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2025 International Conference on Control, Automation, and Instrumentation, IC2AI 2025

作者： Haydar, Georgio Abou Telawi, Samer Borcsok, Josef Architecture and System Programming University of Kassel Department of Computer Kassel Germany

ISBN: (纸本)9798331529604

Ensuring the safety of human workers collaborating with industrial robots is paramount. This research work presents a novel approach by developing a safety-related intruder detection system for the operational zones of industrial robots, following the IEC 61508 standard and adopting the related redundant architecture. The hardware integrates light curtains and radar sensors in a dual-layer configuration, while the software utilizes a safety system-on-chip to implement real-time diagnostics and fault tolerance. Protecting employees and ensuring a smooth and safe work environment are significant concerns for all companies. As a result, numerous standards and regulations have been established to provide safe collaboration between humans and machines. However, despite these measures, accidents continue to occur, resulting in varying degrees of injuries. The proposed system is depicted through a comprehensive schematic, emphasizing the integration of safety measures within the robotic environment. The detailed prototype demonstrates practical application, show-casing the system's ability to detect intrusions, initiate emergency responses, and transition to fail-safe states during component failures. This research work advances safety protocols in human-robot collaboration within industrial settings, fostering a safe working environment through a well-defined safety framework. © 2025 IEEE.

关键词： Industrial robots

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Implementation of Safety-Related Intrusion Detection for an Industrial Robotic Arm

Implementation of Safety-Related Intrusion Detection for an ...

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Control, Automation, and Instrumentation (IC2AI), International Conference on

作者： Georgio Abou Haydar Samer Telawi Josef Börcsök Department of Computer Architecture and System Programming University of Kassel Kassel Germany

ISBN: (数字)9798331529604

ISBN: (纸本)9798331529611

关键词： Service robots Intrusion detection Prototypes Human-robot interaction Industrial robots Manipulators Safety system-on-chip IEC Standards Standards

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Continual Reinforcement Learning for Digital Twin Synchronization Optimization

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IEEE Transactions on Mobile Computing 2025年

作者： Tong, Haonan Chen, Mingzhe Zhao, Jun Hu, Ye Yang, Zhaohui Liu, Yuchen Yin, Changchuan Beijing University of Posts and Telecommunications Beijing Key Laboratory of Network System Architecture and Convergence Beijing Advanced Information Network Laboratory Beijing China College of Computing and Data Science Singapore University of Miami Department of Electrical and Computer Engineering Frost Institute for Data Science and Computing Coral Gables33146 United States University of Miami Department of Industrial and Systems Engineering Coral Gables33146 United States Zhejiang University College of Information Science and Electronic Engineering Hangzhou310027 China North Carolina State University Department of Computer Science RaleighNC27695 United States Beijing Key Laboratory of Network System Architecture and Convergence China Beijing University of Posts and Telecommunications Beijing Advanced Information Network Laboratory Beijing100876 China

This article investigates the adaptive resource allocation scheme for digital twin (DT) synchronization optimization over dynamic wireless networks. In our considered model, a base station (BS) continuously collects factory physical object state data from wireless devices to build a real-time virtual DT system for factory event analysis. Due to continuous data transmission, maintaining DT synchronization must use extensive wireless resources. To address this issue, a subset of devices is selected to transmit their sensing data, and resource block (RB) allocation is optimized. This problem is formulated as a constrained Markov process (CMDP) problem that minimizes the long-term mismatch between the physical and virtual systems. To solve this CMDP, we first transform the problem into a dual problem that refines RB constraint impacts on device scheduling strategies. We then propose a continual reinforcement learning (CRL) algorithm to solve the dual problem. The CRL algorithm learns a stable policy across historical experiences for quick adaptation to dynamics in physical states and network capacity. Simulation results show that the CRL can adapt quickly to network capacity changes and reduce normalized root mean square error (NRMSE) between physical and virtual states by up to 55.2%, using the same RB number as traditional methods. © 2025 IEEE. All rights reserved.

