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IEEE Symposium on Computers and Communications (ISCC)

作者： Silva, Natassya B. F. Fontes, Joao V. C. Branco, Kalinka R. L. J. C. Univ Tecnol Fed Parana Cornejo Procopio Brazil Univ Sao Paulo Sao Carlos Brazil

ISBN: (纸本)9781728129990

Unmanned Aerial Vehicles (UAVs) are aircraft without a human aboard that can fly autonomously or be remotely piloted. Several configurations of UAVs have been developed to fulfill the requirements of different applications. Between them, it is possible to highlight the tailsitter, a hybrid design with the advantages of fixed-wing and Vertical TakeOff and Landing (VTOL) aircraft. A tailsitter UAV with simplicity as its main characteristic is AVALON (Autonomous VerticAL takeOff and laNding), which also has the disadvantage of a complex operation due to its multiple flight stages. To enable its autonomous procedure, AVALON requires a control system capable of stabilising the flight during its entire operation. Therefore, this paper reports the validation of control structures based on proportional-derivative controllers for AVALON's flight stages with software-in-the-loop experiments in the flight simulator X-Plane. The results show small errors for most of the flight stages, with the exception of landing. Despite of being able to land vertically, it still presented large errors and a yaw variation during this last stage.

关键词： Tailsitter Autopilot software-in-the-loop Unmanned Aerial Vehicles

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Path-following algorithms comparison using software-in-the-loop simulations for UAVs

Path-following algorithms comparison using Software-in-the-L...

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IEEE Symposium on Computers and Communications (ISCC)

作者： Xavier, Daniel M. Silva, Natassya B. F. Branco, Kalinka R. L. J. C. Univ Sao Paulo Escola Engn Sao Carlos Sao Carlos Brazil Univ Tecnol Fed Parana Cornejo Procopio Brazil Univ Sao Paulo Inst Ciencias Matemat & Comp Sao Carlos Brazil

ISBN: (纸本)9781728129990

Unmanned Aerial Vehicles (UAVs) are aircraft that can be autonomously operated and doesn't need a pilot aboard. Consequently, the autopilot is one of the main parts of an UAV, being responsible for stabilising the aircraft during the flight, executing navigation tasks and sensing the environment. Several path-following simulations for loiter paths are described in the literature, but most of them only consider the kinematics model of an aircraft. Therefore, this paper compares path-following algorithms for loiter paths in a more realistic scenario, using software-in-the-loop simulations and considering the dynamic model of the aircraft in the flight simulator X-Plane. The algorithms compared are: Carrot-Chasing, Pure Pursuit and Line-of-Sight (PLOS) and Non-Linear Guidance Law (NLGL). Lastly, a new algorithm (NLGL+) is proposed with a modification from the original algorithm and its results show smaller errors and less effort than all path-following algorithms.

关键词： software-in-the-loop unmanned aerial vehicles navigation path-following algorithms

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CMP-SiL: Confidential Multi Party software-in-the-loop Simulation Frameworks 24

CMP-SiL: Confidential Multi Party Software-in-the-Loop Simul...

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24th International Symposium on Quality Electronic Design (ISQED)

作者： Jain, Shalabh Pappachan, Pradeep Guajardo, Jorge Trieflinger, Sven Raghupatruni, Indrasen Huber, Thomas Robert Bosch LLC Farmington CT 48331 USA Robert Bosch GmbH Stuttgart Germany

ISBN: (纸本)9798350334753

Increasing complexity of systems and software in the automotive industry, coupled with distributed development environments has intensified adoption of software in the loop (SIL) systems, i.e. setup where traditional hardware components are designed and tested in pure virtual PC/IT environment consisting of virtualized hardware and networks. Cloud-based SiL simulation systems involving multiple contributors and orchestrators create huge risks for organizations due to potential for leakage of confidential model-IP to adversaries within the distributed infrastructure. This can create a bottleneck for wide-scale adoption of SiL-systems. We propose a data-flow architecture using trusted-computing technologies (e.g. Intel-SGX) to protect models and IP in cloud-based SiL environments. We illustrate that these protections can be designed to be compatible with existing SiL tools and workflows with minimal modifications. Further, we highlight the need for future standardization efforts of such security architectures in the SiL domain.

