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10th Annual Computing and Communication Workshop and Conference (CCWC)

作者： Resmerita, Stefan Poelzleitner, Anton Lukesch, Stefan Univ Salzburg Dept Comp Sci Salzburg Austria

ISBN: (数字)9781728137834

ISBN: (纸本)9781728137834

This paper deals with simulation of execution times of embedded software applications on a host computer. We present an approach where time measurements from real-time execution traces are brought and used in a software-in-the-loop simulation environment. We describe a procedure for achieving an efficient representation of execution time annotations for source code fragments that leads to minimal memory and runtime overhead. The paper deals with the commonly encountered situation where the time measurements in execution traces are timestamps at the jump instructions. We show how to obtain the optimal granularity of execution times from a given set of timed jump-to-jump paths. Application and evaluation on an industrial automotive control software are also presented.

关键词： embedded software modeling simulation execution time software-in-the-loop

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Q-Learning Applied To Soft-Kill Countermeasures For Unmanned Aerial Vehicles (UAVs)

Q-Learning Applied To Soft-Kill Countermeasures For Unmanned...

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IEEE/ION Position, Location and Navigation Symposium (PLANS)

作者： da Silva, Douglas L. Antreich, Felix Coutinho, Olympio L. Machado, Renato Aeronaut Inst Technol ITA Elect Warfare Lab LAB GE BR-12228900 Sao Jose Dos Campos SP Brazil

ISBN: (纸本)9781728102443

This work presents a three-dimensional control algorithm using reinforcement learning to guide an attacking hunter drone capable of performing a global navigation satellite systems (GNSS) repeater attack on the GNSS receiver of a target invader drone. Considering the mission and movement requirements of the hunter drone, a Q-learning algorithm was developed, for which the table with the possible transitions of the states and actions is obtained by the actions that the vehicle can take considering directions and the respective consequences of each action. The learning capability of the proposed algorithm arises from the trial and error by an agent. The penalty calculation is based on the error of the invader position to the hunter's desired position of the attacked drone. The developed algorithm is tested using a software-in-the-loop (SITL) implementation, which is based on the Ardupilot platform. SITL simulations are performed in a developed testbed to emulate operational scenarios, where an unmanned aerial vehicle (UAV) is hijacked and then controlled by an attacking UAV until it reaches the final position desired by the hunter, usually a secure area where the vehicle can be captured without being destroyed. Results, including error metrics and action time, are discussed for different mission scenarios.

关键词： Control Algorithm Reinforcement Learning Q-Learning software-in-the-loop Ardupilot

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A DIY sensor kit, Gaussian Processes and a multi-agent system fused into a smart beekeeping assistant 16

A DIY sensor kit, Gaussian Processes and a multi-agent syste...

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16th International Conference on Intelligent Environments (IE)

作者： Johannsen, Carolin Senger, Diren Kluss, Thorsten Univ Bremen Cognit Neuroinformat Bremen Germany

ISBN: (纸本)9781728161587

The citizen science project BeeObserver provides open data which are recorded in and about honey bee colonies. Synchronized with sensor measurements, observations made by beekeepers are gathered through a web application. This application, the BOBApp, is also the interface which provides the beekeepers with access to the measured hive data. The sensors, the BOBApp and the overall system architecture is described in this paper. One of the motivations for implementation of the BeeObserver system is to be able to detect diseases or other precarious situations as early as possible and to inform the beekeeper about it in a constructive manner. To achieve this, measured data are fused with further data sources (such as open weather data) and evaluated using cognitively motivated algorithms. One of this precarious situations, food deprivation during winter, is exemplarily described in detail. To overcome the challenge of testing an assistance system within the comparatively slow dynamics of the living organisms, whose behaviour depends on the yearly rhythm of the seasons, we designed an agent-based model as a software-in-the loop testbed.

