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Formalizing the Safety Functions to Assure the Software Quality of NPP Safety Important Systems 16

Formalizing the Safety Functions to Assure the Software Qual...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Jharko, Elena Ph Russian Acad Sci VA Trapeznikov Inst Control Sci 65 Profsoyuznaya Moscow 117997 Russia

ISBN: (纸本)9789897583803

One of the most critical tasks in the software complexes quality assurance is the procedure of forming requirements to a developed or modified system and subsequent their verification. The essential errors are making in the first life cycle stages - these are errors in determining requirements, selecting the architecture, high-level design. Faults of safety critically important software may considerably damage the equipment or properties, as well to lead to an essential detriment of the environment and human victims. Increasing requirements to the software quality of NPP (nuclear power plant) safety important systems at all stages of the life cycle is concerned with increasing the software complexity and functionality and has led the necessity of developing approaches to justify both the system itself safety and software involved in the systems makeup. In the paper, an approach is considered, based on the "safety functions", meeting which in the sequel is verifying. This approach is used under the soft- and hardware complexes software assurance of upper level systems of automated process control systems and may be applied for the fault tolerance analysis, informationand cyber-security of soft- and hardware complexes.

关键词： Nuclear Power Plant Quality Assurance Safety Functions Software Validation Verification

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An Improvement in a Local Observer Design for Optimal State Feedback control: The Case Study of HIV/AIDS Diffusion 16

An Improvement in a Local Observer Design for Optimal State ...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Di Giamberardino, Paolo Iacoviello, Daniela Sapienza Univ Rome Dept Comp Control & Management Engn Antonio Ruber Via Ariosto 25 I-00185 Rome Italy

ISBN: (纸本)9789897583803

The paper addresses the problem of an observer design for a nonlinear system for which a preliminary linear state feedback is designed but the full state is not measurable. Since a linear control assures the fulfilment of local approximated conditions, usually a linear observer is designed in these cases to estimate the state with estimation error locally convergent to zero. The case in which the control contains an external reference, like in regulations problems, is studied, showing that the solution obtained working with the linear approximation to get local solutions produces non consistent results in terms of local regions of convergence for the system and for the observer. A solution to this problem is provided, proposing a different choice for the observer design which allows to obtain all conditions locally satisfied on the same local region in the neighbourhood of a new equilibrium point. The case study of an epidemic spread control is used to show the effectiveness of the procedure. The linear control with regulation term is present in this case because the problem is reconducted to a Linear Quadratic Regulation problem. Simulation results show the differences between the two approaches and the effectiveness of the proposed one.

关键词： Nonlinear Systems Linear Observer Optimal control LQR Epidemic Spread

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Computation of Trajectory Sensitivities with Respect to control and Implementation in PSAT 16

Computation of Trajectory Sensitivities with Respect to Cont...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Hossain, Ramij Raja Kumar, Ratnesh Iowa State Univ Dept Elect & Comp Engn Ames IA 50011 USA

ISBN: (纸本)9789897583803

Trajectory sensitivity based analysis is widely regarded as an important tool for real time protection scheme of power systems. Model Predictive control (MPC) for voltage instability is one such protection scheme which computes a sequence of control actions depending upon the trajectory behaviour of the dynamics of the power systems. Thus, computation of trajectory sensitivities with respect to control input can be an integral part for designing a real-time protection scheme. In this context, it is important to note that for the state-of-the-art Power System Analysis Tool (PSAT)(Milano, 2005), (Milano et al., 2008), while it is relatively easy to compute the trajectory sensitivities with respect to any system variables, the computation of trajectory sensitivities with respect to control inputs is not explicitly supported. This paper presents a method to extend the functionality of PSAT to also compute the trajectory sensitivities with respect to control inputs, which ultimately forms the basis for real-time protection schemes such as MPC. The proposed method is validated using direct time-domain simulation results.

关键词： Power System PSAT Static VAR Compensator Trajectory Sensitivity wrt control Under Load Tap Changer

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Evolutionary Split Range controller for a Refrigeration System 16

Evolutionary Split Range Controller for a Refrigeration Syst...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Amador Soto, Gerardo Jose Hernandez-Riveros, Jesus-Antonio Univ Nacl Colombia Fac Minas Cra 80 65-223 Medellin Colombia

