Design, modelling, simulation and integration of cyber physical systems: methods and applications

The main drivers for the development and evolution of Cyber Physical Systems (CPS) are the reduction of development costs and time along with the enhancement of the designed products. The aim of this survey paper is to provide an overview of different types of system and the associated transition process from mechatronics to CPS and cloud-based (IoT) systems. It will further consider the requirement that methodologies for CPS-design should be part of a multi-disciplinary development process within which designers should focus not only on the separate physical and computational components, but also on their integration and interaction. Challenges related to CPS-design are therefore considered in the paper from the perspectives of the physical processes, computation and integration respectively. Illustrative case studies are selected from different system levels starting with the description of the overlaying concept of Cyber Physical Production Systems (CPPSs). The analysis and evaluation of the specific properties of a sub-system using a condition monitoring system, important for the maintenance purposes, is then given for a wind turbine.

The dynamic decode-and-forward channel: SNR allocation.

In the half-duplex relay channel applying the decode-and-forward protocol the relay introduces energy over random time intervals into the channel as observed at the destination. Consequently, during simulation the average signal power seen at the destination becomes known at run-time only. Therefore, in order to obtain specific performance measures at the signal-to-noise ratio (SNR) of interest, strategies are required to adjust the noise variance during simulation run-time. It is necessary that these strategies result in the same performance as measured under real-world conditions. This paper introduces three noise power allocation strategies and demonstrates their applicability using numerical and simulation results.

Balancing Energy and Performance in Dense Linear System Solvers for Hybrid ARM+GPU platforms

The high performance computing community has traditionally focused uniquely on the reduction of execution time, though in the last years, the optimization of energy consumption has become a main issue. A reduction of energy usage without a degradation of performance requires the adoption of energy-efficient hardware platforms accompanied by the development of energy-aware algorithms and computational kernels. The solution of linear systems is a key operation for many scientific and engineering problems. Its relevance has motivated an important amount of work, and consequently, it is possible to find high performance solvers for a wide variety of hardware platforms. In this work, we aim to develop a high performance and energy-efficient linear system solver. In particular, we develop two solvers for a low-power CPU-GPU platform, the NVIDIA Jetson TK1. These solvers implement the Gauss-Huard algorithm yielding an efficient usage of the target hardware as well as an efficient memory access. The experimental evaluation shows that the novel proposal reports important savings in both time and energy-consumption when compared with the state-of-the-art solvers of the platform.

A coupled movement and bioenergetics model to explore the spawning migration of anchovy in the Bay of Biscay

Adult anchovies in the Bay of Biscay perform north to south migration from late winter to early summer for spawning. However, what triggers and drives the geographic shift of the population remains unclear and poorly understood. An individual-based fish model has been implemented to explore the potential mechanisms that control anchovy's movement routes toward its spawning habitats. To achieve this goal, two fish movement behaviors – gradient detection through restricted area search and kinesis – simulated fish response to its dynamic environment. A bioenergetics model was used to represent individual growth and reproduction along the fish trajectory. The environmental forcing (food, temperature) of the model was provided by a coupled physical–biogeochemical model. We followed a hypothesis-testing strategy to actualize a series of simulations using different cues and computational assumptions. The gradient detection behavior was found as the most suitable mechanism to recreate the observed shift of anchovy distribution under the combined effect of sea-surface temperature and zooplankton. In addition, our results suggested that southward movement occurred more actively from early April to middle May following favorably the spatio-temporal evolution of zooplankton and temperature. In terms of fish bioenergetics, individuals who ended up in the southern part of the bay presented better condition based on energy content, proposing the resulting energy gain as an ecological explanation for this migration. The kinesis approach resulted in a moderate performance, producing distribution pattern with the highest spread. Finally, model performance was not significantly affected by changes on the starting date, initial fish distribution and number of particles used in the simulations, whereas it was drastically influenced by the adopted cues.

