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cyber-Physical control of Indoor Multi-vehicle Testbed for Cooperative Driving 3

Cyber-Physical Control of Indoor Multi-vehicle Testbed for C...

引用

3rd ieee conference on Industrial cyberphysical systems, ICPS 2020

作者： Bemani, Ali Bjorsell, Niclas University of Gävle Dept. of Electrical Engineering Mathematics and Science Gävle Sweden

ISBN: (纸本)9781728163895

The system of connected vehicle to vehicle and vehicle to infrastructure can be considered as a wireless cyber-physical system of systems (Wireless CPSoS), which will be provided with the high ability of adaptive control on system of systems, cooperative scenarios to control of a Wireless CPSoS and adaptive wireless networked control system (WNCS). In this paper we present our multi-vehicle testbed based on the cyber-physical system that was designed for verification and validation of cooperative driving algorithm involving WNCS testing. Vehicles were developed as the physical prototype equipped with Raspberry-pi microprocessor and other sensing elements. This testbed consists of a fleet of 4 robot vehicles. An indoor positioning system (IPS) based on particle filter is purposed by using an inertial measurement unit (IMU) and iBeacon that is built upon Bluetooth Low Energy. Some typical cooperative driving scenarios can be implemented on this testbed under indoor laboratory. The method used to realize the objective statement was Model Predictive control (MPC) with a state observer based on a Kalman Filter (KF). Because the wireless control systems can be severely affected by the imperfections of the wireless communication link. Our experimental testbed paves the way for testing and evaluating more intelligent cooperative driving scenario with the use new wireless technology and control system in the future. © 2020 ieee.

关键词： cyber Physical System

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Automatic Weld Path Generation for Mesh Objects

Automatic Weld Path Generation for Mesh Objects

引用

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

作者： Nathan Larkin Andrew Short Zengxi Pan Stephen van Duin Defence Materials Technology Centre University of Wollongong Australia School of Mechanical Materials and Mechatronics Engineering University of Wollongong Australia

ISBN: (纸本)9781538604915

Automated Offline Programming (AOLP) is an emerging programming paradigm where industrial robot programs are generated from computer models with minimal human effort. Arc welding, such as Gas Metal Arc Welding (GMAW) or Tungsten Inert Gas (TIG), is particularly suited for this application due to the unique retooling requirements. A key aspect of the AOLP process is the determination of accurate welding paths. We present a novel algorithm to extract accurate welding paths for regular or irregular 3D bodies. Our process is computationally inexpensive with processing times less than a second for typical applications. We detail three examples with a range of complexity and examine the accuracy of the results and computational performance.

关键词： Welding Wires Programming Barium Service robots Solid modeling

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Enhancing Security using Trusted Blockchain Method for Internet of Vehicle

Enhancing Security using Trusted Blockchain Method for Inter...

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2024 ieee international conference on automation and Computation, AUTOCOM 2024

作者： Yadav, Shreya Singh, Karan Bezzateev, Sergey Jawaharlal Nehru University School of Computer and Systems Sciences New Delhi India Saint Petersburg State Universityof Aerospace Instrumentation Russia

ISBN: (纸本)9798350382723

In the Internet of Vehicles (IoV) era, connected vehicles are about to embark on an innovative journey, opening avenues for innovative applications and increasing security measures. Even as the number of connected cars in the automotive industry rises significantly, security and privacy vulnerabilities continue. Existing IoV applications use intelligent sensors to collect valuable data from connected cars while operating within cyber-physical communication infrastructures. This technological-evolution enables the sharing of essential information among drivers, insurance companies, and service providers. Today's Internet of Vehicles ecosystem is vulnerable to hackers who can steal data or spy on communication. Blockchain technology enhances security and decreases the risk of these threats in the IoV network. IoV stores records about how drivers behave, speeding incidents, vehicle and component candidates, records accidents and repair history. Ensuring the reliability and accuracy of this data is crucial because insurance companies use it to determine premiums. In this paper, we propose introducing blockchain technology to vehicle networking so that vehicles can benefit from various scalable IoV application scenarios for decision-making and use a distributed access control system to share data with more security, reliability, and trust. The proposed structure provides a trust model for data sharing among connected *** trust model establishes a secure and efficient consensus framework for data sharing. Through a comprehensive analysis, we validate the effectiveness of our proposed scheme in ensuring the integrity and reliability of shared data. © 2024 ieee.

关键词： Vehicles

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control Electronics Integration toward Endoscopic Capsule Robot Performing Legged Locomotion and Illumination

Control Electronics Integration toward Endoscopic Capsule Ro...