ISBN: (纸本)9789897583803

Every year more than 80 million units of domestic refrigerators are produced worldwide. Hundreds of millions are used continuously so the impact on electricity is significant. Typical initiatives in energy efficiency for refrigeration systems are aimed at: a) redesigns b) new materials and c) good use practices. A different approach in energy efficiency for Vapour Compression Refrigeration Systems (VCRS) is the implementation of control strategies that directly reduce energy consumption while guaranteeing operating conditions. The difficulty lies in the multiple energy domains of the system (electric/mechanical/hydraulic/thermal), high coupling, multiplicity of variables, strong non-linearity and non-stationary regime. This paper focuses on increasing the energy efficiency of a VCRS with the implementation of an optimal split range and multi-objective evolutionary control. The evolutionary control is expanded to variable speed compressors and electronic expansion valves. The effectiveness of the evolutionary method was demonstrated through the Benchmarking of the IFAC. Now, in the multi-domain model of the VCRS, the MAGO algorithm is applied to optimally tune a split range controller to achieve a more precise behaviour and multi- objective to save energy. The cases studied go from traditional control to multivariable and multivariable-multi-objective control, the results in energy saving are outstanding.

关键词： Refrigeration Adaptive and Learning Systems controller Design Evolutionary Algorithms Split Range control Multiobjective control

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12th international conference on informatics in control, automation and robotics, icinco 2015

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12th international conference on informatics in control, automation and robotics, icinco 2015

ISBN: (纸本)9783319318967

The proceedings contain 22 papers. The special focus in this conference is on robotics and automation. The topics include: Formation control and vision based localization of a system of mobile robots;path tracking controllers for fast skidding rover;gravitational search algorithm-based evolving fuzzy models of a nonlinear process;speech phoneme classification by intelligent decision-level fusion;genetic algorithm for automated X-ray diffraction full-profile analysis of electrolyte composition on aluminium smelters;improving the 3D positioning for low cost mobile robots;kinematics, simulation, and analysis of the planar and symmetric postures of a serial-parallel climbing robot;a standing assistance scheme using a patient’s physical strength by a load estimation considering the muscle arrangements of a human leg;multimodal image registration and visual servoing;trajectory tracking control of an excavator arm using guaranteed cost control;computation of curvature skeleton to measure deformations in surfaces;on structure and distribution of software for mobile manipulators;model-free (human) tracking based on ground truth with time delay;highly parallelizable algorithm for keypoint detection in 3-D point clouds;3D modelling of biped robot locomotion with walking primitives approach in simulink environment;freezing method approach to stability problems;scanning techniques with low bandwidth radar for robotic mapping and localization;pole placement of linear time-varying discrete systems and its application to trajectory tracking control of nonlinear systems;Bayesian quadrature variance in sigma-point filtering and adaptive nonlinear information filters for multiple sensor fusion.

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Force Display control System using 2 DOF Admittance control in Surgical Training Simulator with Chiseling Operation 16

Force Display Control System using 2 DOF Admittance Control ...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Masuyama, Kentaro Noda, Yoshiyuki Ito, Yasumi Kagiyama, Yoshiyuki Ueki, Koichiro Univ Yamanashi Integrated Grad Sch Med Engn & Agr Sci Kofu Yamanashi Japan Univ Yamanashi Fac Engn Dept Kofu Yamanashi Japan Univ Yamanashi Fac Med Chuo Yamanashi Japan

ISBN: (纸本)9789897583803

This study contributes to developing the virtual surgical training simulator for chiseling operation. In surgical operations using the bone chisel, impact forces are applied to the bone by pounding the chisel with the mallet. To virtually represent this situation in the training simulator, the force display system with high stiffness and instant reaction to the impact force is needed. In order to realize this force display system, we constructed the force display device with the ball-screw mechanism for obtaining the high stiffness, and proposed the two degree-of-freedom (2 DOF) admittance control for reacting instantaneously in the previous study. In this study, the force display control system using 2 DOF admittance control is analyzed, and the feedforward and feedback controllers in 2 DOF admittance control are developed for improving the reaction of the force display device. The efficacy of the proposed control system is verified by creating a virtual experience to the chiseling manipulation of a hard object using the bone mallet. From the experimental results, it is confirmed that the movement, contact, chiseling and splitting sensations are displayed more accurately than the conventional approach.

关键词： Surgical Training Simulator Virtual Reality Force Display Device Chiseling 2 DOF Admittance control

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Active Lower Limb Orthosis with One Degree of Freedom for Paraplegia 16

Active Lower Limb Orthosis with One Degree of Freedom for Pa...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Sunada, Takuhiro Obinata, Goro Pei, Yanling Chubu Univ Dept Robot Sci & Technol 1200 Matsumoto Cho Kasugai Aichi 4878501 Japan Aichi Univ Technol Dept Elect Control & Robot Engn 50-2 Nishihasama Cho Gamagori 4430047 Japan

