular Simulator with Quantitative Evaluation for Surgical Tools Used in Cerebral Aneurysm Surgery Based on Stress Analysis

In-vitro Intravascular Simulator with Quantitative Evaluatio...

引用

ieee international conference on Robotics and automation (ICRA)

作者： Shi, Chaoyang Kojima, Masahiro Tercero, Carlos Najdovski, Zoran Kodama, Hirokatsu Nakajima, Masahiro Ikeda, Seiichi Fukuda, Toshio Arai, Fumihito Negoro, Makoto Nagoya Univ Dept Micronano Syst Engn Nagoya Aichi 4648603 Japan Deakin Univ Intelligent Syst Res Geelong Vic 3217 Australia Nagoya Univ Dept Mech Sci & Engn Nagoya Aichi 4648603 Japan Fujita Hlth Univ Dept Neurosurg Toyoake Aichi Japan

ISBN: (纸本)9781467356411;9781467356435

This paper presents a new in-vitro simulator that can simulate the new technology of three-dimensional digital subtraction angiography (DSA) to perform a cerebral aneurysm surgery. Then, propose a new technique for the numerical evaluation of the surgical tools applied within this interventional surgery to aid in the design and selection of surgical instruments. Initially, the in-vitro intravascular simulator was constructed, followed by cerebral aneurysm models that were fabricated with highly sensitive photoelastic materials of epoxy resin. Then reconstruct virtual reality modeling of the blood vessel and catheter to record the position information and realize virtual guidance for training. Meanwhile, conduct image processing of photoelastic effects for numerical evaluations of surgical instruments such as catheter insertion and stent expansion. During the stent expansion experiment, the average stress in the selected region of interest caused by the expansion was calculated and compared with the corresponding value obtained before the expansion. The presented simulator and measurement technique can assist in improving a surgeons skills, quantifying the performance of medical mechanisms, and contribute to 3D analysis of stress distribution. This approach can also provide feedback control for robot assisted endovascular systems.

关键词： blood vessels diagnostic radiography medical image processing surgery virtual reality

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Constrained Mixed-Critical Parallelization for Distributed Heterogeneous systems 9

Constrained Mixed-Critical Parallelization for Distributed H...

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9th ieee international conference on intelligent Data Acquisition and Advanced Computing systems - technology and Applications (IDAACS)

作者： Hoettger, Robert Oezcelikoers, Mustafa Heisig, Philipp Krawczyk, Lukas Wolff, Carsten Igel, Burkhard IDiAL Inst Dortmund Univ Appl Sci & Arts Dortmund Germany

ISBN: (纸本)9781538606971

Distributing software effectively to multi core, many core, and distributed systems has been studied for decades but still advances successively driven by domain specific constraints. Programming vehicle ECUs is one of the most constrained domains that recently approached the need for concurrency due to advanced driver assistant systems or autonomous driving approaches. In this paper, software distribution challenges for such systems are discussed and solutions are presented for instruction precise modeling, affinity constrained distribution, and reducing task response times achieved by advanced software parallelization. Therefore, existing partitioning and mapping algorithms are advanced to consider affinity constraints, software component tags and communication costs. Our experiments along a remote controlled model car show that using our new advanced results instead of sequential implementations or software distributions provided by the operating system on a distributed heterogeneous system significantly improves its responsiveness in order to potentially reduce energy consumption and replaces error prone manual constraint considerations for mixed-critical applications.

关键词： Constrained parallelization heterogeneous systems distributed systems multicore parallel embedded systems

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Offensive and Defensive Strategy for Distribution Network CPS Considering EV Source-charge Bidirectional 2

Offensive and Defensive Strategy for Distribution Network CP...

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2nd international conference on cyber-Energy systems and intelligent Energy, ICCSIE 2024

作者： Zhao, Zhenqi Teng, Jun Yu, Wenduo Yang, Fan Deng, Linjiang He, Bangpeng State Grid Yingkou Power Supply Company Yingkou China State Grid Shenyang Power Supply Company Shenyang China Northeastern University Shenyang China

ISBN: (纸本)9798350373318

The modern power system has developed into a cyber-physical system(CPS) in which power and information networks are highly interpenetrating. However, along with the large-scale grid integration of Electric Vehicles(EV), the modern power system's ability to consume new energy has been greatly increased while further reducing the network security of the distribution network. On this basis, this paper firstly proposes a distributed energy management strategy based on the consistency algorithm, which regards EV clusters as energy storage devices with source-charge bidirectional characteristics. Considering false data injection(FDI) attack, a control strategy based on prestige value isolation is proposed to achieve the energy management of the system under cyber attack. Finally, the feasibility of the control strategy is verified by arithmetic simulation. © 2024 ieee.

关键词： cyber attacks

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Kinematics and workspace analysis of 7-DOF upper-limbed rehabilitation robot

Kinematics and workspace analysis of 7-DOF upper-limbed reha...