Aplicação da metodologia numérica “fast bounds crack” para uma estimativa eficiente da evolução do tamanho de trinca

A significant part of the life of a mechanical component occurs, the crack propagation stage in fatigue. Currently, it is had several mathematical models to describe the crack growth behavior. These models are classified into two categories in terms of stress range amplitude: constant and variable. In general, these propagation models are formulated as an initial value problem, and from this, the evolution curve of the crack is obtained by applying a numerical method. This dissertation presented the application of the methodology "Fast Bounds Crack" for the establishment of upper and lower bounds functions for model evolution of crack size. The performance of this methodology was evaluated by the relative deviation and computational times, in relation to approximate numerical solutions obtained by the Runge-Kutta method of 4th explicit order (RK4). Has been reached a maximum relative deviation of 5.92% and the computational time was, for examples solved, 130,000 times more higher than achieved by the method RK4. Was performed yet an Engineering application in order to obtain an approximate numerical solution, from the arithmetic mean of the upper and lower bounds obtained in the methodology applied in this work, when you don’t know the law of evolution. The maximum relative error found in this application was 2.08% which proves the efficiency of the methodology "Fast Bounds Crack".

CONCURRENT LOCALIZATION AND MAPPING WITH SONAR SENSORS AND CONSIDERATION OF VEHICLE MOTION

Simultaneous Localization and Mapping (SLAM) is a procedure used to determine the location of a mobile vehicle in an unknown environment, while constructing a map of the unknown environment at the same time. Mobile platforms, which make use of SLAM algorithms, have industrial applications in autonomous maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. A typical SLAM consists of four main components, namely, experimental setup (data gathering), vehicle pose estimation, feature extraction, and filtering. Feature extraction is the process of realizing significant features from the unknown environment such as corners, edges, walls, and interior features. In this work, an original feature extraction algorithm specific to distance measurements obtained through SONAR sensor data is presented. This algorithm has been constructed by combining the SONAR Salient Feature Extraction Algorithm and the Triangulation Hough Based Fusion with point-in-polygon detection. The reconstructed maps obtained through simulations and experimental data with the fusion algorithm are compared to the maps obtained with existing feature extraction algorithms. Based on the results obtained, it is suggested that the proposed algorithm can be employed as an option for data obtained from SONAR sensors in environment, where other forms of sensing are not viable. The algorithm fusion for feature extraction requires the vehicle pose estimation as an input, which is obtained from a vehicle pose estimation model. For the vehicle pose estimation, the author uses sensor integration to estimate the pose of the mobile vehicle. Different combinations of these sensors are studied (e.g., encoder, gyroscope, or encoder and gyroscope). The different sensor fusion techniques for the pose estimation are experimentally studied and compared. The vehicle pose estimation model, which produces the least amount of error, is used to generate inputs for the feature extraction algorithm fusion. In the experimental studies, two different environmental configurations are used, one without interior features and another one with two interior features. Numerical and experimental findings are discussed. Finally, the SLAM algorithm is implemented along with the algorithms for feature extraction and vehicle pose estimation. Three different cases are experimentally studied, with the floor of the environment intentionally altered to induce slipping. Results obtained for implementations with and without SLAM are compared and discussed. The present work represents a step towards the realization of autonomous inspection platforms for performing concurrent localization and mapping in harsh environments.

Desenvolvimento de um método para correção de curvas de desempenho em bombas centrífugas submersas operando com fluidos viscosos

Electrical Submersible Pump (ESP) is used as an artificial lift technique. However, pumping viscous oil is generally associated with low Reynolds number flows. This condition leads to a performance degradation respect to the performance expected from the regular operation with water that most of the centrifugal pumps are originally designed for. These issues are considered in this investigation through a numerical study of the flow in two different multistage, semi-axial type ESPs. This investigation is carried out numerically using a Computational Fluid Dynamics (CFD) package, where the transient RANS equations are solved numerically. The turbulence is modeled using the SST model. Head curves for several operating conditions are compared with manufacturer’s curves and experimental data for a three-stage ESP, showing good agreement for a wide range of fluid viscosities and rotational speeds. Dimensionless numbers (n, n, n e Re) are used to investigate performance degradation of the ESPs. In addition, flow phenomena through the impellers of the ESPs are investigated using flow field from numerical results. Results show that performance degradation is directly related to rotational Reynolds number, Re. In addition, it was verified that performance degradation occurs for constant normalized specific speedn, which shows that performance degradation occurs similarly for different centrifugal pumps. Moreover, experimental data and numerical results agreed with a correlation from literature between head and flow correction factors proposed by Stepanoff (1967). A definition of modified Reynolds number was proposed and relates the head correction factor to viscosity. A correlation between head correction factor and the modified Reynolds number was proposed, which agreed well with numerical and experimental data. Then, a method to predict performance degradation based on the previous correlations was proposed. This method was compared with others from literature. In general, results and conclusions from this work can also be useful to bring more information about the flow of highly viscous fluids in pumps, especially in semi-axial, multistage ESPs.

