Dynamic Analysis of Hybrid Serial Manipulator Systems Containing Parallel Modules

1988 ◽  
Vol 110 (2) ◽  
pp. 109-115 ◽  
Author(s):  
M. Sklar ◽  
D. Tesar
Keyword(s):  
Dynamic Analysis ◽  
Hybrid Systems ◽  
Hybrid System ◽  
Parallel Structure ◽  
Serial Links ◽  
Analysis Techniques ◽  
Influence Coefficients ◽  
Industrial Manipulators ◽  
Manipulator Design ◽  
General Method

Alternatives to serial manipulator design incorporating parallel structure have been suggested in the literature. However, generic dynamic analysis techniques for these novel designs are not available. This paper presents a general method for the dynamic and kinematic analysis of hybrid systems which combine serial links with parallel structured modular devices. All necessary influence coefficients are derived for the general hybrid system. These influence coefficients allow the controlling and kinematic equations to be written such that the geometric parameters and the input dynamics are explicitly separated. A number of parallel modules are presented here. The use of parallel actuation in present industrial manipulators is reviewed.

Hybrid Systems Modeling and Reachability-Based Controller Design Methods for Vehicular Automation

2014 ◽  
Vol 02 (02) ◽  
pp. 101-119 ◽  
Author(s):  
Jaeyong Park ◽  
Arda Kurt ◽  
Ümit Özgüner
Keyword(s):  
Hybrid Systems ◽  
Collision Avoidance ◽  
Level Set ◽  
Hybrid System ◽  
Controller Design ◽  
Level Set Methods ◽  
Systems Modeling ◽  
Fully Integrated ◽  
Analysis Techniques ◽  
Verification Methods

In this study, applicability of verification and correct-by-design hybrid systems modeling and reachability-based controllers for vehicular automation are investigated. Two perspectives in hybrid systems modeling will be introduced, and then reachability analysis techniques will be developed to compute exact reachable sets from a specified unsafe set. Using level set methods, a Hamilton–Jacobi–Isaacs equation is derived whose solutions describe the boundaries of the finite time backward reachable set, which will be manipulated to design a safe controller that guarantees the safety of a given system. An automated longitudinal controller with a fully integrated collision avoidance functionality will be designed as a hybrid system and validated through simulations with a number of different scenarios in order to illustrate the potential of verification methods in automated vehicles.

Autonomy and Responsibility in Hybrid Systems

2017 ◽  
Author(s):  
Wulf Loh ◽  
Janina Loh
Keyword(s):  
Hybrid Systems ◽  
Hybrid System ◽  
Moral Dilemma ◽  
Autonomous Driving ◽  
Shared Responsibility ◽  
Driving System ◽  
Autonomous Cars ◽  
Self Driving Cars ◽  
Trolley Cases ◽  
Autonomous Driving System

In this chapter, we give a brief overview of the traditional notion of responsibility and introduce a concept of distributed responsibility within a responsibility network of engineers, driver, and autonomous driving system. In order to evaluate this concept, we explore the notion of man–machine hybrid systems with regard to self-driving cars and conclude that the unit comprising the car and the operator/driver consists of such a hybrid system that can assume a shared responsibility different from the responsibility of other actors in the responsibility network. Discussing certain moral dilemma situations that are structured much like trolley cases, we deduce that as long as there is something like a driver in autonomous cars as part of the hybrid system, she will have to bear the responsibility for making the morally relevant decisions that are not covered by traffic rules.

Bayesian hybrid automata: Reconciling formal methods with metrology

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Paul Kröger ◽  
Martin Fränzle
Keyword(s):  
System Dynamics ◽  
Hybrid Systems ◽  
Hybrid System ◽  
Formal Model ◽  
Continuous Control ◽  
Hybrid Automata ◽  
Physical Processes ◽  
Natural Domain ◽  
State Tracking ◽  
Smart Technologies

Abstract Hybrid system dynamics arises when discrete actions meet continuous behaviour due to physical processes and continuous control. A natural domain of such systems are emerging smart technologies which add elements of intelligence, co-operation, and adaptivity to physical entities. Various flavours of hybrid automata have been suggested as a means to formally analyse dynamics of such systems. In this article, we present our current work on a revised formal model that is able to represent state tracking and estimation in hybrid systems and thereby enhancing precision of verification verdicts.