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ieee/RSJ international conference on intelligent Robots and systems

作者： Alonso, O. Freixas, L. Canals, J. Susilo, E. Dieguez, A. Univ Barcelona Dept Elect Barcelona Spain Scuola Super Sant Anna Ctr Res Microengn CRIM Lab Pisa PI Italy

ISBN: (纸本)9781424466757

Miniaturization of sensors and actuators up to the point of active features in endoscopic capsules, such as locomotion or surgery, is a challenge. VECTOR endoscopic capsule has been designed to be the first endoscopic capsule with active locomotion. It is equipped with mini-legs driven by Brushless DC (BLDC) micro motors. In addition it can be also equipped with some other sensors and actuators, like a liquid lens, that permits to enable advanced functions. Those modules are managed by an ASIC specifically designed for the VECTOR capsule. The ASIC is a complete System-On-Chip (SoC) and integrates all the electronics needed to enable the legged locomotion and the sensing and actuating functions of the capsule in an unique chip. The SoC also enables other functions for endoscopic capsules such as drug delivery and a biopsy system. The size of the SoC is 5.1 mm x 5.2 mm in a 0.35 um high voltage CMOS technology.

关键词： ASIC CMOS integrated circuits CMOS technology SoC VECTOR endoscopic capsule biopsy system brushless DC micro motors brushless DC motors control electronics integration control engineering computing drug delivery drug delivery systems endoscopes endoscopic capsule robot illumination legged locomotion legged locomotion medical robotics surgery system-on-chip system-on-chip

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Distance Estimation Based on the Triple-spike Transmission in Diffusion-based Molecular Communication systems

Distance Estimation Based on the Triple-spike Transmission i...

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

作者： Kaiwen Hu Chao Wang Mingyue Cheng Xuan Chen Yu Huang Jun Li Research Center of Intelligent Communication Engineering School of Electronics and Communication Engineering Guangzhou University Guangzhou China School of Electronic and Information Engineering South China University of Technology Guangzhou China Guangdong Provincial Key Laboratory of Short-Range Wireless Detection and Communication Guangzhou China

In recent years, molecular communication (MC) has received much attention as a novel communication paradigm with versatile applications in the biomedical field, nanomaterials, industry and military. The transmission distance is one of the important pa-rameters in MC, and it affects the channel gains, which are important for the detection process in the receiver. The estimation accuracy of distance highly affects the performance and efficiency of the MC system, so an in-depth study is necessary with regard to this issue. Due to the fact that the distance information should be measured and provided before the coherent detection, we propose a novel distance estimation method that requires only one-way transmission without clock synchronization, which is low-complexity and time-saving compared to the previous works.

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Modeling and Simulation of ICT Network Architecture for cyber-Physical Wind Energy System

Modeling and Simulation of ICT Network Architecture for Cybe...

引用

ieee international conference on Smart Energy Grid Engineering (SEGE)

作者： Ahmed, Mohamed A. Kang, Yong Cheol Kim, Young-Chon Chonbuk Natl Univ Smart Grid Res Ctr Dept Elect Engn Jeonju South Korea Chonbuk Natl Univ Smart Grid Res Ctr Dept Comp Engn Jeonju South Korea Chonbuk Natl Univ Smart Grid Res Ctr WeGAT Res Ctr Jeonju South Korea

ISBN: (纸本)9781467379335

There are many challenges and concerns about the impact of integrating more and more wind power farms (WPFs) into the power grid. A WPF can be considered as a cyber-physical energy system (CP-ES) due to the coupling between the physical power system and the cyber communication network. While the information and communication technology (ICT) infrastructure is the key concept to support a reliable operation, real-time monitoring and control of large-scale wind farms, it has been less addressed and rarely discussed. This work aims to design the ICT network architecture for a cyber-physical wind energy system (CP-WES) which consists of wind turbines, meteorological masts, substation, and a local control center. We consider different applications: operation data (analogue measurements & status information) from wind turbines, meteorological data from the meteorological towers, and protection & control data from intelligent electronic devices (IEDs). A real wind farm project (Zafarana-1, Egypt) has been considered as a case study. The proposed ICT network architecture is modeled and evaluated using OPNET Modeler. Network topology, link capacity, and end-to-end delay are three critical parameters investigated in this work. Our network model is validated by analyzing the simulation results.

关键词： wind power farm (WPF) cyber-physical wind energy system (CP-WES) information and communication technology (ICT)

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Torque model for design and control of a spherical wheel motor

Torque model for design and control of a spherical wheel mot...

