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Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot software-in-the-loop

INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING 2025年第1期2025卷

作者： Tullu, Abera Jung, Sunghun Lee, Sangchul Ko, Sangho Korea Aerosp Univ Dept Smart Drone Convergence Educ Goyang South Korea Korea Aerosp Univ Res Ctr Goyang South Korea Chosun Univ Fac Smart Vehicle Syst Engn Gwangju 80305 South Korea Korea Aerosp Univ Dept Smart Air Mobil Goyang South Korea

software-in-the-loop simulation tools have been extensively used in the development of safety-critical software. Utilizing these tools substantially accelerates software development, eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model-specific parameters on the development and testing of custom modules in a simulation environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and a steerable sensor platform/gimbal are used as a case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of a custom module that is incorporated into PX4 Autopilot and controls the dynamics of the steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize the PX4 Autopilot software-in-the-loop tool and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of the custom module. Based on these instances, simulation results are obtained and discussed. The results show that the effective use of the PX4 Autopilot software-in-the-loop simulation framework is justified by its proper customization and integration with the Gazebo simulator.

关键词： custom module Gazebo simulator PX4 Autopilot software-in-the-loop

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software-in-the-loop simulation for developing and testing carbon-aware applications

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software-PRACTICE & EXPERIENCE 2023年第12期53卷 2362-2376页

作者： Wiesner, Philipp Steinke, Marvin Nickel, Henrik Kitana, Yazan Kao, Odej Tech Univ Berlin Distributed & Operating Syst Berlin Germany

The growing electricity demand of IT infrastructure has raised significant concerns about its carbon footprint. To mitigate the associated emissions of computing systems, current efforts therefore increasingly focus on aligning the power usage of software with the availability of clean energy. To operate, such carbon-aware applications require visibility and control over relevant metrics and configurations of the energy system. However, research and development of novel energy system abstraction layers and interfaces remain difficult due to the scarcity of available testing environments: Real testbeds are expensive to build and maintain, while existing simulation testbeds are unable to interact with real computing systems. To provide a widely applicable approach for developing and testing carbon-aware software, we propose a method for integrating real applications into a simulated energy system through software-in-the-loop simulation. The integration offers an API for accessing the energy system, while continuously modeling the computing system's power demand within the simulation. Our system allows for the integration of physical as well as virtual compute nodes, and can help accelerate research on carbon-aware computing systems in the future.

关键词： co-simulation energy-awareness software-in-the-loop sustainable computing virtual energy system

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software-in-the-loop System for Motor Control Algorithms 25

Software-in-the-Loop System for Motor Control Algorithms

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IEEE 25th International Symposium for Design and Technology in Electronic Packaging (SIITME)

作者： Taut, M. A. Chindris, G. Taut, A. C. Tech Univ Cluj Napoca Appl Elect Dept Cluj Napoca Romania

ISBN: (纸本)9781728133300

This paper examines the reliability of the software-in-the-loop (SiL) testing environment precisely to test embedded system algorithms. The integrated algorithms system was developed around a BLDC motor based on a real-time operating system. The main features and functions of the control algorithms developed and implemented in an embedded system is to control the BLDC motor speed. The integration of the control algorithms of a BLDC motor model from the Model-in-the-loop (MiL) process into the SiL process comes precisely from the increasing need to reduce the amount of prototype testing and to check the resistance of control algorithms to conditions errors that are not practical to test on the hardware. To prove the efficiency of the SIL strategy, three types of algorithms have been developed and implemented for controlling such an electric motor by applying optimization techniques based on closed-loop regulators. The code generated after these models is tested and validated through different test scenarios according to the source model, creating a test report after which we can validate the correctness of the code generated in the SiL process.

关键词： software-in-the-loop BLDG Motor Real-Time System Motor Control Algorithm PMSM with FOC

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software-in-the-loop Simulation of Embedded Control Applications based on Virtual Platforms software-in-the-loop with Open Virtual Platforms (OVP) using real world data and devices 25

Software-in-the-Loop Simulation of Embedded Control Applicat...

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25th International Conference on Field Programmable Logic and Applications

作者： Werner, Stephan Masing, Leonard Lesniak, Fabian Becker, Juergen Karlsruhe Inst Technol Inst Informat Proc Technol ITIV Karlsruhe Germany

ISBN: (纸本)9781467381239

One challenge in developing complex software for embedded systems is the missing option of rapid prototyping in early stages of the development cycle. In this paper we present the use of the High Level Simulation Framework "Open Virtual Platforms" (OVP) for software-in-the-loop simulation of embedded control applications. Therefore, we investigate and evaluate different methods allowing the data exchange between the simulated platform and the host machine running the simulation environment. The insights we gain are used to design peripherals which appear to the simulated processor system like devices available on the targeted hardware platform and allow the access to files stored on the host machine on one hand, and the communication with hardware devices connected to the host on the other hand. In both cases the cross-compiled application code for the targeted embedded platform including the operating system (OS) and the hardware abstraction layer (HAL) can be executed by the virtual platform (VP) without any modifications. Additionally, we introduce a method for controlling the synchronization of OVP with the host, which can be used to either run simulations in fast motion mode, or to collaborate with hardware devices or other applications. The approach is verified with two use cases: (1) a motor control application processing data by accessing files and (2) an image processing application interacting with real hardware devices directly coupled with the virtual platform.