关键词： software-in-the-loop Automotive Security

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Open-Source software-in-the-loop Strategies for Realistic UAV Monitoring Applications

Open-Source Software-in-the-Loop Strategies for Realistic UA...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Chamorro, William Toapanta, Franciso Carrillo, Andrey Loyaga, Erick Valencia, Esteban DACI Escuela Politecn Nacl Quito Ecuador LUAS Escuela Politecn Nacl Quito Ecuador

ISBN: (纸本)9798350357899;9798350357882

The rise in UAV capabilities has significantly boosted aerial monitoring activities in recent years. This surge in unmanned aerial vehicles has increased attention towards monitoring tasks in vital areas, such as urban spaces for security, surveillance or Internet of the Things applications. In this sense, we propose an open-source software-in-the-loop approach that integrates the complete navigation experience, accounting for potential wind-related effects, and providing realistic 3D modeling of scenarios encompassing open spaces in city landscapes. Our work introduces a wind perturbation estimation strategy, which models the wind effect as an external force along the Zaxis based on altitude variations from real flights. Validation was conducted using real data flights with a quadrotor aiding the navigation with Ardupilot and QgroundControl as a ground station. To complement the experiments we include a small test with a fixed-wing plane to asses the software-in-the-loop accuracy on larger trajectories. Results demonstrate successful tracking of altitude variations, yielding errors below 10% relative to the home position in experiments with average trajectory lengths of 150 m in two scenarios in Quito. The software-in-the-loop simulation aimed to replicate wind conditions specific to the date and time of real data acquisition, providing a platform to emulate possible improvements and assess UAV performance before deployment in actual missions. This research not only contributes to the optimization of monitoring capabilities but also serves as a valuable tool for assessing UAV missions in diverse and dynamic environments.

关键词： software-in-the-loop Ardupilot ROS Gazebo wind perturbation

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Empirical Testing of Automotive Cyber-Physical Systems with Credible software-in-the-loop Environments 8

Empirical Testing of Automotive Cyber-Physical Systems with ...

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8th IEEE International Conference on Connected Vehicles and Expo (ICCVE)

作者： Raghupatruni, Indrasen Goeppel, Thomas Atak, Muhammed Bou, Julien Huber, Thomas Robert Bosch GmbH Renningen Germany Robert Bosch GmbH Abstatt Germany Robert Bosch GmbH Ludwigsburg Germany

ISBN: (纸本)9781728101422

Automotive cyber-physical systems are constantly increasing in complexity, especially due to innovations like sophisticated advanced driver assistance features. The increase in system complexity, in turn, gives rise to complex distributed software which creates challenges for verification. Front-loading tests that are regularly performed in prototype vehicles or Hardware in-the-loop (HiL) to simulation and software-in-the-loop (SiL) environments can be used to validate design decisions and to significantly reduce overall development costs. Novel Automated Driving features, and the Open Context problem, however, move the challenge from the state-to-the-art to a knowledge problem (know-what instead of know-how). The ISO/PAS 21448:2019 for Safety of the Intended Functionality (SOTIF) acknowledges this change but no guidance is provided to the industry to making verification processes ready for operating vehicles in an Open Context environment that may require functional changes during the useful life of a vehicle. Since verification with HiL or vehicles will be all but impractical, in this paper we provide insights into the design of credible SiL environments that address functional and non-functional verification and validation concerns of software related automotive system in a continuous life-cycle. With the help of a use-case we demonstrate the significance of the novel approach compared to traditional automotive industry methods.

关键词： software-in-the-loop hybrid simulation automotive CPS credible simulation system and software testing virtual ECU

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Property-based Testing for LG Home Appliances using Accelerated software-in-the-loop Simulation 42

Property-based Testing for LG Home Appliances using Accelera...