关键词： sensor nodes agent-based modelling model predictive control software-in-the-loop IoT urban beekeeping gaussian process regression Bayes multi agent systems MAS Belief-Desire-Intention BDI

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Integrated Framework of Autonomous Vehicle with Traffic Sign Recognition in Simulation Environment

Integrated Framework of Autonomous Vehicle with Traffic Sign...

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IEEE International Conference on Electro Information Technology (EIT)

作者： Prabhu, Nikhil Min, Sewoong Nam, Haewoon Tewolde, Girma Kwon, Jaerock Kettering Univ Elect & Comp Engn Flint MI 48504 USA Hanyang Univ ERICA Elect Engn Ansan South Korea Univ Michigan Elect & Comp Engn Dearborn MI 48128 USA

ISBN: (纸本)9781728153179

This study proposes an integrated framework for autonomous vehicle research in a simulated environment. There has been much research on the simulations of vehicles and environments, the recognition of traffic signs, and the lateral/longitudinal controls of a vehicle. Yet, not many systems are available for autonomous vehicle researchers to test and improve their algorithms in a realistic simulated environment with sensor suites in their own car model. We aim to provide an integrated framework for a programmable autonomous vehicle in a simulated environment. The simulated vehicle is capable of autonomous driving with traffic sign recognition using deep learning-based object detection capability as well as lateral and longitudinal controllers. To show the feasibility of the proposed system, we built a simulated robotic vehicle with an environment where traffic signs are placed alongside a road. We also integrated a module for object detection and recognition to determine the longitudinal behavior of the vehicle. In addition, the current study implemented a lateral controller based on a convolutional neural network for the vehicle to make it drive by itself. We believe that the proposed integrated framework can be utilized by researchers and educators and lower entry barriers in the prosperous autonomous vehicle research.

关键词： software-in-the-loop Simulation Framework ROS Gazebo Autonomous Vehicles Advanced Driver Assist System (ADAS)

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A distributed communication framework for smart Grid control applications based on data distribution service

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ELECTRIC POWER SYSTEMS RESEARCH 2021年 201卷 107547-107547页

作者： Saxena, Shivam Farag, Hany E. Z. El-Taweel, Nader King Fahd Univ Acad Belt Rd Dhahran 31261 Saudi Arabia York Univ Dept Elect Engn & Comp Sci 4700 Keele St Toronto ON M3J 1P3 Canada

The successful implementation of multi-agent control strategies (MAS) within smart grid applications is heavily reliant on communication frameworks that enable robust inter-agent messaging. In this regard, a promising communication framework is Data Distribution Service (DDS), which is fully distributed, enables low-latency messaging, and provides configurable Quality of Service (QoS) profiles that customize messaging parameters. As such, this paper proposes a DDS-based, fully distributed communication framework (DCF) for smart grid applications. The proposed DCF is configured with QoS profiles that discard outdated messages when agents experience intermittent connection issues, thereby preventing the misaligned execution of distributed control strategies. The performance of the proposed DCF is validated by developing a software-in-the-loop platform, where agents utilize the DCF to execute the Asynchronous Weak Commitment (AWC) control strategy within the application of distributed voltage regulation. Experimental results show that the proposed DCF delivers messages at latencies between 4-36 milliseconds, which is sufficient for smart grid applications. The proposed DCF also enhances the efficacy of the AWC strategy when performing voltage regulation by discarding outdated messages and preventing unnecessary control actions in resolving voltage violations. The proposed DCF is validated at a real-world Canadian microgrid, where overvoltage violations are resolved in a timely manner.

关键词： Data distribution service Voltage regulation software-in-the-loop Internet of Things (IoT) Multi-agent Smart grid

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Handoff of Advanced Driver Assistance Systems (ADAS) using aDriver-in-the-loop Simulator and Model Predictive Control(MPC)

Handoff of Advanced Driver Assistance Systems (ADAS) using a...