关键词： Markov processes

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Dynamics and control of marine mechatronic oscillators using electromagnetic coupling and switching power electronics

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e-Prime - Advances in Electrical Engineering, Electronics and Energy 2025年 11卷

作者： Tsakyridis, Georgios Xiros, Nikolaos I. Litsardakis, George Rovithakis, George German Aerospace Center – Institute of Space Systems Department of System Analysis Space Segment Bremen Germany Department of Naval Architecture and Marine Engineering University of New Orleans New Orleans LA United States Department of Electrical and Computer Engineering Aristotle University of Thessaloniki Thessaloniki Greece

Developing force control mechanisms employing electromagnetic solutions is on the rise in active control applications for flexible mechanical systems, like marine engines and shipboard machinery. Electromagnetic control devices offer superior performance indicators compared to traditional mechanical force actuators in terms of longevity, energy efficiency, maintenance requirements, rapid control response, and high operating speeds. This article investigates the use of magnetic actuation and switching power electronics in addressing the stabilization and tracking control challenges encountered in the dynamics of a mechanical system with a single degree of freedom, comprising mass, spring, and damper elements. Particularly, a linear mechanical oscillator is nonlinearly coupled with an electromagnet and its associated driving circuit via the magnetic field. The electromagnetically actuated mechanical system exhibits characteristics of a deferentially flat nonlinear system. A control strategy is suggested for the purpose of tracking reference position trajectories using output feedback linearization. The synthetic linearized control signal is subsequently guided to a DC–DC buck converter, able to regulate the system's input voltage in a wide range of operation, by switching the duty cycle. The converter is described using a precise electrical model of the system, accounting for parasitic resistances in the inductor, capacitor, and switches. An averaged state space approach is utilized to create a mathematical nonlinear model for the converter which is then linearized by employing the Exact Feedback Linearization technique. By applying optimal control theory, the controller's coefficients are fine-tuned for optimal performance. To assess the proposed method's performance, the dynamics of the compensated mechatronic system is simulated using MATLAB/Simulink. The simulation results demonstrate that the proposed control scheme choice for active control of vibrating mechanic

关键词： Electromagnet-mass–spring–damper (mechatronic oscillator) system Electromagnetic control Exact Feedback Linearization Linear Quadratic Regulator (LQR) controller Magnetic actuation Marine oscillators Switching power electronics

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Continual Reinforcement Learning for Digital Twin Synchronization Optimization

arXiv

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arXiv 2025年

作者： Tong, Haonan Chen, Mingzhe Zhao, Jun Hu, Ye Yang, Zhaohui Liu, Yuchen Yin, Changchuan The Beijing Key Laboratory of Network System Architecture and Convergence The Beijing Advanced Information Network Laboratory Beijing University of Posts and Telecommunications Beijing China Singapore The Department of Electrical and Computer Engineering Frost Institute for Data Science and Computing University of Miami Coral GablesFL33146 United States The Department of Industrial and Systems Engineering University of Miami Coral GablesFL33146 United States The College of Information Science and Electronic Engineering Zhejiang University Zhejiang Hangzhou310027 China The Department of Computer Science North Carolina State University RaleighNC27695 United States The Beijing Key Laboratory of Network System Architecture and Convergence China The Beijing Advanced Information Network Laboratory Beijing University of Posts and Telecommunications Beijing100876 China

关键词： Markov processes

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On-Chip Generating FPGA Test Configuration Bitstreams to Reduce Manufacturing Test Time

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Chinese Journal of Electronics 2016年第1期25卷 64-70页

作者： WANG Fei WANG Da YANG Haigang XIE Xianghui FAN Dongrui System on Programmable Chip Research Department IE CAS State Key Laboratory of Computer Architecture ICT CAS

Statistics shows that over 95% of FPGA manufacturing test time is spent on loading test configuration bitstreams. Reducing the test time that spent on loading test configuration bitstreams could significantly reduce FPGA test time. A new approach which can significantly reduce the FPGA test time is presented. Experimental results show that the proposed technique can at least reduce the configuration loading time by 96%, while getting 100%test coverage with less than 1.2% hardware overhead.

关键词： FPGA test Test configuration bitstream Design-for-testability

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Trainbow: a new trusted virtual machine based platform

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中国高等学校学术文摘·计算机科学 2010年第1期4卷 47-64页

作者： Yuzhong SUN Yongbing HUANG Yunwei GAO Haifeng FANG Ying SONG Lei DU Kai ZHANG Hongyong ZANG Yaqiong LI Yajun YANG Ran AO Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China Key Laboratory of Computer System and Architecture Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China Department of Computer Science and Technology Xi'an Jiaotong University Xi'an 710049China Key Laboratory of Computer System and Architecture Institute of Computing TechnologyChinese Academy of Sciences Beijing 100190China Graduate University of Chinese Academy of Sciences Beijing 100190China

