Adaptive Impedance Control for the Haptic Shared Driving Task Based on Nonlinear MPC

2020 ◽  
Author(s):  
Vahid Izadi ◽  
Amir H. Ghasemi
Keyword(s):  
Cost Function ◽  
Impedance Control ◽  
Modulation Method ◽  
Steering Wheel ◽  
Automation System ◽  
Avoidance Task ◽  
Automation Systems ◽  
Control Command ◽  
Performance Error ◽  
Control Authority

Abstract This paper presents an adaptive haptic shared control framework wherein a driver and an automation system are physically connected through a motorized steering wheel. The automation system is modeled as an intelligent agent that is not only capable of making decisions but also monitoring the human’s behavior and adjusting its behavior accordingly. To enable the automation system to smoothly exchange the control authority with the human partner, this paper introduces a novel self-regulating impedance controller for the automation system. To determine an optimal modulation policy, a cost function is defined. The terms of the cost function are assigned to minimize the performance error and reduce the disagreement between the human and automation system. To solve the optimal control problem, we employed a nonlinear model predictive approach and used the continuation generalized minimum residual method to solve the nonlinear cost function. To demonstrate the effectiveness of the proposed approach, simulation studies consider a scenario where the human and the automation system both detect an obstacle and negotiate on controlling the steering wheel so that the obstacle can be avoided safely. The simulations involve four interaction modes addressing the cooperation status (cooperative and uncooperative) and the desired direction of the control transfer (active safety and autopilot). The results of the numerical studies show that when the automation system acts as autopilot, using the proposed modulation method, the automation adopts smaller impedance controller gains, which results in a smaller disagreement between the human and automation systems. On the other hand, when the human’s control command is insufficient, by modulating and adopting larger values for the impedance controller parameters, the automation system gains the control authority and ensures the safety of the obstacle avoidance task.

Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms

2020 ◽  
Author(s):  
Daniel Saraphis ◽  
Vahid Izadi ◽  
Amirhossein Ghasemi
Keyword(s):  
Numerical Simulations ◽  
Shared Control ◽  
Automated System ◽  
Generic Model ◽  
Automation System ◽  
Steering Control ◽  
Control Paradigm ◽  
Control Framework ◽  
Automation Systems ◽  
Control Authority

Abstract In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.

scholarly journals Architecture For Automation System Metrics Collection, Visualization and Data Engineering – HAMK Sheet Metal Center Building Automation Case Study

2019 ◽  
Vol 9 (1) ◽  
pp. 561-570
Author(s):  
Khoa Dang ◽  
Igor Trotskii
Keyword(s):  
System Integration ◽  
Data Analytics ◽  
Building Energy ◽  
Facility Management ◽  
Automation System ◽  
Building Energy Efficiency ◽  
Building Automation ◽  
Automation Systems ◽  
Integration Data

AbstractEver growing building energy consumption requires advanced automation and monitoring solutions in order to improve building energy efficiency. Furthermore, aggregation of building automation data, similarly to industrial scenarios allows for condition monitoring and fault diagnostics of the Heating, Ventilations and Air Conditioning (HVAC) system. For existing buildings, the commissioned SCADA solutions provide historical trends, alarms management and setpoint curve adjustments, which are essential features for facility management personnel. The development in Internet of Things (IoT) and Industry 4.0, as well as software microservices enables higher system integration, data analytics and rich visualization to be integrated into the existing infrastructure. This paper presents the implementation of a technology stack, which can be used as a framework for improving existing and new building automation systems by increasing interconnection and integrating data analytics solutions. The implementation solution is realized and evaluated for a nearly zero energy building, as a case study.

scholarly journals Development and Testing of a Methodology for the Assessment of Acceptability of LKA Systems