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作者： Wilkerson, Jaxon The Ohio State University

学位级别：硕士

The objective of this work is to benchmark Advanced Driver Assistance Systems (ADAS) using a limited motion Driver-in-the-loop (DiL) Simulator and Model Predictive Control (MPC). These ADAS features include Adaptive Cruise Control (ACC), Lane Keeping Assist (LKA), Forward Collision Warning (FCW), and Automatic Emergency (AEB). The handoff of these features is at the discretion of the driver but maintains the operational design domain. Simplified internal models for the ACC MPC and LKA MPC are presented, so the MPC toolbox CasADi could be used as software-in-the-loop (SiL). Both MPC’s leverage adaptive linear techniques alleviating the inherent nonlinearities. SiL ensures robust, real-time execution of the features integrating with the *** and automotive manufacturers are tasked with eliminating automotive deaths and injuries. Of active safety tools at their disposal, ADAS features provide a promising ability to aiding this cause. Driving simulators are becoming an important development tool for active safety systems, automated driving features, and vehicle dynamics development. This driving simulator couples SCANeR Studio®, CarSim®, and MATLAB/Simulink®. Refined and custom cues give the driver a sense of the virtual world providing the immersion. Offline verification using the testbed and sample results using the driving simulator shows the efficacy of prototyping and evaluating ADAS features using the simulator. Combining these elements allows for both quantitative and qualitative assessment of the systems’ functionality, performance, and safety assurance.

关键词： Mechanical Engineering Driving Simulator Advanced Driver Assistance System ADAS Model Predictive Control MPC software-in-the-loop SiL Driver-in-the-loop DiL Adaptive Cruise Control Lane Keeping Assist Forward Collision Warning Automatic Emergency Braking

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SLIVer: Simulation-Based Logic Bomb Identification/Verification for Unmanned Aerial Vehicles

SLIVer: Simulation-Based Logic Bomb Identification/Verificat...

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作者： Jake M. Magness Air Force Institute of Technology

学位级别：硕士

This research introduces SLIVer, a Simulation-based Logic Bomb Identification/Verification methodology, for finding logic bombs hidden within Unmanned Aerial Vehicle (UAV) autopilot code without having access to the device source code. Effectiveness is demonstrated by executing a series of test missions within a high-fidelity software-in-the-loop (SITL) simulator. In the event that a logic bomb is not detected, this methodology defines safe operating areas for UAVs to ensure to a high degree of confidence the UAV operates normally on the defined flight plan. SLIVer uses preplanned flight paths as the baseline input space, greatly reducing the input space that must be searched to have confidence that the UAV will not encounter a logic bomb trigger condition during its mission. This research discusses the process for creating a logic bomb in the ArduPilot autopilot software, creating test flight profiles, UAV log file parsing, and the analysis of the methodology. SLIVer can accommodate multiple flight profiles and parses through the corresponding log files to create a safety corridor through which the UAV is able to safely traverse through with a desired level of confidence. By utilizing SLIVer, UAV operators and planners alike are afforded increased confidence that the aircraft will operate normally throughout the duration of a mission. The proof of concept implementation shows that the input space required to validate a UAV mission is reduced by approximately 60%, a far better result than brute force input testing. As UAVs are continually called upon to fill critical civilian and military roles, it is essential that planners and users of these devices have a methodology in place to assure that logic bombs are absent from the device.

关键词： Unmanned Aerial Vehicle Logic Bomb Logic Bomb Detection ArduPilot Mission Planner MAVProxy software-in-the-loop UAV UAV Security black box

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Energy Management Systems for Electrified Powertrains: State-of-the-Art Review and Future Trends

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2019年第7期68卷 6453-6467页

作者： Biswas, Atriya Emadi, Ali McMaster Univ McMaster Automot Resource Ctr Hamilton ON L8P0A6 Canada

