Organization of supervisory control in scenarios of extreme robotics

2020 ◽  
Vol 8 (4) ◽  
pp. 245-258
Author(s):  
Ekaterina Smirnova ◽  
Boris Spassky
Keyword(s):  
Supervisory Control ◽  
Critical Infrastructure ◽  
Search And Rescue ◽  
Control Mode ◽  
Special Operations ◽  
Control Functions ◽  
Current Scenario ◽  
Monitoring And Diagnostics ◽  
Different Levels ◽  
Control Implementation

The article describes the general principles of supervisory control organization in extreme robotics scenarios with different levels of autonomy. It is shown that increasing the level of autonomy of the robot allows reducing the operator’s load due to the division of labor between man and machine and to the implementation of the supervisory control mode, the essence of which is the decomposition of the mission into scenarios, which describe algorithms for solving functionally completed tasks and consists of sequence of simple technological operations. Such scenarios are executed automatically. In this case, the operator mainly implements the functions of monitoring and diagnostics, and the control functions are reduced to making decisions about the execution of the next scenario or intervention into execution of the current scenario in cases when the robot makes an obvious mistake or encounters a problem that it cannot solve on its own. Examples of supervisory control implementation when performing work on critical infrastructure facilities, performing search and rescue and other special operations under challenging conditions, including those of heterogeneous groups of robots, are given.

Training Simulator Design for a Marine Engine Room at Different Levels of Fidelity

1983 ◽  
Vol 27 (12) ◽  
pp. 1001-1005
Author(s):  
T. Govindaraj ◽  
Yuan-Liang Su
Keyword(s):  
Complex System ◽  
Supervisory Control ◽  
Control Mode ◽  
Training Simulator ◽  
Marine Engine ◽  
Engine Room ◽  
Simulator Design ◽  
Marine Engineering ◽  
Different Levels ◽  
Engineering Personnel

A marine powerplant on a large supertanker is a complex system made up of a number of interconnected subsystems where most functions are automated. A human operator manages the system in supervisory control mode, intervening only when an event occurs requiring his action to restore normal operations. For training marine engineering personnel to detect, diagnose, and compensate for failures, simulators at different fidelity levels are being developed. A low fidelity simulator uses information displayed on an Apple II computer terminal in conjunction with system schematics provided on paper. Details of the low fidelity simulator are described, and the results of a pilot experiment are discussed.

scholarly journals Self Control and Server-Supervisory Control for Multiple Mobile Robots and its Applicability to Intelligent DNC System

Robotics ◽  
2013 ◽  
pp. 375-390
Author(s):  
F. Nagata ◽  
T. Yamashiro ◽  
N. Kitahara ◽  
A. Otsuka ◽  
K. Watanabe ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Control Systems ◽  
Supervisory Control ◽  
Low Cost ◽  
Self Control ◽  
Control Mode ◽  
Actual System ◽  
Multiple Mobile Robots ◽  
Collective Behaviors ◽  
Nc Machine

Multiple mobile robots with six PSD (Position Sensitive Detector) sensors are designed for experimentally evaluating the performance of two control systems. They are self-control mode and server-supervisory control mode. The control systems are considered to realize swarm behaviors such as Ligia exotica. This is done by using only information of PSD sensors. Experimental results show basic but important behaviors for multiple mobile robots. They are following, avoidance, and schooling behaviors. The collective behaviors such as following, avoidance, and schooling emerge from the local interactions among the robots and/or between the robots and the environment. The objective of the study is to design an actual system for multiple mobile robots, to systematically simulate the behaviors of various creatures who form groups such as a school of fish or a swarm of insect. Further, the applicability of the server-supervisory control scheme to an intelligent DNC (Direct Numerical Control) system is briefly considered for future development. DNC system is an important peripheral apparatus, which can directly control NC machine tools. However, conventional DNC systems can neither deal with various information transmitted from different kinds of sensors through wireless communication nor output suitable G-codes by analyzing the sensors information in real time. The intelligent DNC system proposed at the end of the chapter aims to realize such a novel and flexible function with low cost.