Machines ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 47 ◽  
Author(s):  
Luca Salvati ◽  
Matteo d’Amore ◽  
Anita Fiorentino ◽  
Arcangelo Pellegrino ◽  
Pasquale Sena ◽  
...  
Keyword(s):  
Force Feedback ◽  
Feedback System ◽  
Operating Conditions ◽  
Experimental Methodology ◽  
Driving Safety ◽  
Steering Wheel ◽  
Human In The Loop ◽  
Automation Systems ◽  
Driving Stability ◽  
Lane Keeping

In recent years, driving simulators have been widely used by automotive manufacturers and researchers in human-in-the-loop experiments, because they can reduce time and prototyping costs, and provide unlimited parametrization, more safety, and higher repeatability. Simulators play an important role in studies about driver behavior in operating conditions or with unstable vehicles. The aim of the research is to study the effects that the force feedback (f.f.b.), provided to steering wheel by a lane-keeping-assist (LKA) system, has on a driver’s response in simulators. The steering’s force feedback system is tested by reproducing the conditions of criticality of the LKA system in order to minimize the distance required to recover the driving stability as a function of set f.f.b. intensity and speed. The results, obtained in three specific criticality conditions, show that the behaviour of the LKA system, reproduced in the simulator, is not immediately understood by the driver and, sometimes, it is in opposition with the interventions performed by the driver to ensure driving safety. The results also compare the performance of the subjects, either overall and classified into subgroups, with reference to the perception of the LKA system, evaluated by means of a questionnaire. The proposed experimental methodology is to be regarded as a contribution for the integration of acceptance tests in the evaluation of automation systems.

A Research on Complex FastICA Algorithm Based UNB Signal Detection

2011 ◽  
Vol 219-220 ◽  
pp. 1584-1588
Author(s):  
Shi Kai Zhang
Keyword(s):  
Computer Simulation ◽  
Signal Detection ◽  
Cost Function ◽  
Communication Technology ◽  
Modulation Method ◽  
First Principle ◽  
Modulation Format ◽  
High Efficient ◽  
Fastica Algorithm ◽  
Potential Use

Spectrum is limited, in order to develop high efficient modem, Complex FastICA algorithm is studied about its potential use in UNB signal detection. First, principle of Complex FastICA is presented, kurtosis and cost function are analyzed, and realization of Complex FastICA is given; then, M-EBPSK modulation method is supposed as a kind of UNB modulation format, UNB-ICA model for UNB received signal with interference and noise is presented by analyzing the characteristics of M-EBPSK modulation; finally, computer simulation is done by using nosy UNB-ICA model based on Complex FastICA Algorithm, the experimental results show that Complex FastICA Algorithm can suppress the interference and improve detection BER in contrast to the traditional methods, it is hopeful that the method can be used in UNB communication technology.

scholarly journals Towards Industrial Intrusion Prevention Systems: A Concept and Implementation for Reactive Protection

2018 ◽  
Vol 8 (12) ◽  
pp. 2460 ◽  
Author(s):  
Cyntia Vargas Martínez ◽  
Birgit Vogel-Heuser
Keyword(s):  
Protection System ◽  
Automation System ◽  
Human Intervention ◽  
Timely Manner ◽  
Industrial Automation ◽  
Intrusion Prevention ◽  
Automation Systems ◽  
Operational Policies ◽  
Intrusion Prevention Systems ◽  
Industrial Automation Systems

System intrusions violate the security of a system. In order to maintain it, it is necessary to decrease the chances of intrusions occurring or by detecting them as soon as they ensue in order to respond to them in a timely manner. These responses are divided in two types: passive or reactive responses. Passive responses are limited to only notification and alerting; whereas, reactive responses influence the intrusion by undoing or diminishing its consequences. Unfortunately, some reactive responses may influence the underlying system where the intrusion has occurred. This is especially a concern in the field of Industrial Automation Systems, as these systems are critical and have a well-defined set of operational requirements that must be maintained. Hence, automatic reactive responses are often not considered or are limited to human intervention. This paper addresses this issue by introducing a concept for reactive protection that integrates the automatic execution of active responses that do not influence the operation of the underlying Industrial Automation System. This concept takes into consideration architectural and security trends, as well as security and operational policies of Industrial Automation Systems. It also proposes a set of reactive actions that can be taken in the presence of intrusions in order to counteract them or diminish their effects. The feasibility and applicability of the presented concept for Industrial Automation Systems is supported by the implementation and evaluation of a prototypical Reactive Protection System.