Energy management systems (EMSs), implemented in the electronic control unit (ECU) of an actual vehicle with electrified powertrain, are a much simpler version of the theoretically developed EMS. Such simplification is done to accommodate the EMS within the given memory constraint and computational capacity of the ECU. The simplification should ensure reasonable performance compared to theoretical EMS under real-life driving scenarios. The process of simplification must be effective to create a versatile and utilitarian EMS. Hence, it is comprised of rigorous analysis of results obtained from theoretical EMS under various driving scenarios. This review paper broadly categorizes most of the reported utilitarian EMSs into three major categories and discusses the processes of simplification associated with each category. The utilitarian EMSs are classified based on their dependence on either online computation or offline pre-computation or even both for spewing control decisions. The paper delineates the chronological steps of a utilitarian EMS development, starting from theoretical background, process of simplification, validation throughmodel-in-the-loop, software-in-the-loop, hardware-in-the-loop simulation, dynamometer test, and on-road performance validation. Future trends of on-board EMSs are also discussed before the conclusion.

关键词： Automotive systems blended casual electric and hybrid electric vehicles electrified powertrains energy management system electronic control unit hardware-in-the-loop practical implementation premeditated real-life drive scenario real-time software-in-the-loop

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Guidance for Autonomous Underwater Vehicles in Confined Semistructured Environments

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SENSORS 2020年第24期20卷 7237-7237页

作者： Milosevic, Zorana Suarez Fernandez, Ramon A. Dominguez, Sergio Rossi, Claudio Univ Politecn Madrid Ctr Automat & Robot UPM CSIC Madrid 28006 Spain

In this work, we present the design, implementation, and testing of a guidance system for the UX-1 robot, a novel spherical underwater vehicle designed to explore and map flooded underground mines. For this purpose, it needs to navigate completely autonomously, as no communications are possible, in the 3D networks of tunnels of semistructured but unknown environments and gather various geoscientific data. First, the overall design concepts of the robot are presented. Then, the guidance system and its subsystems are explained. Finally, the system's validation and integration with the rest of the UX-1 robot systems are presented. A series of experimental tests following the software-in-the-loop and the hardware-in-the-loop paradigms have been carried out, designed to simulate as closely as possible navigation in mine tunnel environments. The results obtained in these tests demonstrate the effectiveness of the guidance system and its proper integration with the rest of the systems of the robot, and validate the abilities of the UX-1 platform to perform complex missions in flooded mine environments.

关键词： underwater robots guidance 3D navigation field robotics software-in-the-loop hardware-in-the-loop

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An Online Hardware-in-the-loop Testbed for Spacecraft Attitude Control 27

An Online Hardware-in-the-Loop Testbed for Spacecraft Attitu...

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27th Iranian Conference on Electrical Engineering (ICEE)

作者： Bohlouri, Vahid Hosseini-Onari, Hadi Meibody, Mohammad N. P. Seyedzamani, Soheil Tech & Vocat Univ Khorasan Razavi Branch Dept Elect & Comp Engn Mashhad Razavi Khorasan Iran KN Toosi Univ Technol Tehran Iran Iranian Space Res Ctr Satellite Res Inst Tehran Iran

ISBN: (纸本)9781728115085

In this paper, an online earth magnetic field simulator is designed, manufactured and tested. This simulator is a part of satellite hardware-in-the-loop (HIL) test bed with a real-time connection to orbit propagator. The main purpose of this study is to control and prepare an online link between the satellite real-time software-in-the-loop (SIL) program and HIL test bed. The output data from SIL enter to orbit propagator then electrical currents of Helmholtz coils produce by programmable power supplier with respect to the orbit specifications. To do this, a precision model of Helmholtz cage is identified, SIL are programmed, orbit is propagated and monitored, data are online transmitted, and results of Helmholtz and SIL are online compared together. The designed simulator is able to track the magnetic commands or produce the equivalent magnetic field of satellite orbital position. This system is able to connect the SIL with HIL in satellite attitude control tests. Considering the orbit conditions in satellite attitude maneuvers test are the main gain of the proposed system.

关键词： Helmholtz cage satellite attitude control in orbit testbed hardware-in-the-loop software-in-the-loop

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