scholarly journals Design of Supervisory Control for Speed Control of Wind Turbine using Torque-Control Method Based on Buck Converter

2020 ◽  
Vol 190 ◽  
pp. 00019
Author(s):  
Katherin Indriawati ◽  
Choirul Mufit ◽  
Andi Rahmadiansah
Keyword(s):  
Wind Turbine ◽  
Wind Turbines ◽  
Supervisory Control ◽  
Control Method ◽  
Speed Control ◽  
Buck Converter ◽  
Torque Control ◽  
Control Mode ◽  
Rotor Speed ◽  
Integral Control

The variation of wind speed causes the electric power generated by the turbine also varies. To obtain maximum power, the rotor speed of wind turbines must be optimally rated. The rotor speed can be controlled by manipulating the torque from the generator; this method is called Torque Control. In that case, a DC-DC converter is needed as the control actuator. In this study, a buck converter-based supervisory control design was performed on the Horizontal-axis wind turbines (HAWT). Supervisory control is composed of two control loops arranged in cascade, and there is a formula algorithm as the supervisory level. The primary loop uses proportional control mode with a proportional gain of 0.3, whereas in the secondary loop using proportional-integral control mode with a proportional gain of 5.2 and an integral gain of 0.1. The Supervisory control has been implemented successfully and resulted in an average increase in turbine power of 4.1 % at 5 m s–1 and 10.58 % at 6 m s–1 and 11.65 % at 7 m s–1, compared to wind turbine systems without speed control.

Using a Hydraulically Balanced Beam System in Control Education

1997 ◽  
Vol 119 (4) ◽  
pp. 815-819 ◽  
Author(s):  
Pai-Hsueh Yang ◽  
Mark Lemkin ◽  
David M. Auslander
Keyword(s):  
Low Cost ◽  
Control Algorithms ◽  
Balance Beam ◽  
System A ◽  
Advanced Students ◽  
Ideal Tool ◽  
Control Education ◽  
And Control ◽  
Different Levels ◽  
Control Implementation

This paper discusses a low cost solution to teaching controls in the laboratory through the use of a novel balance beam. The balance beam provides a vehicle to study many aspects of both control implementation and control algorithms. Due to the complexity of the system, a full semester of laboratory exercises is provided for even advanced students. The flexibility of the system provides challenging exercises for different levels of education. A low overall cost translates to accessibility to more schools. The ability to achieve good tracking performance with a simple cascaded loop controller makes this an ideal tool for teaching controls in a laboratory setting.

scholarly journals Logixpro Based Scada Simlations Model for Packaging System in Dry ICE Plant

2015 ◽  
Vol 5 (3) ◽  
pp. 443
Author(s):  
Prashu Jain ◽  
K. Nithiyananthan ◽  
Raghuraman Raghuraman ◽  
Gowrishankar Kasilingam
Keyword(s):  
Supervisory Control ◽  
Critical Infrastructure ◽  
Labor Costs ◽  
Ice Plant ◽  
Packaging System ◽  
Simple Process ◽  
Dry Ice ◽  
Recent Developments ◽  
Gaseous Carbon Dioxide ◽  
Water Waste

Supervisory Control and Data Acquisition (SCADA) systems control and monitor industrial and critical infrastructure functions, such as electricity, gas, water, waste, railway, and traffic. The main objective of this work is to develop SCADA simulation model for packaging system in dry ice plant. Dry ice is an important refrigerant for keeping foods cold and preventing bacterial growth during shipment. Dry ice used for cooling or freezing foods must be very clean and considered food grade to ensure that food it may touch will not be contaminated. Some recent developments for its use include using the pellets in blasting or cleaning and its increasing use in transporting medical specimens, including hearts, limbs, and tissues, for reattachment and transplantation. The manufacturing process of dry ice has not changed significantly in many decades and is a relatively simple process of pressurizing and cooling gaseous carbon dioxide. But because of its growing demand, packaging becomes vital. An attempt has been made to develop and automate LOGIXPRO based SCADA simulations for dry ice plant to improve packaging and extensively reduce operating labor costs.

