A control framework for a remotely operated vehicle

A control framework enabling the automated maneuvering of a Remotely Operate Vehicle (ROV) is presented. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and implementation as the same model is used throughout. Hybrid systems control techniques are used to synthesize the elemental maneuvers and to design protocols, which coordinate the execution of elemental maneuvers within a complex maneuver. This work is part of the Inspection of Underwater Structures (IES) project whose main objective is the implementation of a ROV-based system for the inspection of underwater structures.

An Open Source BI Approach: Concept Proof Tracking Fleet

É possível assistir nos dias de hoje, a um processo tecnológico evolutivo acentuado por toda a parte do globo. No caso das empresas, quer as pequenas, médias ou de grandes dimensões, estão cada vez mais dependentes dos sistemas informatizados para realizar os seus processos de negócio, e consequentemente à geração de informação referente aos negócios e onde, muitas das vezes, os dados não têm qualquer relacionamento entre si. A maioria dos sistemas convencionais informáticos não são projetados para gerir e armazenar informações estratégicas, impossibilitando assim que esta sirva de apoio como recurso estratégico. Portanto, as decisões são tomadas com base na experiência dos administradores, quando poderiam serem baseadas em factos históricos armazenados pelos diversos sistemas. Genericamente, as organizações possuem muitos dados, mas na maioria dos casos extraem pouca informação, o que é um problema em termos de mercados competitivos. Como as organizações procuram evoluir e superar a concorrência nas tomadas de decisão, surge neste contexto o termo Business Intelligence(BI). A GisGeo Information Systems é uma empresa que desenvolve software baseado em SIG (sistemas de informação geográfica) recorrendo a uma filosofia de ferramentas open-source. O seu principal produto baseia-se na localização geográfica dos vários tipos de viaturas, na recolha de dados, e consequentemente a sua análise (quilómetros percorridos, duração de uma viagem entre dois pontos definidos, consumo de combustível, etc.). Neste âmbito surge o tema deste projeto que tem objetivo de dar uma perspetiva diferente aos dados existentes, cruzando os conceitos BI com o sistema implementado na empresa de acordo com a sua filosofia. Neste projeto são abordados alguns dos conceitos mais importantes adjacentes a BI como, por exemplo, modelo dimensional, data Warehouse, o processo ETL e OLAP, seguindo a metodologia de Ralph Kimball. São também estudadas algumas das principais ferramentas open-source existentes no mercado, assim como quais as suas vantagens/desvantagens relativamente entre elas. Em conclusão, é então apresentada a solução desenvolvida de acordo com os critérios enumerados pela empresa como prova de conceito da aplicabilidade da área Business Intelligence ao ramo de Sistemas de informação Geográfica (SIG), recorrendo a uma ferramenta open-source que suporte visualização dos dados através de dashboards.

Gestão de Redes e Sistemas: Estudo de um caso

A gestão e monitorização de redes é uma necessidade fundamental em qualquer organização, quer seja grande ou pequena. A sua importância tem de ser refletida na eficiência e no aumento de informação útil disponível, contribuindo para uma maior eficácia na realização das tarefas em ambientes tecnologicamente avançados, com elevadas necessidades de desempenho e disponibilidade dos recursos dessa tecnologia. Para alcançar estes objetivos é fundamental possuir as ferramentas de gestão de redes adequadas. Nomeadamente ferramentas de monitorização. A classificação de tráfego também se revela fundamental para garantir a qualidade das comunicações e prevenir ataques indesejados aumentando assim a segurança nas comunicações. Paralelamente, principalmente em organizações grandes, é relevante a inventariação dos equipamentos utilizados numa rede. Neste trabalho pretende-se implementar e colocar em funcionamento um sistema autónomo de monitorização, classificação de protocolos e realização de inventários. Todas estas ferramentas têm como objetivo apoiar os administradores e técnicos de sistemas informáticos. Os estudos das aplicações que melhor se adequam à realidade da organização culminaram num acréscimo de conhecimento e aprendizagem que irão contribuir para um melhor desempenho da rede em que o principal beneficiário será o cidadão.

Argumentation as Distributed Belief Revision: Conflict Resolution in Decentralised Multi-agent Systems

Decentralised co-operative multi-agent systems are computational systems where conflicts are frequent due to the nature of the represented knowledge. Negotiation methodologies, in this case argumentation based negotiation methodologies, were developed and applied to solve unforeseeable and, therefore, unavoidable conflicts. The supporting computational model is a distributed belief revision system where argumentation plays the decisive role of revision. The distributed belief revision system detects, isolates and solves, whenever possible, the identified conflicts. The detection and isolation of the conflicts is automatically performed by the distributed consistency mechanism and the resolution of the conflict, or belief revision, is achieved via argumentation. We propose and describe two argumentation protocols intended to solve different types of identified information conflicts: context dependent and context independent conflicts. While the protocol for context dependent conflicts generates new consensual alternatives, the latter chooses to adopt the soundest, strongest argument presented. The paper shows the suitability of using argumentation as a distributed decentralised belief revision protocol to solve unavoidable conflicts.