Minimalist Hardware Architectures for Agent Tracking and Guidance

The philosophy of minimalism in robotics promotes gaining an understanding of sensing and computational requirements for solving a task. This minimalist approach lies in contrast to the common practice of first taking an existing sensory motor system, and only afterwards determining how to apply the robotic system to the task. While it may seem convenient to simply apply existing hardware systems to the task at hand, this design philosophy often proves to be wasteful in terms of energy consumption and cost, along with unnecessary complexity and decreased reliability. While impressive in terms of their versatility, complex robots such as the PR2 (which cost hundreds of thousands of dollars) are impractical for many common applications. Instead, if a specific task is required, sensing and computational requirements can be determined specific to that task, and a clever hardware implementation can be built to accomplish the task. Since this minimalist hardware would be designed around accomplishing the specified task, significant reductions in hardware complexity can be obtained. This can lead to huge advantages in battery life, cost, and reliability. Even if cost is of no concern, battery life is often a limiting factor in many applications. Thus, a minimalist hardware system is critical in achieving the system requirements. In this thesis, we will discuss an implementation of a counting, tracking, and actuation system as it relates to ergodic bodies to illustrate a minimalist design methodology.

Hand detection on images based on deformable part models and additional features

Hand detection on images has important applications on person activities recognition. This thesis focuses on PASCAL Visual Object Classes (VOC) system for hand detection. VOC has become a popular system for object detection, based on twenty common objects, and has been released with a successful deformable parts model in VOC2007. A hand detection on an image is made when the system gets a bounding box which overlaps with at least 50% of any ground truth bounding box for a hand on the image. The initial average precision of this detector is around 0.215 compared with a state-of-art of 0.104; however, color and frequency features for detected bounding boxes contain important information for re-scoring, and the average precision can be improved to 0.218 with these features. Results show that these features help on getting higher precision for low recall, even though the average precision is similar.

Simulação numérica do escoamento monofásico em uma bomba centrífuga radial

Centrifugal pumps are vastly used in many industrial applications. Knowledge of how these components behave in several circumstances is crucial for the development of more efficient and, therefore, less expensive pumping installations. The combination of multiple impellers, vaned diffusers and a volute might introduce several complex flow characteristics that largely deviate from regular inviscid pump flow theory. Computational Fluid Dynamics can be very helpful to extract information about which physical phenomena are involved in such flows. In this sense, this work performs a numerical study of the flow in a two-stage centrifugal pump (Imbil ITAP 65-330/2) with a vaned diffuser and a volute. The flow in the pump is modeled using the software Ansys CFX, by means of a multi-block, transient rotor-stator technique, with structured grids for all pump parts. The simulations were performed using water and a mixture of water and glycerin as work fluids. Several viscosities were considered, in a range between 87 and 720 cP. Comparisons between experimental data obtained by Amaral (2007) and numerical head curves showed a good agreement, with an average deviation of 6.8% for water. The behavior of velocity, pressure and turbulence kinetic energy fields was evaluated for several operational conditions. In general, the results obtained by this work achieved the proposed goals and are a significant contribution to the understanding of the flow studied.

Noninvasive imaging of three-dimensional micro and nanostructures by topological methods

We present topological derivative and energy based procedures for the imaging of micro and nano structures using one beam of visible light of a single wavelength. Objects with diameters as small as 10 nm can be located and their position tracked with nanometer precision. Multiple objects dis-tributed either on planes perpendicular to the incidence direction or along axial lines in the incidence direction are distinguishable. More precisely, the shape and size of plane sections perpendicular to the incidence direction can be clearly determined, even for asymmetric and nonconvex scatterers. Axial resolution improves as the size of the objects decreases. Initial reconstructions may proceed by gluing together two-dimensional horizontal slices between axial peaks or by locating objects at three-dimensional peaks of topological energies, depending on the effective wavenumber. Below a threshold size, topological derivative based iterative schemes improve initial predictions of the lo-cation, size, and shape of objects by postprocessing fixed measured data. For larger sizes, tracking the peaks of topological energy fields that average information from additional incident light beams seems to be more effective.