scholarly journals KEGUNAAN SISTEM PENGOTOMATAN (OTOMASI) LABORATORIUM/ LAS (LABORATORY AUTOMATION SYSTEMS)

2018 ◽  
Vol 15 (1) ◽  
pp. 38
Author(s):  
Prihatini .
Keyword(s):  
Automation System ◽  
Laboratory Automation ◽  
Automation Systems ◽  
The Future ◽  
Long Time ◽  
Diagnosis Of Diseases

In most laboratory LAS (Laboratory Automation System) system recently have been used. though, not all of them used theautomation system and LIS.the LAS is used for the diagnosis of diseases, because it can decrease the error factors as weel as thelaboratoric examination. Regarding to decreasing problems, the expenses of patients who staying in the hospitals could be reduced aswell as their time to stay. the purpose of this article is to know comprehensively LAS and its services in the future in the hospitals' clinicallaboratory. Because before LAS was used the diagnosis time of diseases take a long time as compared to LAS.

METHOD OF REMOTE MONITORING OF PARAMETERS OF ELECTRICAL SWITCHBOARD EQUIPMENT OF HOME AUTOMATION SYSTEM

2020 ◽  
pp. 28-37
Author(s):  
Parkhomenko Anzhelika ◽  
◽  
Tulenkov Artem ◽  
Zalyubovskiy Yaroslav
Keyword(s):  
Remote Monitoring ◽  
Modular Design ◽  
Practical Significance ◽  
Critical Parameters ◽  
Automation System ◽  
Home Automation ◽  
Automation Systems ◽  
Temperature Mode ◽  
Functional Features ◽  
Home Automation System

The paper presents the results of the analysis of electrical switchboards computer-aided design process features. The problems of modeling and ensuring the normal temperature mode of switchboard equipment functioning for safe operation of home automation systems are investigated. The work shows that the shortcomings of existing methods and systems of monitoring make it impossible to use them for remote monitoring of the parameters of switchboard equipment due to a whole set of structural and functional features of developed objects. The main requirements for remote monitoring subsystem are compact modular design of hardware that will save space while providing the necessary functionality, low cost, and low power consumption of the components; reliable transmission of monitoring data over long distances, and data storage for further mining. The results of the development and implementation of the method of remote monitoring of electrical switchboard equipment critical parameters are presented. The possibilities of Orange opensource software using for data visualization and intellectual analysis are shown. The identified associative rules can be used for further improvement of control scenarios of the home automation system and ensure the reliable operation of switchboard equipment. The scientific significance of the work lies in the fact that the method of remote monitoring of operational parameters of electrical switchboard has been further developed based on the developed methodology for determining conditions and types of user notifications as well as the integrated usage of wireless data transmission technologies, cloud storage technologies and data mining tools. The practical significance of the obtained results is that the introduction of the remote monitoring subsystem will increase the reliability and security of the home automation system and its attractiveness to users. Further work will focus on the intellectual analysis of the data obtained based on Bayesian networks to develop and study patterns of human activity during home automation system operation to formulate recommendations for the user and specialists to improve the control scenarios of the home automation system. Key words: home automation system, switchboard equipment, remote monitoring, temperature mode, wireless technologies, cloud service, associative rules.

scholarly journals User-oriented verification of automation stations

2019 ◽  
Vol 111 ◽  
pp. 05024
Author(s):  
Ralf Ulmer ◽  
Jochen Müller
Keyword(s):  
Energy Efficiency ◽  
Communication Protocol ◽  
Automation System ◽  
User Requirements ◽  
Building Automation ◽  
Automation Systems ◽  
Building Automation System