ISBN: (纸本)9789897583803

This paper describes a new design of active lower limb orthosis which is called as oneDHALO (one-actuator Drive Hip and Ankle Linked Orthosis). The oneDHALO has a linking mechanism which connects both ankle joints with a medial hip joint and an actuator which drives the rotation angle. The joints linkage mechanism keeps feet always in parallel with the floor to avoid stumbling, and assists swinging of the leg. One servo motor has been introduced to assist and control the movement constrained by the mechanism. To match the active movement to walking phase, optical sensors have been introduced at the soles for detecting the distance between the feet and floor. The control device which consists of internal communication system, sensor interfaces and a single board computer (Raspberry Pi) is designed for all in one with the mechanical part of the orthosis. The system has achieved continuous walking based on the feedback signals from the sensors. This paper reveals the preliminary experimental results of the system to show the good points of the design.

关键词： Assistive Robot Device Lower Limb Orthosis Active control Mechanism of Linkage All in One

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Locomotion mode selection plus (LMS+) algorithm for resource efficient outdoor navigation 16

Locomotion mode selection plus (LMS+) algorithm for resource...

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16th international conference on informatics in control, automation and robotics, icinco 2019

作者： Sharif, Amir Roth, Hubert Institute of Control Engineering University of Siegen Germany

ISBN: (纸本)9789897583803

Mobile robots that can fly in air and drive on ground may offer fast and energy efficient navigation. In this paper, a unique method has been proposed for optimal outdoor navigation of robots that can fly and drive. An offline dual mode path planning algorithm is developed and it is named as Locomotion Mode Selection Plus (LMS+) algorithm. It uses a two dimensional ground route from a web based geographic map server and makes a three dimensional resource optimised path, by considering dual mode locomotion. The results showed that the LMS+ algorithm makes a path that is optimised for travel time and energy consumption. The output path can be directly given to dual mode robots for resource optimised autonomous outdoor navigation. Copyright © 2019 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Mobile robots

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Smart Wheelchairs: Using robotics to Bridge the Gap between Prototypes and Cost-effective Set-ups 16

Smart Wheelchairs: Using Robotics to Bridge the Gap between ...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Aquilina, Matthew Bugeja, Marvin K. Fabri, Simon G. Univ Malta Dept Syst & Control Engn MSD-2080 Msida Malta

ISBN: (纸本)9789897583803

Wheelchairs have improved the lives of many people with limited mobility. Yet, to this day, conventional wheelchairs are still not a viable option for mobility independence in cases of people with severe weakness or poor coordination e.g. Amyotrophic Lateral Sclerosis (ALS). Smart wheelchairs (SWs) overcome many of these limitations by adding an extra layer of intelligence to the system. SWs have so far remained mostly inaccessible to the general public, due to a limited market presence and steep costs. This paper thus presents the design and implementation of a novel SW which makes the upgrade of a commercially available motorised wheelchair to a SW a much simpler process. The system is a complete implementation offering low-level hardware control, a specialised ROS architecture and autonomous navigation algorithms allowing shared user control or fully-autonomous movement. Contrary to most other published works, the focus of this paper is to implement a fully-featured working prototype with minimal hardware complexity and an efficient modular software development environment. Initial practical tests in typical use scenarios showcased the successful operation of the complete system. The developed prototype SW has the potential to restore autonomy to people who are unable to use conventional or powered wheelchairs.

关键词： Smart Wheelchair Assistive Technology ROS Autonomous Navigation Mapping Electronic Hardware Design

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Reliability Analysis of the Kalman Filter for INS/GPS Integrated Navigation System Applied to Train 16

Reliability Analysis of the Kalman Filter for INS/GPS Integr...

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16th international conference on informatics in control, automation and robotics (icinco)

作者： Cho, Seong Yun Kang, Chang Ho Shin, Kyung Ho Kyungil Univ Dept Robot Engn Gyongsan South Korea Korea Univ Res Inst Engn & Technol Seoul South Korea Korea Railrd Res Inst Railrd Control & Commun Res Team Uiwang South Korea

ISBN: (纸本)9789897583803

This paper aims to analyse the navigation performance that can be provided by the navigation system when applying the INS/GPS integrated navigation system to the train. The performance of the Kalman filter integrating INS and GPS can be summarized by the integrity of the measurement and the observability of the filter. Assuming the integrity of the GPS information used as a measurement is always satisfied, the performance of the filter can eventually be analysed by the observability. The observability of the filter depends on the dynamic trajectory of the train. Because the train has a non-holonomic constraint and onedimensional motion, the filter design and the performance analysis are carried out considering this. We analyse the observability of the filter through simulation and explain the limit of the filter and the flaw of the observability. We also analyse the reliability of the navigation system and present additional research directions.

关键词： INS/GPS Train Application Kalman Filter Observability RMSE

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