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Proceedings of the 2005 ieee/ASME international conference on Advanced intelligent Mechatronics, AIM 2005

作者： Lee, Kok-Meng Son, Hungsun Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta GA 30332-0405 United States Woodruff School of Mech. Eng. Georgia Tech. Atlanta GA 30332 United States

This paper presents a method of deriving the torque model for a three degrees of freedom (3-DOF) spherical motor such as a variable-reluctance spherical motor (VRSM) or a spherical wheel motor (SWM). The SWM (much like the VRSM capable of offering three-DOF in a single joint) offers the ability to spin continuously while the rotor shaft can be tilted arbitrarily. We derive a closed-form torque model and demonstrate its use for designing the switching controller based the principle of push-pull operation for the SWM. The closed-form torque model given here greatly reduces the torque computation, and simplifies the design of the switching controller. © 2005 ieee.

关键词： Electric motors

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A novel switching method in producing two-phase output from single-phase input

A novel switching method in producing two-phase output from ...

引用

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

作者： M. Esmaeili N. Niassati A. Salimi E. Afjei Department of Electrical Engineering Malek Ashtar University of Technology Shahin Shahr Isfahan Iran Department of Electrical & Computer Engineering Shahid Beheshti University Tehran Iran

In this study, a new method is presented for producing two-phase AC output, from a single-phase AC input, based on the studies performed in [1] and also other novel techniques. Initially, the main idea behind the proposed method is presented and discussed, and then a practical switching and circuitry configuration, in order to achieve the aims of the idea is presented. Finally, simulation is performed in MATLAB®/SIMULINK™ environment, in order to investigate the performance of the proposed technique. First a load and circuitry configuration is chose, to provide the maximum output voltage amplitude. Then output is investigated using other configurations. The results are presented and discussed.

关键词： Mathematical model Switches Integrated circuit modeling Switching circuits Load modeling Induction motors Software packages

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cyberEarth: A virtual simulation platform for robotics and cyber-physical systems

CyberEarth: A virtual simulation platform for robotics and c...

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2019 ieee international conference on Robotics and Biomimetics, ROBIO 2019

作者： Zhang, Xiaoyang Wang, Hongpeng Liu, Jingtai Li, Haifeng Nankai University Tianjin Key Laboratory of Intelligent Robotics College of Artificial Intelligence Tianjin300350 China Civil Aviation University of China Department of Computer Science and Technology Tianjin300300 China

ISBN: (纸本)9781728163215

The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of user-programming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up program-driven simulation software of complex robots and intelligent systems by integrating several open-source technical modules, including Ubuntu Linux operation-system, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)-based 3D scene, and also Python based user-programing robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform cyberEarth for robotics and cyber-Physical systems. The typical robotic simulation task, which is a visual coverage task for Multi-Agent/UAV, is also introduced to demonstration the universality of this platform. © 2019 ieee.

关键词： intelligent systems

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F-Siamese Tracker: A Frustum-based Double Siamese Network for 3D Single Object Tracking

F-Siamese Tracker: A Frustum-based Double Siamese Network fo...

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ieee/RSJ international conference on intelligent Robots and systems (IROS)

作者： Zou, Hao Cui, Jinhao Kong, Xin Zhang, Chujuan Liu, Yong Wen, Feng Li, Wanlong Zhejiang Univ Inst Cyber Syst & Control Hangzhou 310027 Zhejiang Peoples R China Zhejiang Univ State Key Lab Ind Control Technol Hangzhou 310027 Zhejiang Peoples R China Huawei Noahs Ark Lab Hong Kong Peoples R China

ISBN: (纸本)9781728162126

This paper presents F-Siamese Tracker, a novel approach for single object tracking prominently characterized by more robustly integrating 2D and 3D information to reduce redundant search space. A main challenge in 3D single object tracking is how to reduce search space for generating appropriate 3D candidates. Instead of solely relying on 3D proposals, firstly, our method leverages the Siamese network applied on RGB images to produce 2D region proposals which are then extruded into 3D viewing frustums. Besides, we perform an online accuracy validation on the 3D frustum to generate refined point cloud searching space, which can be embedded directly into the existing 3D tracking backbone. For efficiency, our approach gains better performance with fewer candidates by reducing search space. In addition, benefited from introducing the online accuracy validation, for occasional cases with strong occlusions or very sparse points, our approach can still achieve high precision, even when the 2D Siamese tracker loses the target. This approach allows us to set a new state-of-the-art in 3D single object tracking by a significant margin on a sparse outdoor dataset (KITTI tracking). Moreover, experiments on 2D single object tracking show that our framework boosts 2D tracking performance as well.

关键词： Computer vision

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