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Design and testing of a pulley and cable actuator for large ball valves

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2016年第7期230卷 622-639页

作者： Pugi, L. Galardi, E. Pallini, G. Paolucci, L. Lucchesi, N. Univ Florence Dept Ind Engn Via S Marta 3 I-50139 Florence Italy Velan ABV SpA Capannori Italy

The objective of this work is the development of an innovative actuator for Velan ABV S.p.A., which is mainly used for control and special on/off applications where high efficiency and linear behaviors are desirable specifications. The main performances of the proposed actuator, which has been protected by a patent, have been compared with a conventional scotch yoke one, using both the simulation results and the experimental data. In order to measure the efficiency and the dynamical response of the actuators, the authors have designed a hydraulic test rig, configured to fulfill different testing procedures. In this way, it is possible to perform both static tests to identify actuator efficiency and dynamic hardware-in-the-loop tests in which an assigned load or valve impedance function is simulated to verify the response of the tested object in realistic operating conditions. Finally, the proposed test rig has been successfully used to perform reliability and fatigue tests in which the actuator is stressed with realistic and repetitive loads. Moreover, the integrated development of both innovative actuator and testing devices is explained introducing interesting concepts whose applications are normally limited to robotics (e.g. impedance and force control) or vehicular technology (e.g. smart suspensions and suppression of vibrations).

关键词： Pulley-cable actuator quarter turn valve hardware-in-the-loop testing hydraulic servosystem pneumatic servosystem robust control

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Evaluation of Fluid Resuscitation Control Algorithms via a hardware-in-the-loop Test Bed

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IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING 2020年第2期67卷 471-481页

作者： Mirinejad, Hossein Parvinian, Bahram Ricks, Margo Zhang, Yi Weininger, Sandy Hahn, Jin-Oh Scully, Christopher G. US FDA Off Sci & Engn Labs Ctr Devices & Radiol Hlth Silver Spring MD 20993 USA US FDA Ctr Devices & Radiol Hlth Silver Spring MD USA Univ Maryland Dept Mech Engn College Pk MD 20742 USA

Objective: This paper presents a hardware-in-the-loop (HIL) testing platform for evaluating the performance of fluid resuscitation control algorithms. The proposed platform is a cyber-physical system that integrates physical devices with computational models and computer-based algorithms. Methods: The HIL test bed is evaluated against in silico and in vivo data to ensure the hemodynamic variables are appropriately predicted in the proposed platform. The test bed is then used to investigate the performance of two fluid resuscitation control algorithms: a decision table (rule-based) and a proportional-integral-derivative (PID) controller. Results: The statistical evaluation of test bed indicates that similar results are observed in the HIL test bed, in silico implementation, and the in vivo data, verifying that the HIL test bed can adequately predict the hemodynamic responses. Comparison of the two fluid resuscitation controllers reveals that both controllers stabilized hemodynamic variables over time and had similar speed to efficiently achieve the target level of the hemodynamic endpoint. However, the accuracy of the PID controller was higher than the rule-based for the scenarios tested in the HIL platform. Conclusion: The results demonstrate the potential of the HIL test bed for realistic testing of physiologic controllers by incorporating physical devices with computational models of physiology and disturbances. Significance: This type of testing enables relatively fast evaluation of physiologic closed-loop control systems to aid in iterative design processes and offers complementary means to existing techniques (e.g., in silico, in vivo, and clinical studies) for testing of such systems against a wide range of disturbances and scenarios.