Fuel-Cell Hybrid Systems to Generate Shipboard Electrical Power

2009 ◽  
Author(s):  
W. J. Sembler ◽  
S. Kumar
Keyword(s):  
Fuel Cells ◽  
Fuel Cell ◽  
Air Quality ◽  
Hybrid Systems ◽  
Hybrid System ◽  
Cell Hybrid ◽  
Electrical Power ◽  
History Of ◽  
Marine Applications ◽  
Fuel Cell Hybrid

The reduction of shipboard airborne emissions has been receiving increased attention due to the desire to improve air quality and reduce the generation of greenhouse gases. The use of a fuel cell could represent an environmentally friendly way for a ship to generate in-port electrical power that would eliminate the need to operate diesel-driven generators or use shore power. This paper includes a brief description of the various types of fuel cells in use today, together with a review of the history of fuel cells in marine applications. In addition, the results of a feasibility study conducted to evaluate the use of a fuel-cell hybrid system to produce shipboard electrical power are presented.

Detecting Malware Based on Dynamic Analysis Techniques Using Deep Graph Learning

2020 ◽  
pp. 357-378
Author(s):  
Nguyen Minh Tu ◽  
Nguyen Viet Hung ◽  
Phan Viet Anh ◽  
Cao Van Loi ◽  
Nathan Shone
Keyword(s):  
Dynamic Analysis ◽  
Graph Learning ◽  
Analysis Techniques

scholarly journals Optimal Sizing of a Pv-Wind Hybrid System Using Measured and Generated Database

2021 ◽  
Vol 03 (01) ◽  
pp. 34-44
Author(s):  
Abdellah Benallal ◽  
◽  
Nawel Cheggaga ◽  
Keyword(s):  
Renewable Energy ◽  
Wind Speed ◽  
Wind Turbine ◽  
Hybrid Systems ◽  
Hybrid System ◽  
Measured Data ◽  
Electrical Load ◽  
Wind Potential ◽  
Simulation Results ◽  
The Cost

Renewable energy hybrid systems give a good solution in isolated sites, in the Algerian desert; wind and solar potentials are considerably perfect for a combination in a renewable energy hybrid system to satisfy local village electrical load and minimize the storage requirements, which leads to reduce the cost of the installation. For a good sizing, it is essential to know accurately the solar potential of the installation area also wind potential at the same height where wind electric generators will be placed. In this work, we optimize a completely autonomous PV-wind hybrid system and show the techno-economical effects of the height of the wind turbine on the sizing of the hybrid system. We also compare the simulation results obtained from using wind speed measured data at 10 meters and 40 meters of height with the ones obtained from using wind speed extrapolation on HOMER software.

scholarly journals Hybrid-Based Analysis Impact on Ransomware Detection for Android Systems

2021 ◽  
Vol 11 (22) ◽  
pp. 10976
Author(s):  
Rana Almohaini ◽  
Iman Almomani ◽  
Aala AlKhayer
Keyword(s):  
Dynamic Analysis ◽  
Static Analysis ◽  
Hybrid System ◽  
State Of The Art ◽  
Detection System ◽  
Detection Accuracy ◽  
Accuracy Rate ◽  
Hybrid Detection ◽  
Dynamic Analyses ◽  
Data Files