Building automation systems are used to meet the increasing requirements for energy efficiency and sustainability of buildings. In such systems, BACnet has established itself as the standard communication protocol for communication between devices from different manufacturers. In order to ensure conformity with the BACnet standard, the devices are certified for conformity. In practice, however, the implementation depth described in the standard profiles is not sufficient for operating a system. As a result, many users demand an extended implementation depth of the BACnet protocol. In most cases, an AMEV certificate is sought, which extends the BACnet objects and their properties in comparison to the standard certification. Despite the BACnet standard certification and the fulfilment of the AMEV test certificate, problems often occur during the operation of building automation systems. These problems can be attributed to the fact that neither the functionality nor the performance of automation stations are determined. In addition, special user requirements are not checked before commissioning a building automation system. For this reason, a model was developed with the help of which a pre-commissioning of the automation station is possible in order to automatically check it for errors and special user requirements before commissioning. Initial tests of automation stations revealed that some user requirements were not met.

scholarly journals Development and Implementation of Fault-Correction Algorithms in Fault Detection and Diagnostics Tools

Energies ◽  
2020 ◽  
Vol 13 (10) ◽  
pp. 2598
Author(s):  
Guanjing Lin ◽  
Marco Pritoni ◽  
Yimin Chen ◽  
Jessica Granderson
Keyword(s):  
Fault Detection ◽  
Energy Savings ◽  
Leading Edge ◽  
Hvac Systems ◽  
Automation System ◽  
Building Automation ◽  
Software Products ◽  
Automation Systems ◽  
Building Automation System ◽  
Staff Intervention

A fault detection and diagnostics (FDD) tool is a type of energy management and information system that continuously identifies the presence of faults and efficiency improvement opportunities through a one-way interface to the building automation system and the application of automated analytics. Building operators on the leading edge of technology adoption use FDD tools to enable median whole-building portfolio savings of 8%. Although FDD tools can inform operators of operational faults, currently an action is always required to correct the faults to generate energy savings. A subset of faults, however, such as biased sensors, can be addressed automatically, eliminating the need for staff intervention. Automating this fault “correction” can significantly increase the savings generated by FDD tools and reduce the reliance on human intervention. Doing so is expected to advance the usability and technical and economic performance of FDD technologies. This paper presents the development of nine innovative fault auto-correction algorithms for Heating, Ventilation, and Air Conditioning pi(HVAC) systems. When the auto-correction routine is triggered, it overwrites control setpoints or other variables to implement the intended changes. It also discusses the implementation of the auto-correction algorithms in commercial FDD software products, the integration of these strategies with building automation systems and their preliminary testing.

The Design of Power Security Defense System Based on Resource Pool Cloud Computing Technology

2020 ◽  
Vol 11 (1) ◽  
pp. 1-11
Author(s):  
Dang Nan
Keyword(s):  
Cloud Computing ◽  
System Analysis ◽  
Data Transfer ◽  
Automation System ◽  
Distributed Resources ◽  
Detection Technology ◽  
Automation Systems ◽  
Node Network ◽  
Node Protection ◽  
Power Dispatching Automation

In order to realize the power system defense security, this article puts forward the idea and method of constructing power dispatching automation systems with a cloud computing architecture and realizes the unified management of distributed resources with server virtualization technology. Real-time online migration of each module of the scheduling system is realized by using the in-memory data transfer technology. The multi-node network heartbeat detection technology is used to realize the complete monitoring of the server cluster. In the form of an independent disk array, the fault node is removed, and the service is restored automatically. The whole disaster reserve of the system is realized by means of remote resource mapping. System analysis results show that compared with traditional architecture, the service interruption probability of the new scheduling automation system is effectively reduced. Fault redundancy capacity in the station is increased from a key module 2 node to multi-node protection of all modules.

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