关键词： Fluids testing Biomedical monitoring Computational modeling Hemodynamics Monitoring Performance evaluation Cyber-physical system hardware-in-the-loop testing fluid resuscitation control physiologic closed-loop control systems

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An Effective Security Scheme for Attacks on Sample Value Messages in IEC 61850 Automated Substations

IEEE OPEN ACCESS JOURNAL OF POWER AND ENERGY

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IEEE OPEN ACCESS JOURNAL OF POWER AND ENERGY 2023年 10卷 304-315页

作者： Hussain, S. M. Suhail Aftab, Mohd Asim Farooq, Shaik Mullapathi Ali, Ikbal Ustun, Taha Selim Konstantinou, Charalambos King Fahd Univ Petr & Minerals KFUPM Elect Engn Dept Dhahran 31261 Saudi Arabia King Fahd Univ Petr & Minerals KFUPM Interdisciplinary Res Ctr Renewable Energy & Power Dhahran 31261 Saudi Arabia King Abdullah Univ Sci & Technol KAUST Comp Elect & Math Sci & Engn CEMSE Div Thuwal 23955 Saudi Arabia Vellore Inst Technol VIT Sch Comp Sci & Engn Vellore 632014 India Jamia Millia Islamia Dept Elect Engn New Delhi 110025 India AIST FREA Fukushima Renewable Energy Inst Koriyama 9630298 Japan

The trend of transforming substations into smart automated facilities has led to their swift digitalization and automation. To facilitate data exchange among equipment within these substations, the IEC 61850 standard has become the predominant standard. However, this standardization has inadvertently made these substations more susceptible to cyberattacks, which is a significant concern given the confidential information that is transmitted. As a result, cybersecurity in substations is becoming an increasingly critical topic. IEC 62351 standard provides guidelines and considerations for securing the IEC 61850 messages to mitigate their vulnerabilities. While securing Generic Object-Oriented Substation Event (GOOSE) messages has received considerable attention in literature, the same level of scrutiny has not been applied to Sampled Value (SV) messages despite their susceptibility to cyberattacks and similar frame format. This paper presents the impact of replay and masquerade attacks on SV messages. It also develops a scheme for securing SV messages against these attacks. Due to high sampling rate and time critical nature of SV messages, the time complexity of security scheme is critical for its applicability to SV messages. Hence, in this work, SV emulators have been developed in order to send these modified secure SV messages and investigate their timing performance. The results show that the proposed scheme can mitigate replay and masquerade attacks on SV messages while providing the necessary high sampling rate and stringent timing requirements.

关键词： Security IEC Standards Substations Computer crime Standards Synthetic aperture sonar Automation Substation automation IEC 61850 IEC 62351 cybersecurity power system communication sample values communication protocols hardware-in-the-loop testing

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Optimal Cell Removal to Enhance Operation of Aged Grid-Tied Battery Storage Systems

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IEEE TRANSACTIONS ON SUSTAINABLE ENERGY 2021年第1期12卷 739-742页

作者： Akhavan-Hejazi, Hossein Taylor, Zach Mohsenian-Rad, Hamed Univ Calif Riverside Coll Engn Riverside CA 92521 USA

The proper operation of aged batteries is essential to improve the reliability and performance of grid-connected battery energy storage systems (BESS). In this letter, we investigate on the phenomenon that removing certain battery cells within an aged battery pack, may lead to increasing the effective capacity of the BESS, because those cells with reduced capacity become the limiting factor for the overall BESS operation, while the remaining capacity of some other cells is not used. We optimize the process of identifying which battery cells from a grid-tied BESS should be removed in order to improve the overall BESS performance for smart grid applications. The experimental hardware-in-the-loop (HIL) testing of a grid-integrated BESS with aged cells is used to validate the developed models and show the increase in the effective capacity once the identified cells are removed. We also perform case studies to assess the impact of cell removal on the operation of an aged BESS in a peak demand shaving smart grid application.

关键词： Batteries Aging Discharges (electric) testing Resistance Energy states TV Aged battery pack grid-tied storage system cell removal peak demand shaving hardware-in-the-loop testing

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Enhanced Simulation-Based Verification and Validation of Automotive Electronic Control Units 5th

Enhanced Simulation-Based Verification and Validation of Aut...

