A Formal Verification Analysis of a Bayesian Inference-Based Sensors and Actuators Control System

2006 ◽  
Author(s):  
Mark Moulin
Keyword(s):  
Control System ◽  
Bayesian Inference ◽  
Formal Verification ◽  
Sensors And Actuators

Formal Verification of Control System Software

2019 ◽  
Author(s):  
Pierre-Loïc Garoche
Keyword(s):  
Control System ◽  
Formal Verification ◽  
Formal Analysis ◽  
Critical Systems ◽  
System Software ◽  
Unified Approach ◽  
Verification Methods ◽  
Autonomous Cars ◽  
Computer Scientists ◽  
Verification Techniques

The verification of control system software is critical to a host of technologies and industries, from aeronautics and medical technology to the cars we drive. The failure of controller software can cost people their lives. This book provides control engineers and computer scientists with an introduction to the formal techniques for analyzing and verifying this important class of software. Too often, control engineers are unaware of the issues surrounding the verification of software, while computer scientists tend to be unfamiliar with the specificities of controller software. The book provides a unified approach that is geared to graduate students in both fields, covering formal verification methods as well as the design and verification of controllers. It presents a wealth of new verification techniques for performing exhaustive analysis of controller software. These include new means to compute nonlinear invariants, the use of convex optimization tools, and methods for dealing with numerical imprecisions such as floating point computations occurring in the analyzed software. As the autonomy of critical systems continues to increase—as evidenced by autonomous cars, drones, and satellites and landers—the numerical functions in these systems are growing ever more advanced. The techniques presented here are essential to support the formal analysis of the controller software being used in these new and emerging technologies.

Open-Source Real-Time Robot Operation and Control System for Highly Dynamic, Modular Machines

2013 ◽  
Author(s):  
Andrew Peekema ◽  
Daniel Renjewski ◽  
Jonathan Hurst
Keyword(s):  
Control System ◽  
Open Source ◽  
Real Time ◽  
High Frequency ◽  
Performance Test ◽  
Frequency Control ◽  
Human Robot Interaction ◽  
Sensors And Actuators ◽  
Key Innovation ◽  
Hard Real Time

The control system of a highly dynamic robot requires the ability to respond quickly to changes in the robot’s state. This type of system is needed in varying fields such as dynamic locomotion, multicopter control, and human-robot interaction. Robots in these fields require software and hardware capable of hard real-time, high frequency control. In addition, the application outlined in this paper requires modular components, remote guidance, and mobile control. The described system integrates a computer on the robot for running a control algorithm, a bus for communicating with microcontrollers connected to sensors and actuators, and a remote user interface for interacting with the robot. Current commercial solutions can be expensive, and open source solutions are often time consuming. The key innovation described in this paper is the building of a control system from existing — mostly open source — components that can provide realtime, high frequency control of the robot. This paper covers the development of such a control system based on ROS, OROCOS, and EtherCAT, its implementation on a dynamic bipedal robot, and system performance test results.

scholarly journals A Cotton High-Efficiency Water-Fertilizer Control System Using Wireless Sensor Network for Precision Agriculture

Processes ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 1693
Author(s):  
Chanchan Du ◽  
Lixin Zhang ◽  
Xiao Ma ◽  
Xiaokang Lou ◽  
Yongchao Shan ◽  
...  
Keyword(s):  
Control System ◽  
Decision Support ◽  
Wireless Sensor Network ◽  
Decision Support System ◽  
Sensor Network ◽  
Support System ◽  
Precision Agriculture ◽  
High Efficiency ◽  
Wireless Sensor ◽  
Sensors And Actuators

Scientific researchers have applied newly developed technologies, such as sensors and actuators, to different fields, including environmental monitoring, traffic management, and precision agriculture. Using agricultural technology to assist crop fertilization is an important research innovation that can not only reduce the workload of farmers, but also reduce resource waste and soil pollution. This paper describes the design and development of a water-fertilizer control system based on the soil conductivity threshold. The system uses a low-cost wireless sensor network as a data collection and transmission tool and transmits the data to the decision support system. The decision support system considers the change in soil electrical conductivity (EC) and moisture content to guide the application of water-fertilizer, and then improves the fertilization accuracy of the water-fertilizer control system. In the experiment, the proposed water-fertilizer control system was tested, and it was concluded that, compared with the existing traditional water-fertilizer integration control system, the amount of fertilizer used by the system was reduced by 10.89% on average, and it could save 0.76–0.87 tons of fertilizer throughout the whole growth period of cotton.