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42nd ACM/IEEE International Conference on software Engineering - Companion Proceedings (ICSE-Companion) / 42nd ACM/IEEE International Conference on software Engineering - software Engineering in Practice (ICSE-SEIP)

作者： Park, Mingyu Jang, Hoon Byun, Taejoon Choi, Yunja LG Elect Chang Won South Korea Hyundai Motor Co Hwasung South Korea Univ Minnesota Minneapolis MN USA Kyungpook Natl Univ Daegu South Korea

ISBN: (纸本)9781450371230

As LG home appliances promise more convenience features to end-users, the complexity of their control software is also increasing, creating a higher pressure for software verification. However, since the embedded software is tightly coupled with its hardware counterpart, the development and verification schedules are dependent upon hardware development and this hinders integration testing to be performed as thoroughly as it deserves. Furthermore, the manually-crafted test cases have had limitations, both in terms of the thoroughness of state-space exploration and the power of test oracles. To overcome these problems and facilitate a more efficient software verification, we introduce a property-based testing framework using software-in-the-loop simulation (SILS). SILS allows the software to be integrated virtually and tested before the hardware is fully developed, and, further, it enables an acceleration in test executions of up to a few tens of thousand times. Property-based testing is achieved by translating the formalized properties to synchronous observers which can concurrently check the violation of the verification property during test executions. In the field application, we discovered two fault cases in real products under development using our framework. According to our analysis, these cases could not have been found using manual testing, but made possible by our testing framework. These cases could have cost the company tens of million dollars each, if they were not discovered until after sale.

关键词： software-in-the-loop embedded systems test automation integration testing property checking

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A New software-in-the-loop Strategy for Real-Time Testing of a Coordinated Volt/Var Control

A New Software-in-the-Loop Strategy for Real-Time Testing of...

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IEEE PES PowerAfrica Conference

作者： Guerrero, C. A. V. da Silveira, P. M. Carvalho, J. M. Bonatto, B. D. Oliveira, D. Q. Santos, M. Marujo, D. Zambroni, A. C. Felver, L. A. Oliveira, J. A. Braga, M. F. Itajuba Fed Univ UNIFEI Inst Elect Syst & Energy ISEE Itajuba MG Brazil Elect Util Co Minas Gerais CEMIG D Belo Horizonte MG Brazil

ISBN: (纸本)9781467399814

In this paper a new software-in-the-loop (SIL) strategy is proposed for real-time testing of Coordinated Volt/VAr Control (CVVC), through the use of the Real-Time Digital Simulator (RTDS) and Matlab (R) program. Such a strategy seeks to emulate, during the test, the interaction commonly established among the main layers of a Distribution Management System (DMS). To do so, a TCP/IP (Transmission Control Protocol/Internet Protocol)-based communication between the simulation module of the RTDS (RSCAD) and Matlab (R) is established. To prove the efficiency of the SIL strategy, an optimization technique based on Artificial Immune Systems is applied to deal with the problem of optimal CVVC in radial Distribution Networks (DNs) composed of multiple control equipment. Important aspects associated with the implementation of the test bed are discussed in this paper. Simulation results demonstrated that the proposed strategy is suited to analyzing the time domain behavior of CVVC designed for real-time operation in DNs.

关键词： Coordinated Volt/VAr Control Real-Time Digital Simulator software-in-the-loop Distribution Management System

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A generic solution to software-in-the-loop

A generic solution to software-in-the-loop

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IEEE Military Communications Conference (MILCOM 2007)

作者： Demers, Stephanie Gopalakrishnan, Praveen Kant, Latha Telcordia Technol Appl Res Red Bank NJ USA

ISBN: (纸本)9781424415120

The low fidelity and speed of traditional simulations have become unacceptable for the complex large-scale networks of today. In this paper we propose alternative techniques and focus on a software-in-the-loop implementation. software-in-theloop provides us with the following two-fold advantages: (a) it helps solve traditional simulation problems of model validity and (b) it can be used in the design phase as well as in the testing phase of a project. However, software-in-the-loop brings its own set of challenges, as we discuss in this paper. We will present a generic end-to-end solution that mitigates the challenges of a software-in-the-loop configuration to bring it it to its full potential. The success of our solution will be exemplified by its use in two government funded projects where it was successfully used to analyze scalabitity performance in one case and to perform unit and integration testing in a second case. The focus of this paper will be on the use of software-in-the-loop versus traditional simulations, discussing the challenges, issues and decision processes involved with the use of software-in-the-loop.