Currently, with the evolution of virtualization technology, cloud computing mode has become more and more popular. However, people still concern the issues of the runtime integrity and data security of cloud computing platform, as well as the service efficiency on such computing platform. At the same time, according to our knowledge, the design theory of the trusted virtual computing environment and its core system software for such network-based computing platform is at the exploratory stage. In this paper, we believe that efficiency and isolation are the two key proprieties of the trusted virtual computing environment. To guarantee these two proprieties, based on the design principle of splitting, customizing, reconstructing, and isolation-based enhancing to the platform, we introduce TRainbow, a novel trusted virtual computing platform developing by our research *** the two creative mechanisms, that is, capacity flowing amongst VMs and VM-based kernel reconstructing, TRainbow provides great improvements (up to 42%) in service performance and isolated reliable computing environment for Internet-oriented, large-scale, concurrent services.

关键词： Computing platform virtual machine capacity service computing trust chain isolation

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Runtime Engine for Dynamic Profile Guided Stride Prefetching

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Journal of computer Science & Technology 2008年第4期23卷 633-643页

作者：邹琼李晓峰章隆兵 Department of Computer Science University of Science and Technology of China Intel China Research Center Key Laboratorg of Computer System and Architecture Institute of Computing TechnologyChinese Academy of Sciences

Stride prefetching is recognized as an important technique to improve memory access performance. The prior work usually profiles and/or analyzes the program behavior offline, and uses the identified stride patterns to guide the compilation process by injecting the prefetch instructions at appropriate places. There are some researches trying to enable stride prefetching in runtime systems with online profiling, but they either cannot discover cross-procedural prefetch opportunity, or require special supports in hardware or garbage collection. In this paper, we present a prefetch engine for JVM （Java Virtual Machine）. It firstly identifies the candidate load operations during just-in-time （JIT） compilation, and then instruments the compiled code to profile the addresses of those loads. The runtime profile is collected in a trace buffer, which triggers a prefetch controller upon a protection fault. The prefetch controller analyzes the trace to discover any stride patterns, then modifies the compiled code to inject the prefetch instructions in place of the instrumentations. One of the major advantages of this engine is that, it can detect striding loads in any virtual code places for both regular and irregular code, not being limited with plain loop or procedure scopes. Actually we found the cross-procedural patterns take about 30% of all the prefetchings in the representative Java benchmarks. Another major advantage of the engine is that it has runtime overhead much smaller （the maximal is less than 4.0%） than the benefits it brings. Our evaluation with Apache Harmony JVM shows that the engine can achieve an average 6.2% speed-up with SPECJVM98 and DaCapo on Intel Pentium 4 platform, in spite of the runtime overhead.

关键词： stride prefetching dynamic profiling runtime system

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Software development for safety-related systems

Software development for safety-related systems

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2nd International Conference on systems, ICONS 2007

作者： Börcsök, Josef Schaefer, Sebastian Department of Computer Architecture and System Programming University of Kassel

ISBN: (纸本)0769528074

Safety-related systems mostly comprise hardware and software solutions. Due to the increasing application of complex hardware and software systems, the software systems have to be considered regarding safety as well as hardware systems. The development of a safety-related software system is similar to the development of a safety-related hardware systems. But there are still no generally accepted methods for developing safety-critical software. One has to use the methods, which fit best to the actual requirements. However, the calculation of reliability and availability for safety-related software systems is far more complex. © 2007 IEEE.

关键词： Safety engineering

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CLOCK SYNCHRONIZATION ON THE FACTORY FLOOR

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1988年第3期35卷 372-380页

作者： GORA, W HERZOG, U TRIPATHI, SK Computer Architecture and Performance Evaluation University of Erlangen Nuremberg Germany System Research Center UMIACS and the Department of Computer Science University of Maryland College Park MD USA

The coordination of flexible manufacturing systems (FMS) in an automated factory requires that synchronization amongst the manufacturing processes be based on a common clock. The synchronization requirements on the factory floor are described, and several clock synchronization algorithms, their theoretical bounds, and the results of the authors' work are discussed. Measurement results based on the implementation of such synchronization algorithms on local area networks (LAN) are presented. For hierarchical LANs, an algorithm is developed and its behavior simulated.< >

关键词： Clocks Synchronization Production facilities Flexible manufacturing systems computer aided manufacturing Manufacturing automation Control systems Protocols Automatic control Production systems

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