Task partitioning and priority assignment for distributed hard real-time systems

In this paper, we propose the Distributed using Optimal Priority Assignment (DOPA) heuristic that finds a feasible partitioning and priority assignment for distributed applications based on the linear transactional model. DOPA partitions the tasks and messages in the distributed system, and makes use of the Optimal Priority Assignment (OPA) algorithm known as Audsley’s algorithm, to find the priorities for that partition. The experimental results show how the use of the OPA algorithm increases in average the number of schedulable tasks and messages in a distributed system when compared to the use of Deadline Monotonic (DM) usually favoured in other works. Afterwards, we extend these results to the assignment of Parallel/Distributed applications and present a second heuristic named Parallel-DOPA (P-DOPA). In that case, we show how the partitioning process can be simplified by using the Distributed Stretch Transformation (DST), a parallel transaction transformation algorithm introduced in [1].

Scheduling in holonic manufacturing systems

This chapter presents some of the issues with holonic manufacturing systems. It starts by presenting the current manufacturing scenario and trends and then provides some background information on the holonic concept and its application to manufacturing. The current limitations and future trends of manufacturing suggest more autonomous and distributed organisations for manufacturing systems; holonic manufacturing systems are proposed as a way to achieve such autonomy and decentralisation. After a brief literature survey a specific research work is presented to handle scheduling in holonic manufacturing systems. This work is based on task and resource holons that cooperate with each other based on a variant of the contract net protocol that allow the propagation of constraints between operations in the execution plan. The chapter ends by presenting some challenges and future opportunities of research.

From simulation to statistical analysis: timeliness assessment of ethernet/IP-based distributed systems

A number of characteristics are boosting the eagerness of extending Ethernet to also cover factory-floor distributed real-time applications. Full-duplex links, non-blocking and priority-based switching, bandwidth availability, just to mention a few, are characteristics upon which that eagerness is building up. But, will Ethernet technologies really manage to replace traditional Fieldbus networks? Ethernet technology, by itself, does not include features above the lower layers of the OSI communication model. In the past few years, it is particularly significant the considerable amount of work that has been devoted to the timing analysis of Ethernet-based technologies. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness at a holistic level. To this end, we are addressing a few inter-linked research topics with the purpose of setting a framework for the development of tools suitable to extract temporal properties of Commercial-Off-The-Shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is being applied to a specific COTS technology, Ethernet/IP. In this paper, we reason about the modelling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide usable results. Discrete event simulation models of a distributed system can be a powerful tool for the timeliness evaluation of the overall system, but particular care must be taken with the results provided by traditional statistical analysis techniques.

INDEPTH: timeliness assessment of ethernet/IP-based systems

The continuous improvement of Ethernet technologies is boosting the eagerness of extending their use to cover factory-floor distributed real time applications. Indeed, it is remarkable the considerable amount of research work that has been devoted to the timing analysis of Ethernet-based technologies in the past few years. It happens, however, that the majority of those works are restricted to the analysis of sub-sets of the overall computing and communication system, thus without addressing timeliness in a holistic fashion. To this end, we address an approach, based on simulation, aiming at extracting temporal properties of commercial-off-the-shelf (COTS) Ethernet-based factory-floor distributed systems. This framework is applied to a specific COTS technology, Ethernet/IP. We reason about the modeling and simulation of Ethernet/IP-based systems, and on the use of statistical analysis techniques to provide useful results on timeliness. The approach is part of a wider framework related to the research project INDEPTH NDustrial-Ethernet ProTocols under Holistic analysis.

Timeliness in COTS factory-floor distributed systems: What role for simulation?

In the past few years, a significant amount of work has been devoted to the timing analysis of Ethernet-based technologies. However, none of these address the problem of timeliness evaluation at a holistic level. This paper describes a research framework embracing this objective. It is advocated that, simulation models can be a powerful tool, not only for timeliness evaluation, but also to enable the introduction of less pessimistic assumptions in an analytical response time approach, which, most often, are afflicted with simplifications leading to pessimistic assumptions and, therefore, delusive results. To this end, we address a few inter-linked research topics with the purpose of setting a framework for developing tools suitable to extract temporal properties of commercial-off-the-shelf (COTS) factory-floor communication systems.

Convex optimization framework for intermediate deadline assignment in soft and hard real-time distributed systems

It is generally challenging to determine end-to-end delays of applications for maximizing the aggregate system utility subject to timing constraints. Many practical approaches suggest the use of intermediate deadline of tasks in order to control and upper-bound their end-to-end delays. This paper proposes a unified framework for different time-sensitive, global optimization problems, and solves them in a distributed manner using Lagrangian duality. The framework uses global viewpoints to assign intermediate deadlines, taking resource contention among tasks into consideration. For soft real-time tasks, the proposed framework effectively addresses the deadline assignment problem while maximizing the aggregate quality of service. For hard real-time tasks, we show that existing heuristic solutions to the deadline assignment problem can be incorporated into the proposed framework, enriching their mathematical interpretation.