关键词： software-in-the-loop real-time simulation network modeling and simulation event-driven simulation ad-hoc large-scale networks

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Path-following Algorithms Comparison using software-in-the-loop Simulations for UAVs

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2022年第3期106卷 63-63页

作者： Xavier, Daniel M. Silva, Natassya B. F. Branco, Kalinka R. L. J. C. Univ Sao Paulo Escola Engn Sao Carlos Sao Carlos Brazil Univ Tecnol Fed Parana Cornelio Procopio Brazil Univ Sao Paulo Inst Ciencias Matemat Computacao Sao Carlos Brazil

Unmanned Aerial Vehicles (UAVs) are aircraft that can be manually operated or autonomously guided through an autopilot. In the last case, the system is responsible for stabilising the aircraft and executing guidance tasks such as path-following. In literature, several path-following algorithms were proposed for straight lines and loiter paths. Previous comparisons generally consider straight line algorithms in a 2D space using the kinematic model of an aircraft. In order to complement existing research, this paper compares four 3D path-following algorithms for loiter paths under different wind intensities. Tests are made through software-in-the-loop (SiL) simulations using the dynamic model of a fixed-wing UAV. Furthermore, a genetic algorithm is employed to tune the parameters and the analysis is carried out under varying wind conditions. The algorithms compared are four well-known geometric methods: Carrot-Chasing (CC), Non-Linear Guidance Law (NLGL), Pure Pursuit and Line-of-Sight (PLOS) and Vector Field (VF). Results show that Vector Field has the smallest errors, while PLOS is the most resistant to wind disturbance.

关键词： Carrot-chasing Genetic algorithm NLGL Path-following PLOS software-in-the-loop Unmanned aerial vehicles Vector field

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Exergetic Evaluation of Solar Controller Using software-in-the-loop Method

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Energy Procedia 2014年 48卷 850-857页

作者： Max Huber Claudius Bons Dirk Müller Institute for Energy Efficient Buildings and Indoor Climate RWTH Aachen University Mathieustraße 10 52074 Aachen Germany

Solar thermal systems without appropriate control strategies are often working inefficiently despite high quality components and suitable hydraulic concepts. In this paper different control strategies for solar cooling systems are compared and evaluated according to their exergetic efficiency. Therefore, a software-in-the-loop test bench is used. The original controller of a solar thermal system is connected to a building simulation model. The simulation model is created with the modeling language Modelica using the simulation environment Dymola. This enables testing and monitoring of various control strategies. These controlling strategies are evaluated according to the energetic as well as exergetic output. Models for different parts of the hydraulic system are set up and validated. These different components are combined to a virtual solar test bench. The virtual test bench is connected to the system controller using Ethernet connection and an adapting program which has been created in C- Code (software-in-the-loop). Thus it is possible to use the advantages of a simulation environment, like performing repeatable tests with specified weather conditions, without implementing the control algorithms of the devices into Dymola. In a test scenario, two different control strategies for a solar cooling system have been implemented. First, a strategy to maximize the energetic output of the solar collectors is applied (Maximum Yield Strategy). Thereby the flow temperature of the solar system is kept as low as possible in order to increase the collectors’ efficiency. Second, the flow temperature is adapted to the required temperature of the absorption chiller, which leads to a lower energetic output of the collector and to a higher temperature level of storage (High Temperature Strategy). This paper shows that software-in-the-loop tests can be used for the optimization of control strategies. In the test scenario, the High Temperature Strategy leads to lower energy yields d

关键词： Solar controller Exergy software-in-the-loop simulation Modelica

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