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Qizhi Yang Jiajia Fang Xinpo Ma Xingang Zhao Jinhai Zhao Luyi Qian Junpeng Song School of Agricultural Equipment Engineering Jiangsu University Zhenjiang China Institute of Intelligent Robotics Jiangsu University State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China

The special characteristics of kinematics and workspace of 7-DOF upper-limbed rehabilitation robot is studied with the combination of the methods of theoretical analysis and simulation. Firstly, D-H transformation matrix is applied to establish the kinematics model. Secondly, the three-dimensional model of the rehabilitation robot is established in Pro/E and imported into ADAMS/view for the kinematics analysis. And the final simulation results are concurred with theoretical curves, which verified the correctness of theoretical analysis. Finally, the workspace analysis based on the theory of Monte Carlo provided a basis for the robot trajectory scheme.

关键词： Kinematics Robot kinematics Joints Actuators Mathematical model MATLAB

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Development and experiment of soil disinfection injection system

Development and experiment of soil disinfection injection sy...

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Su Shuai Wang Xiu Zou Wei Zhang Chunfeng Li Jinpeng Beijing Research Centre of Intelligent Equipment for Agriculture Beijing China

ISBN: (纸本)9781479987313

A variable soil disinfection injection system was designed. The system mainly composing of controller, six-way injection units and detection unit etc. The controller generates 6-channel PWM signals, which can be adjusted independently. Detection unit can real-time detect speed of advance and spraying dose. Under the set pressure, by changing the frequency and duty cycle of the PWM signals to control solenoid valve opening and closing, realizing accurate control flow. We had a different duty ratio under different frequency of flow measurement test, spraying flow model is established. The results showed that: when the frequency is 6Hz, duty cycle of the PWM signal and flow has the best linear relationship. controllers at this frequency can be the most accurate dosage control. We conducted a flow model validation experiments, results show that : the spray flow control error within ± 5% range.

关键词： Pulse width modulation Soil Valves Solenoids Frequency control Spraying Agriculture

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cyber-physical avionics systems and its reliability evaluation

Cyber-physical avionics systems and its reliability evaluati...

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Zhitao Wu Ning Huang Xiaoyan Zheng Xinkun Li Engineering & Science Beihang University Beijing China

Avionics systems play a significant role in civil aircraft, and its reliability is directly related to the flight safe. In this paper, integrated modular avionics (IMA), as the most advanced avionics systems, is analyzed. Via exploration of the interaction mechanism of IMA and real physical system, its property of cyber-physical systems (CPS) is determined. Hence, according to different functional modules, a cyber-physical avionics systems model is established for IMA, meanwhile task-oriented state spaces of sub-units in CPS architecture are assigned to construct the hierarchical model for reliability model of IMA. A mathematic formula is presented to calculate reliability. The key contribution is that task-oriented cyber-physical idea is applied, and a hierarchical model for reliability analysis of IMA is presented. At last, reliability model is applied to a case study, which shows that two different way to raise IMA reliability.

关键词： Aerospace electronics Reliability Aircraft Computer architecture Atmospheric modeling Analytical models Mathematical model

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Extremum Seeking for Single-Variable Static Map with Measurement Noise via A Time-Delay Approach

Extremum Seeking for Single-Variable Static Map with Measure...

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Bowen Zhao Xuefei Yang Emilia Fridman Bin Zhou Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Electrical Engineering Tel-Aviv University Israel

In this article, we introduce a time-delay approach to extremum seeking (ES) for scalar static quadratic maps with measurement noise. The approach involves transforming the ES system into a time-delay neutral type system with stochastic perturbations, which guarantees the stability of the original ES system. Using a Lyapunov-Krasovskii (L-K) method, explicit conditions are established for the mean-square ultimate boundedness of the ES control systems. These conditions are expressed in terms of LMIs and depend on the intensity of measurement noise, tuning parameters, and a known arbitrarily large constant $L$ that bounds the 6th moment of the estimation error. Compared to existing results for ES with measurement noise obtained via qualitative analysis, our approach provides a quantitative analysis via a time-delay approach to averaging. A numerical example is provided to illustrate the efficiency of the proposed method.

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On the study of workpiece localization with a cost-effective vision based method

On the study of workpiece localization with a cost-effective...

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ieee international conference on cyber technology in automation, control, and intelligent systems

作者： Weizhi Xing Yongsheng Ou Guangaong Provincial Key Laboratory of Robotics and Intelligent System Chinese Academy of Sciences Shenzhen China

In a factory automation application, position measurement of a workpiece is crucial. Computer vision is one of the most important methods for localizing the workpiece. Special equipment, such as a camera and a laser range finder are often used to measure and detect the position of the workpiece. However, the process of obtaining these measurements are usually highly specialized and expensive. Our method concentrates on improving the accuracy of the workpiece position measurement without expensive equipment. We use Kinect as the 3D sensor, which consists of a RGB camera and a depth camera. First mark points in both the Kinect coordinate and the manipulator coordinate are obtained. Then calibration between Kinect and Manipulator is obtained using Quasi-Newton method with the initial mark points. In order to improve the accuracy, we propose an improved registration based on Iterative Closest Point (ICP) to further derive the final transformation matrix. Experiment shows that this comprehensive method is practical.

关键词： Manipulators Three-dimensional displays Robot sensing systems Robot kinematics Accuracy Cameras

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