A feedback-based decentralised coordination model for distributed open real-time systems

Moving towards autonomous operation and management of increasingly complex open distributed real-time systems poses very significant challenges. This is particularly true when reaction to events must be done in a timely and predictable manner while guaranteeing Quality of Service (QoS) constraints imposed by users, the environment, or applications. In these scenarios, the system should be able to maintain a global feasible QoS level while allowing individual nodes to autonomously adapt under different constraints of resource availability and input quality. This paper shows how decentralised coordination of a group of autonomous interdependent nodes can emerge with little communication, based on the robust self-organising principles of feedback. Positive feedback is used to reinforce the selection of the new desired global service solution, while negative feedback discourages nodes to act in a greedy fashion as this adversely impacts on the provided service levels at neighbouring nodes. The proposed protocol is general enough to be used in a wide range of scenarios characterised by a high degree of openness and dynamism where coordination tasks need to be time dependent. As the reported results demonstrate, it requires less messages to be exchanged and it is faster to achieve a globally acceptable near-optimal solution than other available approaches.

Online robust optimization framework for QoS guarantees in distributed soft real-time systems

In distributed soft real-time systems, maximizing the aggregate quality-of-service (QoS) is a typical system-wide goal, and addressing the problem through distributed optimization is challenging. Subtasks are subject to unpredictable failures in many practical environments, and this makes the problem much harder. In this paper, we present a robust optimization framework for maximizing the aggregate QoS in the presence of random failures. We introduce the notion of K-failure to bound the effect of random failures on schedulability. Using this notion we define the concept of K-robustness that quantifies the degree of robustness on QoS guarantee in a probabilistic sense. The parameter K helps to tradeoff achievable QoS versus robustness. The proposed robust framework produces optimal solutions through distributed computations on the basis of Lagrangian duality, and we present some implementation techniques. Our simulation results show that the proposed framework can probabilistically guarantee sub-optimal QoS which remains feasible even in the presence of random failures.

Replication in distributed systems using IEC 61499 standard

The international Electrotechnical Commission (IEC) 61499 architecture incorporated several function block with which distributed control application may be developed, and how these are interpreted and executed. However, due the distributed nature of the control applications, many issues also need to be taken into account. Most of these are due to the new error model and failure modes of the distributed hardware on which the distributed application is executed and also due the incomplete standards definition of the execution models. IEC 61499 frameworks does not clarify how to handle with replication of software and hardware components. In this paper we propose a replication model for IEC 61499 applications and which mechanisms and protocols may be used for their support.

Reason Maintenance Systems: Tools for Foundations-based Belief Revision

Dynamic and distributed environments are hard to model since they suffer from unexpected changes, incomplete knowledge, and conflicting perspectives and, thus, call for appropriate knowledge representation and reasoning (KRR) systems. Such KRR systems must handle sets of dynamic beliefs, be sensitive to communicated and perceived changes in the environment and, consequently, may have to drop current beliefs in face of new findings or disregard any new data that conflicts with stronger convictions held by the system. Not only do they need to represent and reason with beliefs, but also they must perform belief revision to maintain the overall consistency of the knowledge base. One way of developing such systems is to use reason maintenance systems (RMS). In this paper we provide an overview of the most representative types of RMS, which are also known as truth maintenance systems (TMS), which are computational instances of the foundations-based theory of belief revision. An RMS module works together with a problem solver. The latter feeds the RMS with assumptions (core beliefs) and conclusions (derived beliefs), which are accompanied by their respective foundations. The role of the RMS module is to store the beliefs, associate with each belief (core or derived belief) the corresponding set of supporting foundations and maintain the consistency of the overall reasoning by keeping, for each represented belief, the current supporting justifications. Two major approaches are used to reason maintenance: single-and multiple-context reasoning systems. Although in the single-context systems, each belief is associated to the beliefs that directly generated it—the justification-based TMS (JTMS) or the logic-based TMS (LTMS), in the multiple context counterparts, each belief is associated with the minimal set of assumptions from which it can be inferred—the assumption-based TMS (ATMS) or the multiple belief reasoner (MBR).

Solving Conflicting Beliefs with a Distributed Belief Revision Approach

The ability to solve conflicting beliefs is crucial for multi- agent systems where the information is dynamic, incomplete and dis- tributed over a group of autonomous agents. The proposed distributed belief revision approach consists of a distributed truth maintenance sy- stem and a set of autonomous belief revision methodologies. The agents have partial views and, frequently, hold disparate beliefs which are au- tomatically detected by system’s reason maintenance mechanism. The nature of these conflicts is dynamic and requires adequate methodolo- gies for conflict resolution. The two types of conflicting beliefs addressed in this paper are Context Dependent and Context Independent Conflicts which result, in the first case, from the assignment, by different agents, of opposite belief statuses to the same belief, and, in the latter case, from holding contradictory distinct beliefs. The belief revision methodology for solving Context Independent Con- flicts is, basically, a selection process based on the assessment of the cre- dibility of the opposing belief statuses. The belief revision methodology for solving Context Dependent Conflicts is, essentially, a search process for a consensual alternative based on a “next best” relaxation strategy.