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5th International Conference on Electronics, Communications and Networks (CECNet)

作者： Herpel, Thomas Hoiss, Thomas Schroeder, Jan Automot Safety Technol Gaimersheim Germany Univ Gothenburg Dept Comp Sci & Engn Gothenburg Sweden

ISBN: (纸本)9789811007408;9789811007385

Modern cars comprise of increasingly complex electronic devices. Especially for electronic control units (ECUs) in safety-critical application areas, testing must be effective and efficient in the potentially conflicting area of increasing system complexity and shorter development cycles. As a significant enhancement to well-known development efforts according to the V-Model, the use of ECU simulation models at the early stages of development were proposed. These models closely resembled the behavior and functionality of a real ECU in a state-based implementation compliant to modeling standards like UML (Unified Modeling Language). The approach was seamlessly embedded in automotive hardware in loop-based ECU integration and system testing, which allowed for a thorough verification and validation of basic system requirements and test case implementations.

关键词： Automotive electronics Verification and validation Simulation System modeling State charts hardware-in-the-loop testing

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Design and hardware-in-the-loop test of the embedded control system of an indoor quadrotor helicopter

Design and hardware-in-the-loop test of the embedded control...

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6th International Workshop on Intelligent Solutions in Embedded Systems (WISES 2008)

作者： Kis, Laszlo Regula, Gergely Lantos, Bela Budapest Univ Technol & Econ Dept Control Engn & Informat Technol Budapest Hungary

ISBN: (纸本)9783000249891

The paper deals with the quick prototype design and hardware-in-the-loop real-time test of the embedded controls system of an indoor miniature quadrotor helicopter (UAV) before first flight. The control law is of backstepping type, the sensory system consists of a marker-based vision system outside the helicopter in radio connection with the embedded controller and a 3D inertial measurement unit (IMU) on the helicopter. Extended Kalman filters solve the state estimation problem. Brushless DC motors serve as actuators, For quick prototype design of the embedded controller MATLAB, Simulink Real-Time Workshop and the MPC555 Target Compiler were used. Because of the critical character of the control of flying systems the whole embedded control system was hardware-in-the-loop tested by using DS1103 of dSPACE, for real-time emulation of the indoor helicopter During test the helicopter and the sensors were mapped to DS1103 and the test was performed it? real-time using the helicopter and sensor models. Communication during the test was running using CAN bus protocol between the Freescale MPC555 processor of the embedded controller and the emulation of the helicopter and the sensors on DS1103.

关键词： indoor UAV embedded controller real-time realization quick prototype design hardware-in-the-loop testing marker-based vision and IMU sensors extended kalman filters backstepping control

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Introduction of Visual Regression testing in Collaboration Between Industry and Academia 6th

Introduction of Visual Regression Testing in Collaboration B...

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33rd International Conference on Database and Expert Systems Applications (DEXA)

作者： Wetzlmaier, Thomas Klammer, Claus Haslauer, Hermann Hagenberg GmbH Software Competence Ctr Softwarepk 32 A-4232 Hagenberg Austria Palfinger Europe GmbH Franz Wolfram Schererstr 24 A-5020 Salzburg Austria

ISBN: (纸本)9783031143434;9783031143427

Cyber-physical systems (CPSs) connect the computer world with the physical world. Increasing scale, complexity, and heterogeneity makes it more and more challenging to test them to guarantee reliability, security, and safety. In this paper we report about a successful industry-academia collaboration to improve an existing hardware-in-theloop (HIL) test system with visual regression testing capabilities. For this purpose, we tried to follow an existing model for technology transfer from academia to industry and show its applicability in the context of CPSs. In addition, we provide a list of special collaboration challenges that should be considered in this context for successful industry-academia collaboration. And we discuss some key success factors of our collaboration, emphasizing that the CPS's system and expertise knowledge are of great importance.

关键词： Industry-academia collaboration Cyber-physical systems hardware-in-the-loop testing Technology transfer

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Over-The-Air Vehicle-in-the-loop Test System for Installed-Performance Evaluation of Automotive Radar Systems in a Virtual Environment 17

Over-The-Air Vehicle-in-the-Loop Test System for Installed-P...