Android ransomware is one of the most threatening attacks that is increasing at an alarming rate. Ransomware attacks usually target Android users by either locking their devices or encrypting their data files and then requesting them to pay money to unlock the devices or recover the files back. Existing solutions for detecting ransomware mainly use static analysis. However, limited approaches apply dynamic analysis specifically for ransomware detection. Furthermore, the performance of these approaches is either poor or often fails in the presence of code obfuscation techniques or benign applications that use cryptography methods for their APIs usage. Additionally, most of them are unable to detect ransomware attacks at early stages. Therefore, this paper proposes a hybrid detection system that effectively utilizes both static and dynamic analyses to detect ransomware with high accuracy. For the static analysis, the proposed hybrid system considered more than 70 state-of-the-art antivirus engines. For the dynamic analysis, this research explored the existing dynamic tools and conducted an in-depth comparative study to find the proper tool to integrate it in detecting ransomware whenever needed. To evaluate the performance of the proposed hybrid system, we analyzed statically and dynamically over one hundred ransomware samples. These samples originated from 10 different ransomware families. The experiments’ results revealed that static analysis achieved almost half of the detection accuracy—ranging around 40–55%, compared to the dynamic analysis, which reached a 100% accuracy rate. Moreover, this research reports some of the high API classes, methods, and permissions used in these ransomware apps. Finally, some case studies are highlighted, including failed running apps and crypto-ransomware patterns.

Condition-based opportunistic maintenance policy for a series–parallel hybrid system with economic dependence

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Aiping Jiang ◽  
Zhenni Huang ◽  
Jiahui Xu ◽  
Xuemin Xu
Keyword(s):  
Hybrid Systems ◽  
Hybrid System ◽  
Maintenance Policy ◽  
Economic Dependence ◽  
Opportunistic Maintenance ◽  
Content Type ◽  
Cost Rate ◽  
Parallel Hybrid ◽  
In Series ◽  
Redundant Structure

PurposeThe purpose of this paper is to propose a condition-based opportunistic maintenance policy considering economic dependence for a series–parallel hybrid system with a K-out-of-N redundant structure, where a single component in series is denoted as subsystem1, and K-out-of-N redundant structure is denoted as subsystem2.Design/methodology/approachBased on the theory of Residual Useful Life (RUL), inspection points are determined, and then different maintenance actions are adopted in the purpose of minimizing the cost rate. Both perfect and imperfect maintenance actions are carried out for subsystem1. More significantly, regarding economic dependence, condition-based opportunistic maintenance is designed for the series–parallel hybrid system: preemptive maintenance for subsystem1, and both preemptive and postponed maintenance for subsystem2.FindingsThe sensitivity analysis indicates that the proposed policy outperforms two classical maintenance policies, incurring the lowest total cost rate under the context of both heterogeneous and quasi-homogeneous K-out-of-N subsystems.Practical implicationsThis model can be applied in series–parallel systems with redundant structures that are widely used in power transmission systems in electric power plants, manufacturing systems in textile factories and sewerage systems. Considering inconvenience and high cost incurred in the inspection of hybrid systems, this model helps production managers better maintain these systems.Originality/valueIn maintenance literature, much attention has been received in repairing strategies on hybrid systems with economic dependence considering preemptive maintenance. Limited work has considered postponed maintenance. However, this paper uses both condition-based preemptive and postponed maintenance on the issue of economic dependence bringing opportunities for grouping maintenance activities for a series–parallel hybrid system.

Dynamic analysis of a reaction–diffusion impulsive hybrid system

2019 ◽  
Vol 33 ◽  
pp. 353-370 ◽  
Author(s):  
He Liu ◽  
Hengguo Yu ◽  
Chuanjun Dai ◽  
Qi Wang ◽  
Jianbing Li ◽  
...  
Keyword(s):  
Dynamic Analysis ◽  
Hybrid System ◽  
Reaction Diffusion

A New Hybrid System for Reuse of Agro-industrial Wastes of Acerola: Dehydration and Fluid Dynamic Analysis

2018 ◽  
Vol 10 (8) ◽  
pp. 2273-2283 ◽  
Author(s):  
Lina Ramadan ◽  
Claudio R. Duarte ◽  
Marcos A. S. Barrozo
Keyword(s):  
Dynamic Analysis ◽  
Hybrid System ◽  
Fluid Dynamic ◽  
Industrial Wastes
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