关键词： Virtual Platforms software-in-the-loop OVP Virtual Prototyping embedded control applications Cyber Physical Systems

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software-in-the-loop-simulation of a District Heating System as Test Environment for a Sophisticated Operating software 9

Software-in-the-Loop-simulation of a District Heating System...

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9th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH)

作者： Frotscher, Ophelia Oppelt, Thomas Urbaneck, Thorsten Otto, Sebastian Heinrich, Ingrid Schmidt, Andreas Goeschel, Thomas Uhlig, Ulf Frey, Holger Tech Univ Chemnitz Fac Mech Engn Professorship Appl Thermodynam D-09107 Chemnitz Germany Ingenieurburo Last & Energiemanagement LEM Softwa Nordpl 6 D-04105 Leipzig Germany Inetz GmbH Augustusburger Str 1 D-09111 Chemnitz Germany

ISBN: (纸本)9789897583810

With the expansion of renewable energies, district heating (DH) systems are becoming increasingly complex. Various heat sources like solar thermal plants and combined heat and power (CHP) plants are integrated in parallel, in addition thermal energy storages (TES) are often used to balance load and heat generation. Sophisticated software solutions are required to optimise the plant operation. Based on deterministic physical models and artificial neural networks, the software Heating Network Navigator (HN-Navi) is being developed to optimise the operation of such systems. Since tests in the real system are not possible for reasons of supply security, the HN-Navi is first tested in a software-in-the-loop (SiL) environment. TRNSYS (version 18) is used as simulation software to create a complex reference model (CRM) as basis for the SiL environment. The complexity of such real energy systems can lead to potentially high computing costs when it comes to simulating or optimising their operation as realistically and accurately as possible. For this reason, both software tools, i.e. HN-Navi and CRM, will be developed and tested with regard to the Bruhl solar DH system in Chemnitz (Germany), whereby the finished software will also be used for other heat supply systems. TRNSYS offers the possibility to develop own models for all system components, with which a proper reproduction of the real system can be achieved. Within the scope of the project, practical tests and extensive quantitative software comparisons with the real system will also be carried out. The article reports on the development of this SiL environment and its practical feasibility.

关键词： software-in-the-loop District Heating Renewable Energy Operation Simulation Optimisation

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A software-in-the-loop Implementation of Adaptive Formation Control for Fixed-Wing UAVs

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1230-1239页

作者： Jun Yang Ximan Wang Simone Baldi Satish Singh Stefano Fari Systems Engineering Research Institute China State Shipbuilding CorporationBeijing 100094China Delft Center for Systems and Control (DCSC) TU Delft2628CD DelftThe Netherlands School of Mathematics Southeast University211189 NanjingChinaand also with DCSCTU Delft2628CD DelftThe Netherlands German Aerospace Center (DLR) Institute of Space SystemsD-28359 BremenGermanyand was with Politecnico di MilanoItaly and also with DCSCTU DelftThe Netherlands

This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(*** on the payload). Modeling and autopilot design for such autonomous fixed-wing UAVs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of UAVs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.

关键词： ArduPilot adaptive formation control Fixed-wing UAVs software-in-the-loop simulations

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Hardware- and software-in-the-loop Simulation for Parameterizing the Model and Control of Synchronous Condensers

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IEEE TRANSACTIONS ON SUSTAINABLE ENERGY 2019年第3期10卷 1593-1602页

作者： Ha Thi Nguyen Yang, Guangya Nielsen, Arne Hejde Jensen, Peter Hojgaard Tech Univ Denmark Ctr Elect Power & Energy Dept Elect Engn DK-2800 Lyngby Denmark Siemens AS Energy Automat DK-2750 Ballerup Denmark

The rapid increase of converter-based generation in grids causes significant changes in system dynamic characteristics. These changes require verification and testing of the reliability, optimization, and functionality of power system elements and controllers, which become more important for guaranteeing a secure operation. This paper first introduces a hardware-in-the-loop setup of an automatic voltage regulator (AVR) control system and then proposes a software-in-the-loop (SiL) setup for the parameterization of an IEEE standard AVR/excitation system model and a power oscillation damping (POD) controller of synchronous condenser. The AVR hardware is interfaced with a simulated grid in real-time digital simulator (RTDS) using EMT simulation to evaluate its control functions. Parameter optimization for the POD and the AVR simulation model by SiL simulation is implemented in a closed loop between RTDS and MATLAB/Simulink interfaced through OPC to satisfy the optimization objectives. By the tests executed on the future Western Danish power system, parameter optimization of the POD and IEEE standard AVR model, and the function of AVR hardware are successfully implemented and verified.