scholarly journals Security Control Assessment of Supervisory Control and Data Acquisition for Power Utilities in Tanzania

2020 ◽  
Vol 5 (7) ◽  
pp. 785-789
Author(s):  
Job Asheri Chaula ◽  
Godfrey Weston Luwemba
Keyword(s):  
Data Acquisition ◽  
Supervisory Control ◽  
Cyber Security ◽  
Critical Infrastructure ◽  
Security Evaluation ◽  
Evaluation Tool ◽  
Security Vulnerabilities ◽  
Security Controls ◽  
Security Control ◽  
Security Compliance

The primary purpose of this research was to assess the adequacy and effectiveness of security control of the Supervisory Control and Data Acquisition (SCADA) communication network used by infrastructure companies. Initially, the SCADA networks were physically separated from other networks connected to the internet and hence assumed secure. However, the modern SCADA are now integrated with other network resulting in new security vulnerabilities and attacks similar to those found in traditional IT. Thus, it is important to reassess the security controls of the SCADA because it is operated in an open network environment. In this research, a case of the SCADA security controls in the power sector in Tanzania was assessed, whereby a specific SCADA implementation was studied. The data were gathered using observation, testing, interviews, questionnaire and documentation reviews. The results were analyzed using the Cyber Security Evaluation Tool (CSET) and checked for compliance based on the National Institute of Standards and Technology (NIST) and North America Electric Reliability Corporation (NERC) standards. The findings have shown that there exist security vulnerabilities both in security compliance of the standard and component-based vulnerabilities. Additionally, there is inadequate of audit and accountability, personnel security and system and information integrity. Also, for the component-based security compliance, the finding shows that identification and authentication, security management and audit and accountability. On the basis of the results, the research has indicated the areas that require immediate action in order to protect the critical infrastructure.

Cyberattacks on Critical Infrastructure and Potential Sustainable Development Impacts

2015 ◽  
Vol 5 (3) ◽  
pp. 1-18 ◽  
Author(s):  
Toufic Mezher ◽  
Sameh El Khatib ◽  
Thilanka Maduwanthi Sooriyaarachchi
Keyword(s):  
Sustainable Development ◽  
Information And Communication Technologies ◽  
Supervisory Control ◽  
Critical Infrastructure ◽  
Communication Technologies ◽  
Critical Infrastructures ◽  
Control Networks ◽  
Information And Communication ◽  
Distributed Process ◽  
Operational Failures

Because of advancement in information and communication technologies, modern infrastructure systems are currently operated, monitored and controlled by automated systems such as distributed process control networks and supervisory control and data acquisition. Such systems will make the critical infrastructures in any country vulnerable to failures caused by either operational failures or to potential cyberattacks similar to Stuxnet and Night Dragon. The objective of this paper is to shed the light on the synergy between cybersecurity and sustainable development in relation to the potential social, economic, and environment consequences of potential cybersecurity attacks on critical infrastructures. Examples of both operational and cybersecurity incidents are shown including their sustainable development implications.

scholarly journals To preparation of proposals for the target programs of development of housing and communal services

2019 ◽  
Vol 97 ◽  
pp. 02020
Author(s):  
Rustam Khayrullin
Keyword(s):  
Dynamic Systems ◽  
Measuring Equipment ◽  
Stationary Solutions ◽  
Technical Condition ◽  
Ease Of Use ◽  
Stationary Model ◽  
Control Functions ◽  
Constant Coefficients ◽  
The Mathematical Model ◽  
Different Levels

The mathematical model of the formation and implementation of strategies for the development of the park of control and measuring equipment used in construction and housing and communal services is considered. As control functions, purchases, repairs and write-offs are selected. The model is based on a linear system of ordinary differential equations with constant coefficients. The system describes the dynamics of changes in the number of control and measuring equipment samples with different levels of technical excellence and technical condition. The model mainly uses algorithms based on the properties of stationary solutions of dynamic systems. Three different strategies for the development of a measuring equipment park have been considered. For each strategy, analytical and semi-analytical solutions of the stationary model are obtained. A distinctive feature of the model is its visibility and ease of use. The results of calculations are given.

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