Development of a MEMS-Based Active Control System for Flow Separation in the Transonic Regime

2000 ◽  
Author(s):  
Steve Tung ◽  
Brant Maines ◽  
Fukang Jiang ◽  
Tom Tsao
Keyword(s):  
Shear Stress ◽  
Control System ◽  
Wind Tunnel ◽  
Flow Separation ◽  
Control Flow ◽  
Separation Control ◽  
Sensors And Actuators ◽  
Trailing Edge ◽  
Flow Separation Control ◽  
Mach Numbers

Abstract A MEMS-based active system is currently under development for flow separation control in the transonic regime. The system consists of micro shear stress sensors for flow sensing and micro balloon actuators for separation control. We have successfully completed the first phase of the program in which the micro sensors and actuators were fabricated and tested in a wind tunnel facility. In the test, the sensors and actuators were flush mounted on a 3D model, which is representative of the upper surface of a wing with a deflected trailing edge flap. The model was installed in the wind tunnel and tested at a series of Mach numbers between 0.2 and 0.6. For all Mach numbers, the sensor output indicates that flow separates over the trailing edge when the micro balloons are in the ‘down’ position. When the micro balloons are inflated, the shear stress level on the trailing edge increases substantially, indicating an improvement of the separation characteristics. This result demonstrates the feasibility of using MEMS sensors and actuators to control flow separation. It is the first step toward the development of a revolutionary closed loop flow control system applicable to existing and future aircraft to enhance aerodynamic performance.

scholarly journals Design and Performance Evaluation of a Low-Cost Autonomous Sensor Interface for a Smart IoT-Based Irrigation Monitoring and Control System

Sensors ◽  
2019 ◽  
Vol 19 (17) ◽  
pp. 3643 ◽  
Author(s):  
Abba ◽  
Namkusong ◽  
Lee ◽  
Crespo
Keyword(s):  
Control System ◽  
Low Cost ◽  
Integrated Design ◽  
Monitoring And Control ◽  
Sensors And Actuators ◽  
Irrigation Systems ◽  
Sensor Interface ◽  
Monitoring And Control System ◽  
Autonomous Sensor ◽  
And Control

Irrigation systems are becoming increasingly important, owing to the increase in human population, global warming, and food demand. This study aims to design a low-cost autonomous sensor interface to automate the monitoring and control of irrigation systems in remote locations, and to optimize water use for irrigation farming. An internet of things-based irrigation monitoring and control system, employing sensors and actuators, is designed to facilitate the autonomous supply of adequate water from a reservoir to domestic crops in a smart irrigation systems. System development lifecycle and waterfall model design methodologies have been employed in the development paradigm. The Proteus 8.5 design suite, Arduino integrated design environment, and embedded C programming language are commonly used to develop and implement a real working prototype. A pumping mechanism has been used to supply the water required by the soil. The prototype provides power supply, sensing, monitoring and control, and internet connectivity capabilities. Experimental and simulation results demonstrate the flexibility and practical applicability of the proposed system, and are of paramount importance, not only to farmers, but also for the expansion of economic activity. Furthermore, this system reduces the high level of supervision required to supply irrigation water, enabling remote monitoring and control.

Modal Control of Underactuated Systems

2010 ◽  
Author(s):  
D. Dane Quinn ◽  
Vineel Mallela
Keyword(s):  
Control System ◽  
Mechanical System ◽  
Mechanical Systems ◽  
Degree Of Freedom ◽  
Feedback Gain ◽  
Underactuated Systems ◽  
Modal Control ◽  
Underactuated Mechanical Systems ◽  
Sensors And Actuators ◽  
Sensor Actuator

This work addresses the modal control of underactuated mechanical systems, whereby the number of actuators is less than the degree-of-freedom of the underlying mechanical system. The performance of the control system depends on the structure of the feedback gain matrix, that is, the coupling between sensors and actuators. This coupling is often not arbitrary, but the topology of the sensor-actuator network can be a fixed constraint of the control system. This work examines the influence of this structure on the performance of the overlying control system.

scholarly journals Formal verification of higher-order probabilistic programs: reasoning about approximation, convergence, Bayesian inference, and optimization

2019 ◽  
Vol 3 (POPL) ◽  
pp. 1-30 ◽  
Author(s):  
Tetsuya Sato ◽  
Alejandro Aguirre ◽  
Gilles Barthe ◽  
Marco Gaboardi ◽  
Deepak Garg ◽  
...  
Keyword(s):  
Bayesian Inference ◽  
Formal Verification ◽  
Higher Order ◽  
Probabilistic Programs

On Time Delay in Noncolocated Control of Flexible Mechanical Systems

1992 ◽  
Vol 114 (3) ◽  
pp. 409-415 ◽  
Author(s):  
B. Yang ◽  
C. D. Mote
Keyword(s):  
Control System ◽  
Time Delay ◽  
Mechanical System ◽  
Mechanical Systems ◽  
Vibration Measurement ◽  
System Response ◽  
Specific Time ◽  
Sensors And Actuators ◽  
Stabilizing Controllers ◽  
Flexible Mechanical System

A new method is presented for noncolocated control of flexible mechanical systems. The destabilizing effect of noncolocation of sensors and actuators is eliminated through introduction of specific time delay block(s) in the control system. The time delay constants in those blocks depend on the system eigenstructure. For a given flexible mechanical system, if there exists a time delay relation, the system response at one point can be exactly predicted from the vibration measurement at other point(s) of the system. In this case all stabilizing controllers from colocated control can be directly used. The time delay theory is verified by experiments on noncolocated control of a translating string.

Sign in / Sign up

Export Citation Format

Share Document