关键词： Automatic voltage regulator hardware-in-the-loop parameter optimization power oscillation damping software-in-the-loop

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Multidimensional hybrid software-in-the-loop modeling approach for experimental analysis of a floating offshore wind turbine in wave tank experiments

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OCEAN ENGINEERING 2024年第Part1期309卷

作者： Bonnefoy, F. Leroy, V. Mojallizadeh, M. R. Delacroix, S. Arnal, V. Gilloteaux, J. C. Nantes Univ Ecole Cent Nantes CNRS LHEEAUMR 6598 F-44000 Nantes France

A hybrid experimental modeling approach for floating offshore wind turbines (FOWTs) in a wave tank is presented. The method called real-time hybrid method (RTHM) or software -in -the -loop (SIL) includes physically reproduced hydrodynamic loads in the wave tank, with a Froude-scaled model while aerodynamic loads are reproduced on the model by an actuator. The force is applied on the tower top and calculated by a numerical simulation running in real-time as a function of the measured velocity and position of the physical model. Couplings between the platform motion, the aerodynamic loads and the wind turbine controller are hence accounted for. A new SIL actuator enabling the reproduction of a multi -component force at the tower top of an experimental scaled wind turbine model is developed, and the quantification of the accuracy of the replicated forces is studied. The test case includes a floating spar platform carrying a 10 MW horizontal axis wind turbine. The results show that this SIL actuator can accurately replicate the low and wave -frequency aerodynamic loads, which are essential for wave tank testing. Lastly, a case study of the wind turbine model in colinear and misaligned wind and wave conditions is presented, showing 3D forces and induced motions.

关键词： Floating offshore wind turbines Experimental model test Hybrid modeling software-in-the-loop

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Finite element-based software-in-the-loop for offline post-processing and real-time simulations

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STRUCTURAL ENGINEERING AND MECHANICS 2018年第6期67卷 643-658页

作者： Oveisi, Atta Sukhairi, T. Arriessa Nestorovic, Tamara Ruhr Univ Bochum Mech Adapt Syst Inst Computat Engn Univ Str 150 D-44801 Bochum Germany

In this paper, we introduce a new framework for running the finite element (FE) packages inside an online loop together with MATLAB. Contrary to the Hardware-in-the-loop techniques (HiL), in the proposed software-in-the-loop framework (SiL), the FE package represents a simulation platform replicating the real system which can be out of access due to several strategic reasons, e.g., costs and accessibility. Practically, SiL for sophisticated structural design and multi-physical simulations provides a platform for preliminary tests before prototyping and mass production. This feature may reduce the new product's costs significantly and may add several flexibilities in implementing different instruments with the goal of shortlisting the most cost-effective ones before moving to real-time experiments for the civil and mechanical systems. The proposed SiL interconnection is not limited to ABAQUS as long as the host FE package is capable of executing user-defined commands in FORTRAN language. The focal point of this research is on using the compiled FORTRAN subroutine as a messenger between ABAQUS/CAE kernel and MATLAB Engine In order to show the generality of the proposed scheme, the limitations of the available SiL schemes in the literature are addressed in this paper. Additionally, all technical details for establishing the connection between FEM and MATLAB are provided for the interested reader. Finally, two numerical sub-problems are defined for offline and online post-processing, i.e., offline optimization and closed-loop system performance analysis in control theory.

关键词： software-in-the-loop finite element optimal placement structural optimization vibration control

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Controlled time series generation for automotive software-in-the-loop testing using GANs 2

Controlled time series generation for automotive software-in...

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IEEE International Conference on Artificial Intelligence Testing (AITest)

作者： Parthasarathy, Dhasarathy Backstrom, Karl Henriksson, Jens Einarsdottir, Solrun Volvo Grp Gothenburg Sweden Chalmers Univ Technol Gothenburg Sweden Semcon AB Gothenburg Sweden

ISBN: (纸本)9781728169842

Testing automotive mechatronic systems partly uses the software-in-the-loop approach, where systematically covering inputs of the system-under-test remains a major challenge. In current practice, there are two major techniques of input stimulation. One approach is to craft input sequences which eases control and feedback of the test process but falls short of exposing the system to realistic scenarios. The other is to replay sequences recorded from field operations which accounts for reality but requires collecting a well-labeled dataset of sufficient capacity for widespread use, which is expensive. This work applies the well-known unsupervised learning framework of Generative Adversarial Networks (GAN) to learn an unlabeled dataset of recorded in-vehicle signals and uses it for generation of synthetic input stimuli. Additionally, a metric-based linear interpolation algorithm is demonstrated, which guarantees that generated stimuli follow a customizable similarity relationship with specified references. This combination of techniques enables controlled generation of a rich range of meaningful and realistic input patterns, improving virtual test coverage and reducing the need for expensive field tests.

关键词： software-in-the-loop generative adversarial networks time series generation latent space arithmetic

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