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17th European Radar Conference (EuRAD)

作者： Buddappagari, Sreehari Asghar, M. E. Baumgaertner, F. Graf, S. Kreutz, F. Loeffler, Andreas Nagel, J. Reichmann, T. Stephan, R. Hein, Matthias A. Tech Univ Ilmenau Ilmenau Germany Mercedes Benz Stuttgart Germany dSPACE Paderborn Germany Continental Cologne Germany

ISBN: (纸本)9782874870613

Automotive millimeter-wave radar systems are key to automated and connected driving technologies. It is necessary to validate their functional performance in the installed state thoroughly, reliably, and efficiently under realistic conditions before deploying them in real-world traffic. Field-operational tests are the ultimate phase of verification and validation of radar sensors. This approach offers the highest degree of realism yet consuming enormous resources and associated risks. Additionally, these drive tests are neither sufficiently reproducible nor controllable. On the other hand, computer simulation-based closed-loop test approaches overcome these limitations, but lack physically realistic environments. Therefore, over-the-air testing approaches have gained great relevance in this context. In earlier work, we proposed an advanced system concept using an over-the-air vehicle-in-the-loop (OTA/ViL) approach for evaluating the installed performance of fully operational automotive radar systems. In this paper, we present the complete test system in a closed loop in a virtual electromagnetic environment with realistic radar target echoes. An exemplary traffic scenario is considered to validate the performance of the implemented test system. Initial measurements provide promising results. © 2021 EuMA.

关键词： antenna positioner automated and connected driving automotive radar hardware-in-the-loop testing over-the-air stimulation target simulation verification and validation

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Compensator Design for Model-in-the-loop testing 11

Compensator Design for Model-in-the-Loop Testing

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11th UKACC International Conference on Control (UKACC Control)

作者： Hu, Jiayang Plummer, Andrew R. Univ Bath Bath BA2 7AY Avon England

ISBN: (纸本)9781467398916

Model-in-the-loop (MiL) testing is a method in which the test object is split into a physical part and a simulated part, and these are connected with interfaces to form a combined physical-numerical system. The challenge of generating a MiL test is that, firstly, because of the limited dynamic response of the actuators, the test results may be inaccurate, and secondly, because of the high frequency noise introduced by the sensors to the closed-loop system, it may be difficult to design a compensator for the actuator response, while stabilizing the closed-loop system at the same time. In this paper, a MiL system is designed using a small hydraulic robot arm. The problems with the MiL test without any compensator is shown with experimental results. The effectiveness of a 1st order phase lead compensator and an inverse model compensator are validated in the experiment. For systems which can be approximated by linear time-invariant models, it is proposed that compensator design is a linear optimization problem balancing emulation error with noise amplification. Thus, a new method of designing the compensator for MiL testing based on H-infinity optimization is presented.

关键词： Model-in-the-loop testing hardware-in-the-loop testing Hybrid testing Substructuring Electrohydraulic Motion Control H-infinity Optimization

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Real-time infrared test set: Assessment and characterization

Real-time infrared test set: Assessment and characterization

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2nd Conference on Technologies for Synthetic Environments - hardware-in-the-loop testing

作者： Marlin, HR Bates, R Sweet, M Carlson, R Johnson, RB Martin, DH Chung, R Geist, J Mulford, C Zakar, E Zeto, RJ Olson, R Perkins, G Naval Command Control and Ocean Surveillance Ctr. (United States) Optical E.T.C. Inc. (United States) National Institute of Standards and Technology (United States) U.S. Army Research Lab. (United States) The Titan Corp. (United States)

ISBN: (纸本)0819424994

During the past several years, the technology for designing and fabricating thermal pixel arrays (TPAs) using silicon micromachined CMOS devices has been developed to support the development of a real-time infrared test set (RTIR) for sensors and seekers. The TPA is a custom application-specific integrated circuit device that is fabricated using a low-cost commercial CMOS process The RTIR is a compact, self-contained test instrument that is intended for test and evaluation of infrared systems in the field. This paper describes characterization of TPA pixels, including directional radiant intensity distribution, spatial radiance distribution, temperature distribution, cross talk, spectral radiance, air pressure effects, and rise and fall times.

关键词： infrared projector hardware-in-the-loop testing infrared source test set infrared

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