Voltage and current spectra for matrix power converters

Matrix power converters are used for transforming one alternating-current power supply to another, with different peak voltage and frequency. There are three input lines, with sinusoidally varying voltages which are 120◦ out of phase one from another, and the output is to be delivered as a similar three-phase supply. The matrix converter switches rapidly, to connect each output line in sequence to each of the input lines in an attempt to synthesize the prescribed output voltages. The switching is carried out at high frequency and it is of practical importance to know the frequency spectra of the output voltages and of the input and output currents. We determine in this paper these spectra using a new method, which has significant advantages over the prior default method (a multiple Fourier series technique), leading to a considerably more direct calculation. In particular, the determination of the input current spectrum is feasible here, whereas it would be a significantly more daunting procedure using the prior method instead.

Collaborative Systems for Smart Environments: Trends and Challenges

Part 1: Introduction

Copto-Arabic Universal Chronography. Between Antiquity, Judaism, Christianity and Islam The K. al-Tawārīkh of N. al-Khilāfa Abū Shākir Ibn al-Rāhib (655 Heg. / 973 Mart. / 1257 Chr. / 1569 Alex. / 6750 AM)

La obra histórica del erudito y enciclopedista de la edad de oro de la literatura árabe copta, de la cual el Dr. Samuel Moawad (Munster) está preparando una edición, representa en realidad una colección de tres tratados divididos artificialmente en 51 capítulos secuenciales. El núcleo cronológico es precedido por un largo tratado con 47 capítulos sobre cálculos astronómicos y eclesiásticos así como épocas históricas y calendarios de diferentes naciones. La parte histórica propia (ch. 48-50), de los cuales el llamado Chronicon orientale representa una deficiente revisión anónima, trata sucesivamente de historia universal, dinastías islámicas y patriarcas coptos. Un sumario histórico, así como dogmático, de los primeros siete/ocho concilios de la Iglesia cristiana (cap. 51) termina la compilación entera. El conocido historiador al-Makin Ibn al-.Amid hace un gran uso de la labor de su contemporáneo y, al parecer a través de él, los grandes historiadores musulmanes: Ibn Khaldun, Maqrizi o Qalqashandi hacen mención continua de Ibn al-Rahib. Más tarde en el siglo XVI, el K. al-Tawarikh fue traducido en etiópico y tuvo un gran impacto en la literatura histórica y computacional de los etíopes.

Development of new scenario decomposition techniques for linear and nonlinear stochastic programming

Une approche classique pour traiter les problèmes d’optimisation avec incertitude à deux- et multi-étapes est d’utiliser l’analyse par scénario. Pour ce faire, l’incertitude de certaines données du problème est modélisée par vecteurs aléatoires avec des supports finis spécifiques aux étapes. Chacune de ces réalisations représente un scénario. En utilisant des scénarios, il est possible d’étudier des versions plus simples (sous-problèmes) du problème original. Comme technique de décomposition par scénario, l’algorithme de recouvrement progressif est une des méthodes les plus populaires pour résoudre les problèmes de programmation stochastique multi-étapes. Malgré la décomposition complète par scénario, l’efficacité de la méthode du recouvrement progressif est très sensible à certains aspects pratiques, tels que le choix du paramètre de pénalisation et la manipulation du terme quadratique dans la fonction objectif du lagrangien augmenté. Pour le choix du paramètre de pénalisation, nous examinons quelques-unes des méthodes populaires, et nous proposons une nouvelle stratégie adaptive qui vise à mieux suivre le processus de l’algorithme. Des expériences numériques sur des exemples de problèmes stochastiques linéaires multi-étapes suggèrent que la plupart des techniques existantes peuvent présenter une convergence prématurée à une solution sous-optimale ou converger vers la solution optimale, mais avec un taux très lent. En revanche, la nouvelle stratégie paraît robuste et efficace. Elle a convergé vers l’optimalité dans toutes nos expériences et a été la plus rapide dans la plupart des cas. Pour la question de la manipulation du terme quadratique, nous faisons une revue des techniques existantes et nous proposons l’idée de remplacer le terme quadratique par un terme linéaire. Bien que qu’il nous reste encore à tester notre méthode, nous avons l’intuition qu’elle réduira certaines difficultés numériques et théoriques de la méthode de recouvrement progressif.